Stacker crane, its travelling drive and control method thereof

Abstract

The application discloses a stacker and a walking driving device and a control method thereof, and belongs to the technical field of the stacker. The walking driving device of the stacker comprises at least one first clamping device, the first clamping device comprises two wheel bodies and two supports, the supports are arranged on the wheel bodies, the two wheel bodies are arranged on opposite sides of a track to clamp the track, the two supports can relatively move to change the friction between the wheel bodies and the track, a first driving source is arranged to drive at least one of the two wheel bodies to rotate, so that the stacker moves along the track, an elastic member is in transmission connection with at least one of the two supports, the elastic force of the elastic member is used to press the wheel bodies to the track, the relative movement of the two supports can drive the elastic member to elastically deform, a detection device is arranged to detect the elastic force of the elastic member, and a second driving source is in transmission connection with the elastic member and is used to adjust the elastic force of the elastic member. The walking driving device of the stacker can automatically adjust the clamping force.

Description

Technical Field

[0001] This application belongs to the field of stacker crane technology, specifically relating to a stacker crane, its walking drive device, and its control method. Background Technology

[0002] Currently, the mainstream high-speed stacker crane travel drive method in the industry mostly adopts clamping friction drive. Its working principle is to use clamping wheels to press tightly against both sides of the flange of the aisle track, thereby increasing the friction to limit the suspension or slippage of the drive wheel, ensuring sufficient adhesion between the drive wheel and the track surface, thus achieving efficient and stable power transmission.

[0003] In actual long-term operation, due to continuous friction between the clamping rollers and the rails, the rollers themselves will wear down, leading to a gradual decrease in clamping force. Furthermore, errors in rail installation and mechanical vibrations during high-speed operation of the stacker crane can cause slight changes in the preset tension. Over time, the clamping force often struggles to maintain optimal conditions. When friction is too low, the clamping rollers may slip, resulting in insufficient power for the stacker crane and affecting the efficiency of goods storage and retrieval. When friction is too high, it accelerates the wear of the clamping rollers and rails, shortening the equipment's lifespan and increasing maintenance costs. Summary of the Invention

[0004] This application aims to provide a stacker crane, its walking drive device, and its control method, which can detect the clamping force in real time and automatically adjust the clamping force to meet the different acceleration requirements of the stacker crane, realize the automated control operation of the stacker crane, and reduce the adjustment and maintenance time of the stacker crane.

[0005] To solve the above-mentioned technical problems, this application is implemented as follows:

[0006] In a first aspect, this application proposes a walking drive device for a stacker crane, comprising: at least one first clamping device, the first clamping device including two wheels and two supports, the supports being provided on the wheels, the two wheels being positioned on opposite sides of a ground rail to clamp the ground rail, the two supports being movable relative to each other to change the magnitude of the friction between the wheels and the ground rail; a first drive source for driving at least one of the two wheels to rotate, so that the wheels can drive the stacker crane to move along the ground rail by rotating relative to the ground rail; an elastic element, pulverizedly connected to at least one of the two supports, the elastic force of the elastic element being used to press the wheels against the ground rail, the relative movement of the two supports can cause the elastic element to generate elastic deformation; a detection device for detecting the elastic force of the elastic element; and a second drive source, pulverizedly connected to the elastic element for adjusting the elastic force of the elastic element.

[0007] During the operation of the walking drive unit, the elastic force of the elastic element is monitored by a detection device. The second drive source adjusts the elastic force of the elastic element based on the feedback data, thereby automatically adjusting the clamping force to maintain it within a suitable range. This enables automatic control of the stacker crane's operation and can meet the different acceleration requirements of the stacker crane, effectively avoiding problems caused by excessive or insufficient clamping force. The entire process requires no frequent manual intervention, reducing the stacker crane's adjustment and maintenance time, thus improving operating efficiency and automation, while also enhancing the stability and safety of the stacker crane's operation.

[0008] In some technical solutions, optionally, the walking drive device of the stacker crane also includes: a slider, one end of the elastic element abuts against the slider, the other end of the elastic element abuts against one of the supports, and a second drive source is connected to the slider for transmission. The second drive source is used to drive the slider to move, so that the slider can adjust the compression of the elastic element by moving.

[0009] In the above technical solution, since the elastic force of the elastic element is positively correlated with its compression, the quantitative adjustment of the clamping force between the wheel and the ground rail can be achieved by controlling the displacement stroke of the slider. This allows the stacker crane to better adapt to different operating conditions and load changes, thereby improving the operational stability and reliability of the stacker crane.

[0010] In some technical solutions, the detection device may optionally include a pressure sensor, which rests against the elastic element and the slider, or against the elastic element and the support.

[0011] A pressure sensor is a device that converts pressure signals into usable electrical signals. When an elastic element undergoes elastic deformation due to the force transmitted by a slider or support, it exerts a squeezing effect on the pressure sensor. The sensitive element inside the pressure sensor generates a pressure signal due to the pressure. After amplification and processing, an electrical signal corresponding to the magnitude of the pressure can be obtained, thereby enabling the measurement of the elastic force of the elastic element.

[0012] In some technical solutions, optionally, a gasket is provided at the end of the elastic element that abuts against the pressure sensor.

