Stacking machine and article storing and taking system

Abstract

The utility model relates to a stacking machine and an article storing and taking system with the stacking machine. The stacker is provided with: a stacker frame; the cargo carrying table is arranged on the stacking machine frame body and is provided with a telescopic component used for storing and taking articles; the transverse displacement assembly is arranged on the stacking machine frame body and used for enabling the stacking machine frame body to move in the transverse direction; the longitudinal displacement assembly is arranged on the stacking machine frame body and used for enabling the cargo carrying table to move in the longitudinal direction relative to the stacking machine frame body, the cargo carrying table is provided with adjusting components, the adjusting components are arranged on the two sides of the telescopic component in the transverse direction respectively, and when the telescopic component retracts, the adjusting components move in the longitudinal direction relative to the stacking machine frame body. And the posture of the object on the telescopic component is adjusted.

Description

Technical Field

[0001] This utility model relates to a stacker crane and an item storage and retrieval system equipped with the stacker crane. Background Technology

[0002] In recent years, with the rapid development of new energy vehicles and other technologies, automated storage and retrieval systems (AS / RS) have been widely used in production sites such as automobile manufacturing. Traditional storage and retrieval systems typically include racking systems and stacker cranes. Racking systems, for example, have multiple storage spaces, capable of storing semi-finished or finished products such as automotive parts and battery modules in each space. Stacker cranes, for example, have a loading platform equipped with telescopic components and a displacement mechanism that moves the platform as a whole. By using the displacement mechanism to move the stacker crane's loading platform to a predetermined position, the telescopic components extend or retract, thereby retrieving items stored in the storage spaces or storing items carried by the telescopic components in the storage spaces. In such storage and retrieval systems, because vertical space is effectively utilized, a large number of items can be stored in a limited space.

[0003] However, in actual operations using the aforementioned item storage and retrieval system, the posture of items stored in the storage space (such as battery trays containing battery modules) may sometimes deviate from the standard posture. If an item is retrieved from the storage space or repositioned and stored in a new storage space while its posture is deviated, the item may collide with the frame of the automated storage and retrieval system or the telescopic components of the loading platform due to the posture deviation, potentially making it impossible to reliably access the item using the telescopic components. Utility Model Content

[0004] This utility model was made in view of the above circumstances, and its purpose is to provide a stacker crane capable of adjusting the posture of an item and an item storage and retrieval system equipped with the stacker crane.

[0005] To achieve the above objectives, this utility model provides a stacker crane, characterized in that the stacker crane comprises: a stacker crane frame; a loading platform disposed on the stacker crane frame and having a telescopic member for storing and retrieving items; a lateral displacement assembly disposed on the stacker crane frame for moving the stacker crane frame laterally; and a longitudinal displacement assembly disposed on the stacker crane frame for moving the loading platform longitudinally relative to the stacker crane frame. The loading platform is provided with adjusting members, which are respectively disposed on both sides of the telescopic member in the lateral direction, adjusting the posture of the items on the telescopic member when the telescopic member retracts.

[0006] In some embodiments, a front guide portion may be provided at the front end of the adjusting member, the front guide portion being configured to tilt outward in the lateral direction toward the cargo platform as it extends toward the extension direction of the telescopic member.

[0007] In some embodiments, the loading platform may be provided with an adjustment member drive unit, which enables the adjustment member to reciprocate in the lateral direction.

[0008] In some embodiments, the adjustment member drive unit may also be able to reciprocate the adjustment member in the longitudinal direction.

[0009] In some embodiments, a vision camera may be provided on the loading platform, the vision camera being configured to acquire the relative position of the loading platform with respect to the stored items.

[0010] In some embodiments, a limiting member may be provided on the telescopic member, the limiting member limiting the distance the telescopic member can extend and retract.

[0011] In some embodiments, the telescopic member may be provided with a support member for supporting the article, and the frictional force of the support member relative to the article may be less than the frictional force of the portion of the telescopic member without the support member relative to the article.

[0012] In some embodiments, a lifting portion may be provided at the front end of the telescopic member.

[0013] In addition, this utility model also provides an item storage and retrieval system, characterized in that the item storage and retrieval system includes: the above-mentioned stacker crane; and a three-dimensional shelf, the three-dimensional shelf having at least one item storage space, and using the telescopic component in the stacker crane to store and retrieve items stored in the item storage space.

[0014] In some embodiments, the item storage space may be provided with an item guide support, the item guide support having: an inclined guide that tilts outward toward the outside of the item storage space as it faces upward; and an item support that extends laterally from the lower end of the inclined guide.

[0015] According to the present invention, a stacker crane and an item storage and retrieval system equipped with the stacker crane are provided. By setting an adjustment component on the loading platform, and using the adjustment component to adjust the posture of the items on the telescopic component from both sides of the telescopic component when the telescopic component is retracted, the posture of the items can be adjusted when the items stored in