[0013] In the above technical solution, by providing a gasket at the end of the elastic element that abuts against the pressure sensor, the pressure sensor and the elastic element can be protected. On the other hand, the elastic element is prone to slight bending or tilting when subjected to force, which causes an off-center load when its end face contacts the sensor. The gasket has a large contact area and a flat surface, which can evenly distribute the concentrated force transmitted from the elastic element to the pressure sensor.

[0014] In some technical solutions, the stacker crane's walking drive device may optionally include: a first shaft connected to a second drive source, such that the first shaft rotates under the drive of the second drive source, at least a portion of the surface of the first shaft is provided with a threaded structure, the slider is provided with a threaded hole, the first shaft passes through the threaded hole, and the threaded structure and the threaded hole are in a transmission fit.

[0015] Threaded drives offer high transmission precision, accurately controlling the linear displacement of the slider. By controlling the rotation angle of the first shaft, the slider's position can be precisely located, meeting the stacker crane's accuracy requirements for goods storage and handling. Furthermore, threaded drives are self-locking; when the second drive source stops, the slider reliably remains in its current position, preventing slippage due to external forces. This results in smoother operation of the stacker crane, reducing vibration and impact, thereby improving service life and safety.

[0016] In some technical solutions, optionally, both supports are provided with through holes, and the first shaft is also inserted into the through holes of the two supports, so that the first shaft guides the relative movement of the two supports.

[0017] In the above technical solution, the first shaft acts like a guide rail, allowing the two supports to move in a straight line relative to each other only along the axial direction of the first shaft, and preventing them from deviating in other directions, thereby achieving the guiding effect on the relative movement of the two supports.

[0018] In some technical solutions, optionally, the second drive source is disposed on one of the supports, and the slider and the elastic element are disposed on the other support; and / or the walking drive device further includes a limiting element disposed on the first shaft, the limiting element being located on the side of the slider opposite to the elastic element, for limiting the slider on the first shaft.

[0019] In the above technical solution, by setting the second drive source, slider and elastic element on two supports respectively, the space of the walking drive device can be fully utilized, making the overall structure more compact.

[0020] By setting limiting components, the slider is confined within the section of the first shaft, thus ensuring the integrity and stability of the structure. Furthermore, the limiting components restrict the slider's range of motion, reducing the risk of collisions and damage to equipment components caused by excessive slider movement, thereby improving the safety of the stacker crane during operation and reducing the probability of accidents.

[0021] In some technical solutions, optionally, the first clamping device further includes a mounting base, the support including: a clamping arm, a wheel rotatably mounted on the clamping arm, one end of the clamping arm being hinged to the mounting base; and a second shaft, hinged to the other end of the clamping arm, wherein the second shafts of the two clamping arms are spaced apart and correspondingly arranged, an elastic element is drivenly connected to at least one of the two second shafts, and the elastic force of the elastic element is used to bring the two second shafts closer together so that the wheel presses against the ground rail.

[0022] In the above technical solution, one end of the clamping arm is hinged to the mounting base, allowing the clamping arm to swing within a certain angle range, thus enabling the first clamping device to adapt to different situations. The second shaft is hinged to the other end of the clamping arm, and the second shafts of the two clamping arms are spaced apart and correspondingly arranged. An elastic element is drivenly connected to at least one of the two second shafts, and its elastic force can move the two second shafts closer together or further apart, thereby pressing the wheel against the ground rail, ensuring sufficient pressure between the wheel and the ground rail, and ensuring the stability of the stacker crane's operation.

[0023] In some technical solutions, optionally, the first driving source includes two motors, which are connected to the two wheels in a one-to-one transmission connection, and the motors are used to drive the wheels to rotate.

[0024] Using two motors to drive two wheels respectively can provide greater power output. Both motors can work simultaneously, jointly powering the stacker crane and meeting its power requirements under different operating conditions. Furthermore, if one motor fails, the other can still operate normally or provide emergency service, thus improving the overall stability of the walking drive system.

[0025] Secondly, this application proposes a stacker crane, including the walking drive device of the stacker crane proposed in any of the above-mentioned technical solutions. Therefore, this stacker crane possesses all the beneficial effects of any of the above-mentioned technical solutions, which will not be elaborated further here.

[0026] In some technical solutions, the stacker crane may optionally include: a column; an upper crossbeam located at the top of the column, the upper crossbeam being equipped with a second clamping device for clamping the overhead rail; and a lower crossbeam located at the bottom of the column, the lower crossbeam being equipped with a traveling drive device.

[0027] The overhead rail provides the stacker crane with an upper running track, which works in conjunction with the lower walking drive unit to form a double-rail structure. This allows the stacker crane to maintain stable linear motion during operation, especially during high-speed movement or complex operations, reducing swaying and deviation, thereby improving operational smoothness.

[0028] Thirdly, a control method for a stacker crane is provided for controlling the stacker crane as proposed in any of the above technical solutions. The control method includes the following steps:

[0029] Obtain the target traveling acceleration of the stacker crane;

[0030] The target elastic force is determined based on the target's walking acceleration;

[0031] The current elastic force of the elastic element is detected, and the relationship between the target elastic force and the current elastic force is determined. If the target elastic force is greater than the current elastic force, the second driving source is controlled to increase the current elastic force to the target elastic force. If the target elastic force is less than the current elastic force, the second driving source is controlled to decrease the current elastic force to the target elastic force.

[0032] In the above technical solution, the clamping force is automatically adjusted to maintain it within a suitable range, thereby achieving automatic control of the stacker crane's operation. This also meets the different acceleration requirements of the stacker crane and effectively avoids problems caused by excessive or insufficient clamping force. The entire process requires no frequent manual intervention, reducing the stacker crane's adjustment and maintenance time, thus improving operating efficiency and automation, while also enhancing the stability and safety of the stacker crane's operation.

[0033] In some technical solutions, optionally, the step of determining the target elastic force based on the target's walking acceleration specifically includes:

[0034] The target pressure between the wheel and the ground rail is determined based on the target's walking acceleration.

[0035] The target elastic force is determined based on the target pressure.

[0036] In practical applications, the greater the acceleration, the greater the driving force required, and therefore the greater the pressure between the wheel and the rail. Therefore, the target pressure between the wheel and the rail is determined by the target's walking acceleration; and then the target elastic force can be determined based on the target pressure.

[0037] In some technical solutions, optionally,

[0038] In the step of determining the target pressure between the wheel and the rail based on the target walking acceleration, the target walking acceleration and the target pressure satisfy the following formula:

[0039] ,in, The target pressure between the wheel and the ground rail. To accelerate the walking speed towards the target, The total mass of the stacker crane. It is the acceleration due to gravity. The coefficient of rolling friction between the wheel and the track is denoted as . Let be the coefficient of static friction between the wheel and the ground rail. The first preset correction factor; and / or

[0040] In the step of determining the target elastic force based on the target pressure, the target pressure and the target elastic force satisfy the following formula:

[0041] ,in, For the target elastic force, This is the distance from the center of the wheel body to the hinge center between the clamping arm and the mounting base. This is the distance from the center of the second shaft to the hinge center between the clamping arm and the mounting base. This is the second preset correction coefficient.

[0042] In the above technical solution, slippage is avoided by ensuring that the maximum static friction force generated by the target pressure is always greater than the total force (inertial force + rolling resistance) required to accelerate the stacker crane. The existence of the first preset correction coefficient can compensate for non-ideal factors in actual working conditions. Furthermore, the first preset correction coefficient can be flexibly adjusted according to the actual conditions of the site environment, thereby improving the stability and reliability of the stacker crane's operation.

[0043] Furthermore, by transforming the comparison between target elastic force and target pressure into a comparison between corresponding torques, the balance between the two can be directly reflected. The existence of a second preset correction coefficient can compensate for non-ideal factors in actual working conditions. Simultaneously, the second preset correction coefficient can be flexibly adjusted according to the actual conditions of the site environment, thereby further improving the stability and reliability of the stacker crane's operation.

[0044] Additional aspects and advantages of this application will become apparent in the following description or may be learned by practice of this application. Attached Figure Description

[0045] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0046] Figure 1 This is one of the structural schematic diagrams of the walking drive device of the stacker crane in some embodiments of this application;

[0047] Figure 2 This is a second schematic diagram of the walking drive device of the stacker crane in some embodiments of this application;

[0048] Figure 3 This is the third of the structural schematic diagrams of the stacker crane's walking drive device in some embodiments of this application;

[0049] Figure 4 This is one of the schematic diagrams of the stacker crane structure in some embodiments of this application;

[0050] Figure 5This is one of the flowcharts illustrating the control method of a stacker crane in some embodiments of this application;

[0051] Figure 6 This is the second flowchart illustrating the control method of a stacker crane in some embodiments of this application.

[0052] Figure label:

[0053] 100 Walking drive device; 110 First clamping device; 111 Wheel body; 112 Support; 1121 Clamping arm; 1122 Second shaft; 113 Through hole; 114 Mounting seat; 115 Hinge part; 120 Ground rail; 130 First drive source; 140 Elastic element; 141 Gasket; 150 Detection device; 151 Pressure sensor; 160 Second drive source; 170 Slider; 171 Threaded hole; 180 First shaft; 181 Limiting element; 200 Stacker; 210 Column; 220 Upper crossbeam; 230 Top rail; 240 Second clamping device; 250 Lower crossbeam; 260 Lifting device; 270 Carrier rack. Detailed Implementation

[0054] To better understand the above-mentioned objectives, features, and advantages of this application, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0055] Many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of this application is not limited to the specific embodiments disclosed below.

[0056] Currently, the tension of the clamping drive wheel is mainly adjusted manually, rather than automatically. Specifically, the clearance or interference fit between the clamping wheel and the track needs to be adjusted manually to regulate the clamping force. However, this manual adjustment method has the following problems:

[0057] 1. In stacker cranes with a clamping drive structure that uses manual adjustment of clamping force, if the clamping springs experience reduced elasticity or the structure becomes loose, the operator will be unable to detect or determine the magnitude of the clamping force. In this case, the stacker crane is prone to slippage during travel, which can lead to operational malfunctions or even shutdowns, severely affecting the normal operation of the crane.

[0058] 2. Stacker cranes driven by manually adjusting clamping force are prone to problems. Since the clamping force changes with the increase of equipment operating time and component wear, operators need to frequently adjust the clamping force manually. This not only increases the complexity and workload of maintenance, but also the frequent shutdowns for adjustment will greatly affect the operating efficiency of the stacker crane, failing to meet the requirements of modern warehousing and logistics for efficient operation.

[0059] In view of this, this application provides a stacker crane, its walking drive device, and its control method, which can detect the clamping force in real time and automatically adjust the clamping force to meet the different acceleration requirements of the stacker crane, realize automatic control operation of the stacker crane, and reduce the adjustment and maintenance time of the stacker crane.

[0060] The following is combined Figures 1 to 6 The present application provides a detailed description of the stacker crane, its walking drive device, and its control method provided in the embodiments of this application.

[0061] Reference Figures 1 to 3 In some embodiments, this application provides a walking drive device 100 for a stacker crane, the structure of which includes: at least one first clamping device 110, a first drive source 130, an elastic element 140, a detection device 150, and a second drive source 160.

[0062] The first clamping device 110 includes two wheels 111 and two supports 112. The supports 112 are mounted on the wheels 111. The two wheels 111 are positioned on opposite sides of the ground rail 120 to clamp the ground rail 120. The two supports 112 are movable relative to each other to change the magnitude of the friction between the wheels 111 and the ground rail 120. A first drive source 130 drives at least one of the two wheels 111 to rotate, enabling the stacker crane 200 to move along the ground rail 120 by rotating relative to it. An elastic element 140 is connected to at least one of the two supports 112. The elastic force of the elastic element 140 presses the wheels 111 against the ground rail 120. The relative movement of the two supports 112 can cause the elastic element 140 to undergo elastic deformation. The detection device 150 is used to detect the elastic force of the elastic element 140; the second drive source 160 is connected to the elastic element 140 for adjusting the elastic force of the elastic element 140.

[0063] Specifically, the first clamping device 110 includes two wheels 111 and two supports 112. The wheels 111 are mounted on the supports 112, and the two wheels 111 are positioned on opposite sides of the ground rail 120 to clamp the ground rail 120. The two supports 112 are movable relative to each other. The relative movement of the supports 112 changes the contact state between the wheels 111 and the ground rail 120, thereby changing the magnitude of the friction between them. When the supports 112 move closer together, the pressure of the wheels 111 on the ground rail 120 increases, and the friction increases; when the supports 112 move further apart, the pressure of the wheels 111 on the ground rail 120 decreases, and the friction decreases.

[0064] The first drive source 130 is used to drive at least one of the two wheels 111 to rotate, thereby enabling the wheels 111 to rotate relative to the ground rail 120, thus providing power for the stacker crane 200 to move along the ground rail 120.

[0065] The elastic element 140 is drive-connected to at least one of the two supports 112. The elastic force of the elastic element 140 provides a clamping force to the wheel 111, enabling the wheel 111 to tightly grip the ground rail 120. When the two supports 112 move relative to each other, the elastic element 140 undergoes elastic deformation, thereby changing the magnitude of its elastic force and thus affecting the pressure of the wheel 111 on the ground rail 120. Therefore, by detecting the elastic force of the elastic element 140, the pressure of the wheel 111 on the ground rail 120 can be determined, providing accurate feedback information for subsequent automatic adjustment, enabling automatic adjustment based on the actual clamping force. For example, the elastic element 140 can be a disc spring or other compression spring.

[0066] The detection device 150 is used to detect the elastic force of the elastic element 140. The second drive source 160 is connected to the elastic element 140 and is used to adjust the elastic force of the elastic element 140. The detection device 150 acquires the elastic force data of the elastic element 140, that is, the magnitude of the clamping force of the wheel 111 on the ground rail 120. The second drive source 160 automatically adjusts the elastic force of the elastic element 140 according to the clamping force data fed back by the detection device 150, so that the clamping force of the wheel 111 on the ground rail 120 is always kept within a suitable range. For example, when the stacker crane 200 accelerates, a greater friction force is needed to overcome inertia. At this time, the elastic force of the elastic element 140 will be appropriately increased, so that the pressure of the wheel 111 on the ground rail 120 will increase, thereby providing sufficient driving force. When the stacker crane 200 decelerates or travels at a constant speed, the elastic force of the elastic element 140 will be reduced accordingly to avoid excessive wear of the wheel 111 and the ground rail 120 due to excessive pressure. This allows the stacker crane 200 to meet different acceleration requirements, enabling automatic control and operation, thus avoiding problems caused by excessive or insufficient clamping force. The entire process requires minimal manual intervention, reducing adjustment and maintenance time, improving operating efficiency and automation, and enhancing stability and safety.

[0067] In the above embodiment, during the operation of the walking drive device 100, the elastic force of the elastic element 140 is monitored by the detection device 150. The second drive source 160 adjusts the elastic force of the elastic element 140 according to the feedback data, thereby realizing automatic adjustment of the clamping force. This ensures that the clamping force is always maintained within a suitable range, thus achieving automatic control operation of the stacker crane 200. Simultaneously, it can meet the different acceleration requirements of the stacker crane 200, effectively avoiding problems caused by excessive or insufficient clamping force. The entire process requires no frequent manual intervention, reducing the adjustment and maintenance time of the stacker crane 200, thereby improving operating efficiency and automation, while also enhancing the stability and safety of the stacker crane 200's operation.

[0068] In some embodiments, the stacker crane's walking drive device 100 further includes a slider 170. One end of an elastic member 140 abuts against the slider 170, and the other end of the elastic member 140 abuts against one of the supports 112. A second drive source 160 is drivenly connected to the slider 170, and the second drive source 160 is used to drive the slider 170 to move, so that the slider 170 can adjust the compression amount of the elastic member 140 by moving.

[0069] In the above embodiment, one end of the elastic element 140 abuts against the slider 170, and the other end abuts against one of the supports 112. The second drive source 160 is connected to the slider 170 in a transmission manner. When it is necessary to adjust the elastic force of the elastic element 140, that is, when it is necessary to adjust the clamping force, the second drive source 160 drives the slider 170 to move in a preset direction. The movement of the slider 170 changes its relative position with the support 112, thereby compressing or releasing the elastic element 140 and changing the deformation of the elastic element 140. Since the elastic force of the elastic element 140 is positively correlated with its compression amount, by controlling the displacement stroke of the slider 170, the quantitative adjustment of the clamping force of the wheel 111 on the ground rail 120 can be achieved, so that the stacker crane 200 can better adapt to different operating conditions and load changes, thereby improving the operating stability and reliability of the stacker crane 200.

[0070] In some embodiments, the detection device 150 includes a pressure sensor 151, which abuts against the elastic member 140 and the slider 170, or against the elastic member 140 and the support 112.

[0071] The pressure sensor 151 is a device that converts a pressure signal into a usable output electrical signal. When the elastic element 140 undergoes elastic deformation due to the force transmitted by the slider 170 or the support 112, it exerts a squeezing effect on the pressure sensor 151. The sensitive element inside the pressure sensor 151 generates a pressure signal due to the pressure. After amplification and processing, an electrical signal corresponding to the pressure magnitude can be obtained, thereby realizing the measurement of the elastic force of the elastic element 140.

[0072] It is understandable that the detection device 150 can also use other detection methods, such as strain gauges.

[0073] In practical applications, the elastic element 140 is provided with a gasket 141 at the end that abuts against the pressure sensor 151.

[0074] It is understandable that when the elastic element 140 deforms under external force, its end will wear down the surface of the pressure sensor 151 or itself due to frequent squeezing and friction. Therefore, by providing a gasket 141 at the end of the elastic element 140 that abuts against the pressure sensor 151, on the one hand, the pressure sensor 151 and the elastic element 140 can be protected; on the other hand, the elastic element 140 is prone to slight bending or tilting when subjected to force, resulting in an off-center load when its end face contacts the sensor; while the gasket 141 has a large contact area and a flat surface, which can evenly distribute the concentrated force transmitted from the elastic element 140 onto the pressure sensor 151.

[0075] In some embodiments, the stacker crane's walking drive device 100 further includes a first shaft 180. The first shaft 180 is connected to a second drive source 160, causing the first shaft 180 to rotate under the drive of the second drive source 160. At least a portion of the surface of the first shaft 180 is provided with a threaded structure, and the slider 170 is provided with a threaded hole 171. The first shaft 180 passes through the threaded hole 171, and the threaded structure is in transmission engagement with the threaded hole 171.

[0076] In the above embodiment, after the second drive source 160 is activated, it outputs rotational power, which is directly transmitted to the first shaft 180, causing the first shaft 180 to rotate around its own axis. Since the surface of the first shaft 180 is provided with a threaded structure, and the slider 170 is provided with a matching threaded hole 171, when the first shaft 180 rotates, according to the principle of screw transmission, relative motion occurs between the threaded structure and the threaded hole 171. This relative motion causes the slider 170 to move linearly along the axial direction of the first shaft 180, thereby converting the rotational power of the second drive source 160 into the linear displacement of the slider 170, and realizing the adjustment and control of the elastic element 140.

[0077] Understandably, threaded drives offer high transmission precision, enabling accurate control of the linear displacement of the slider 170. By controlling the rotation angle of the first shaft 180, the slider 170 can be positioned, thus meeting the precision requirements of the stacker crane 200 for goods storage and handling. Simultaneously, the threaded drive also possesses self-locking properties; when the second drive source 160 stops, the slider 170 reliably remains in its current position, preventing slippage due to external forces. This results in smoother operation of the stacker crane 200, reducing vibration and impact, thereby improving service life and safety.

[0078] Of course, in practical applications, in addition to threaded drives, gear and rack drives and worm gear drives can also be used.

[0079] In some embodiments, each of the two supports 112 is provided with a through hole 113, and the first shaft 180 is also inserted into the through hole 113 of the two supports 112, so that the first shaft 180 guides the relative movement of the two supports 112.

[0080] In the above embodiment, two supports 112 are provided with through holes 113, and a first shaft 180 passes through the through holes 113 of the two supports 112. The relative position of the two supports 112 in space is constrained by the first shaft 180. The first shaft 180 acts like a guide rail, allowing the two supports 112 to move relatively linearly along the axial direction of the first shaft 180, and preventing them from deviating in other directions, thereby achieving the guiding function for the relative movement of the two supports 112.

[0081] In some embodiments, the second drive source 160 is disposed on one of the supports 112, and the slider 170 and the elastic element 140 are disposed on the other support 112.

[0082] In the above embodiment, the second drive source 160 is mounted on a support 112. When the second drive source 160 is started, its output rotational power is transmitted to the first shaft 180, causing the first shaft 180 to rotate around its own axis. Since the first shaft 180 passes through two supports 112, and the slider 170 is set on another support 112 and engages with the first shaft 180 through threads or other means, when the first shaft 180 rotates, the slider 170 will move linearly along the axis of the first shaft 180. The elastic element 140 is connected to the slider 170, and the linear movement of the slider 170 will cause the elastic element 140 to deform, thereby realizing the adjustment and control of the elastic element 140. By setting the second drive source 160, the slider 170 and the elastic element 140 on two supports 112 respectively, the space of the walking drive device 100 can be fully utilized, making the overall structure more compact.

[0083] In some embodiments, the walking drive device 100 further includes a limiting member 181, which is disposed on the first shaft 180 and located on the side of the slider 170 opposite to the elastic member 140, for limiting the slider 170 on the first shaft 180.

[0084] Understandably, during the operation of the walking drive device 100, especially during emergency stops or reversals, the enormous inertial force will react through the support 112 onto the slider 170, making it easy for the slider 170 to detach from the first shaft 180. By setting the limiting member 181, the slider 170 is confined within the section of the first shaft 180, thus ensuring the integrity and stability of the structure. Furthermore, the limiting member 181 can also restrict the range of motion of the slider 170, thereby reducing the risk of collisions and damage to equipment components caused by excessive movement of the slider 170, improving the safety of the stacker crane 200 during operation, and reducing the probability of safety accidents.

[0085] Reference Figure 2 and Figure 3 In some embodiments, the first clamping device 110 further includes a mounting base 114, and the support 112 includes a clamping arm 1121 and a second shaft 1122. A wheel 111 is rotatably mounted on the clamping arm 1121, and one end of the clamping arm 1121 is hinged to the mounting base 114. See also... Figure 3 ,exist Figure 3 The image shows the hinge portion 115 between the clamping arm 1121 and the mounting base 114. By hinged between the clamping arm 1121 and the mounting base 114, the clamping arm 1121 can rotate relative to the mounting base 114 about the hinge portion 115.

[0086] The second shaft 1122 is hinged to the other end of the clamping arm 1121. The second shafts 1122 of the two clamping arms 1121 are arranged at intervals and correspondingly. The elastic element 140 is connected to at least one of the two second shafts 1122. The elastic force of the elastic element 140 is used to bring the two second shafts 1122 closer together so that the wheel 111 presses against the ground rail 120.

[0087] In the above embodiment, the wheel 111 is rotatably mounted on the clamping arm 1121 and contacts the ground rail 120, allowing the wheel 111 to rotate. During the operation of the stacker crane 200, the wheel 111 rolls along the ground rail 120 to achieve movement. One end of the clamping arm 1121 is hinged to the mounting base 114, allowing the clamping arm 1121 to swing within a certain angle range, thereby enabling the first clamping device 110 to adapt to different situations.

[0088] The second shaft 1122 is hinged to the other end of the clamping arm 1121, and the second shafts 1122 of the two clamping arms 1121 are arranged at intervals. The elastic element 140 is drivenly connected to at least one of the two second shafts 1122, and its elastic force can make the two second shafts 1122 move closer or further apart, thereby pressing the wheel 111 against the ground rail 120, ensuring sufficient pressure between the wheel 111 and the ground rail 120, and ensuring the stability of the stacker crane 200 operation.

[0089] When the walking drive device 100 is running, the elastic element 140 is connected to at least one of the two second shafts 1122, and the elastic force causes the two second shafts 1122 to move closer or further apart. Since the second shafts 1122 are hinged to the other end of the clamping arm 1121, and one end of the clamping arm 1121 is hinged to the mounting base 114, the two second shafts 1122 moving closer together causes the two clamping arms 1121 to swing relative to each other around the hinge point with the mounting base 114, thereby pressing the wheel 111 mounted on the clamping arm 1121 against or away from the ground rail 120. This allows for adjustment of the clamping force between the wheel 111 and the ground rail 120.

[0090] In some embodiments, the first drive source 130 includes two motors, which are connected to two wheels 111 in a one-to-one transmission connection, and the motors are used to drive the wheels 111 to rotate.

[0091] In the above embodiment, using two motors to drive the two wheels 111 respectively can provide greater power output. The two motors can work simultaneously, jointly providing power for the operation of the stacker crane 200 and meeting the power requirements of the stacker crane 200 under different working conditions. In addition, when one motor fails, the other motor can still work normally or in an emergency, thereby improving the overall operational stability of the walking drive device 100.

[0092] Reference Figures 1 to 4 In some embodiments, this application also provides a stacker crane 200, including the walking drive device 100 of the stacker crane provided in any of the above embodiments. Therefore, the stacker crane 200 has all the beneficial effects of any of the above embodiments, which will not be repeated here.

[0093] In the above embodiment, the stacker crane 200 further includes a column 210, an upper crossbeam 220, and a lower crossbeam 250. The upper crossbeam 220 is located at the top of the column 210, and a second clamping device 240 for clamping the overhead rail 230 is provided on the upper crossbeam 220. The lower crossbeam 250 is located at the bottom of the column 210, and a traveling drive device 100 is provided on the lower crossbeam 250.

[0094] The overhead rail 230 provides the upper running track for the stacker crane 200, which works in conjunction with the lower walking drive unit 100 to form a double-rail structure. This enables the stacker crane 200 to maintain stable linear motion during operation, especially during high-speed movement or complex operations, reducing swaying and deviation, thereby improving the smoothness of operation.

[0095] In some embodiments, the stacker crane 200 further includes a rack 270 and a lifting device 260. The lifting device 260 is used to drive the rack 270 to move up and down along the column.

[0096] Reference Figure 5 In some embodiments, this application also provides a method for controlling a stacker crane, used to control the stacker crane provided in any of the above embodiments, specifically including the following steps:

[0097] S100, obtain the target traveling acceleration of the stacker crane.

[0098] S102, determine the target elastic force based on the target's walking acceleration.

[0099] S104, detect the current elastic force of the elastic element and determine the relationship between the target elastic force and the current elastic force. If the target elastic force is greater than the current elastic force, control the second driving source to increase the current elastic force to the target elastic force. If the target elastic force is less than the current elastic force, control the second driving source to decrease the current elastic force to the target elastic force.

[0100] In the above embodiment, the target travel acceleration of the stacker crane is first determined. Based on the target travel acceleration, the required target elastic force is calculated to maintain the clamping force between the wheel and the ground rail within the optimal range. At this time, by detecting the current elastic force of the elastic element and judging the relationship between the target elastic force and the current elastic force, it can be determined whether the current elastic force meets the requirements. When it is determined that the target elastic force is greater than the current elastic force, the second drive source is controlled to increase the deformation of the elastic element until the target elastic force is reached, thereby increasing the normal pressure of the wheel on the rail and ensuring that the drive wheel has sufficient adhesion to prevent accelerated slippage. When it is determined that the target elastic force is less than the current elastic force, the second drive source is controlled to release the elastic element and reduce the clamping force to avoid unnecessary rigid wear between the wheel and the ground rail due to excessive friction.

[0101] In the above embodiments, by automatically adjusting the clamping force, the clamping force is always maintained within a suitable range, thereby achieving automatic control of the stacker crane's operation. This also meets the different acceleration requirements of the stacker crane and effectively avoids problems caused by excessive or insufficient clamping force. The entire process requires no frequent manual intervention, reducing the stacker crane's adjustment and maintenance time, thus improving operating efficiency and automation, while also enhancing the stability and safety of the stacker crane's operation.

[0102] In some embodiments, the step of determining the target elastic force based on the target walking acceleration specifically includes:

[0103] The target pressure between the wheel and the ground rail is determined based on the target's walking acceleration.

[0104] The target elastic force is determined based on the target pressure.

[0105] Understandably, the greater the acceleration, the greater the driving force required, and therefore the greater the pressure between the wheel and the rail. Therefore, the target pressure between the wheel and the rail is determined by the target's walking acceleration; and then the target elastic force can be determined based on the target pressure.

[0106] In some embodiments, in the step of determining the target pressure between the wheel and the track based on the target walking acceleration, the target walking acceleration and the target pressure satisfy the following formula:

[0107] ,in, The target pressure between the wheel and the ground rail. To accelerate the walking speed towards the target, The total mass of the stacker crane. It is the acceleration due to gravity. The coefficient of rolling friction between the wheel and the track is denoted as . Let be the coefficient of static friction between the wheel and the ground rail. This is the first preset correction coefficient.

[0108] In this way, by ensuring that the maximum static friction force generated by the target pressure is always greater than or equal to the total force (inertial force + rolling resistance) required to accelerate the stacker crane, slippage is avoided. The existence of the first preset correction coefficient can compensate for non-ideal factors in actual working conditions. Furthermore, the first preset correction coefficient can be flexibly adjusted according to the actual conditions of the site environment, thereby improving the stability and reliability of the stacker crane's operation.

[0109] In some embodiments, in the step of determining the target elastic force based on the target pressure, the target pressure and the target elastic force satisfy the following formula:

[0110] ,in, For the target elastic force, This is the distance from the center of the wheel body to the hinge center between the clamping arm and the mounting base (the hinge center is also the center of the hinge part 115, or it can be understood as the center of rotation of the clamping arm 1121 relative to the mounting base 114). This is the distance from the center of the second shaft to the hinge center between the clamping arm and the mounting base. This is the second preset correction coefficient.

[0111] Understandably, the comparison between target elastic force and target pressure is transformed into a comparison between corresponding torques, thus directly reflecting their balance. The existence of the second preset correction coefficient can compensate for non-ideal factors in actual working conditions. Furthermore, the second preset correction coefficient can be flexibly adjusted according to the actual conditions of the site environment, thereby further improving the stability and reliability of the stacker crane's operation.

[0112] Reference Figure 6 In some embodiments, the control method for the stacker crane specifically includes:

[0113] S200, begin;

[0114] S202, set acceleration;

[0115] S204, Calculate the target pressure on the wheel body;

[0116] S206, Calculate the tension force;

[0117] S208, detect the tension of the pressure sensor and compare it with the calculated tension; if the detected tension is less than the calculated tension, proceed to S210; if the detected tension is greater than the calculated tension, proceed to S212.

[0118] S210, the second drive source rotates, increasing the tension force;

[0119] S212, the second drive source rotates, reducing the tension force;

[0120] S214, End.

[0121] In this application, the term "multiple" refers to two or more unless otherwise expressly defined. The terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; "linking" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0122] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0123] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A walking drive device for a stacker crane, characterized in that, include: At least one first clamping device, the first clamping device comprising two wheels and two supports, the supports being provided on the wheels, the two wheels being positioned on opposite sides of the ground rail to clamp the ground rail, and the two supports being movable relative to each other to change the magnitude of the friction between the wheels and the ground rail; A first drive source is configured to drive at least one of the two wheels to rotate, such that the wheel can drive the stacker crane to move along the ground rail by rotating relative to the ground rail. An elastic element is connected to at least one of the two supports in a transmission manner. The elastic force of the elastic element is used to press the wheel body against the ground rail. The relative movement of the two supports can cause the elastic element to produce elastic deformation. A detection device for detecting the elastic force of the elastic element; The second driving source is connected to the elastic element for adjusting the elastic force of the elastic element.

2. The walking drive device of the stacker crane according to claim 1, characterized in that, Also includes: The slider has one end abutting against the slider and the other end abutting against one of the supports. The second drive source is connected to the slider and is used to drive the slider to move, so that the slider can adjust the compression of the elastic element by moving.

3. The stacker crane's walking drive device according to claim 2, characterized in that, The detection device includes a pressure sensor, which abuts against the elastic member and the slider, or against the elastic member and the support.

4. The walking drive device for a stacker crane according to claim 3, characterized in that, The elastic element has a gasket at one end that abuts against the pressure sensor.

5. The walking drive device of the stacker crane according to any one of claims 2 to 4, characterized in that, Also includes: A first shaft is connected to a second drive source, causing the first shaft to rotate under the drive of the second drive source. At least a portion of the surface of the first shaft is provided with a threaded structure. The slider is provided with a threaded hole, and the first shaft passes through the threaded hole, with the threaded structure engaging with the threaded hole in a transmission fit.

6. The walking drive device of the stacker crane according to claim 5, characterized in that, Both supports are provided with through holes, and the first shaft is also inserted into the through holes of the two supports, so that the first shaft guides the relative movement of the two supports.

7. The walking drive device for a stacker crane according to claim 6, characterized in that, The second drive source is disposed on one of the supports, and the slider and the elastic element are both disposed on the other support; and / or The walking drive device also includes a limiting member, which is disposed on the first shaft and located on the side of the slider opposite to the elastic member, for limiting the slider on the first shaft.

8. The walking drive device of the stacker crane according to any one of claims 1 to 4, characterized in that, The first clamping device further includes a mounting base, the support comprising: A clamping arm, wherein the wheel is rotatably mounted on the clamping arm, and one end of the clamping arm is hinged to the mounting base; The second shaft is hinged to the other end of the clamping arm, wherein the second shafts of the two clamping arms are spaced apart and correspondingly arranged, and the elastic element is drivenly connected to at least one of the two second shafts. The elastic force of the elastic element is used to bring the two second shafts closer together so that the wheel presses against the ground rail.

9. The walking drive device of the stacker crane according to any one of claims 1 to 4, characterized in that, The first driving source includes: Two motors are connected to the two wheels in a one-to-one transmission manner, and the motors are used to drive the wheels to rotate.

10. A stacker crane, characterized in that, Includes the walking drive device of the stacker crane as described in any one of claims 1 to 9.

11. The stacker crane according to claim 10, characterized in that, Also includes: Columns; The upper crossbeam is located at the top of the column, and the upper crossbeam is equipped with a second clamping device for clamping the overhead rail. A lower crossbeam is located at the bottom of the column, and the walking drive device is mounted on the lower crossbeam.

12. A control method for a stacker crane, characterized in that, For controlling the stacker crane as described in claim 10, the control method includes the following steps: Obtain the target traveling acceleration of the stacker crane; The target elastic force is determined based on the target's walking acceleration; The current elastic force of the elastic element is detected, and the relationship between the target elastic force and the current elastic force is determined. If the target elastic force is greater than the current elastic force, the second driving source is controlled to increase the current elastic force to the target elastic force. If the target elastic force is less than the current elastic force, the second driving source is controlled to decrease the current elastic force to the target elastic force.

13. The control method for a stacker crane according to claim 12, characterized in that, The specific steps for determining the target elastic force based on the target's walking acceleration include: The target pressure between the wheel and the ground rail is determined based on the target walking acceleration. The target elastic force is determined based on the target pressure.

14. The control method for a stacker crane according to claim 13, characterized in that, In the step of determining the target pressure between the wheel and the rail based on the target walking acceleration, the target walking acceleration and the target pressure satisfy the following formula: ,in, The target pressure is the pressure between the wheel and the ground rail. The target's walking acceleration, The total mass of the stacker crane. It is the acceleration due to gravity. The coefficient of rolling friction between the wheel and the ground rail is given. The static friction coefficient between the wheel and the ground rail is given. The first preset correction factor; and / or In the step of determining the target elastic force based on the target pressure, the target pressure and the target elastic force satisfy the following formula: ,in, The target elastic force, The distance from the center of the wheel body to the hinge center between the clamping arm and the mounting base is [missing information]. The distance from the center of the second shaft to the hinge center between the clamping arm and the mounting base. This is the second preset correction coefficient.

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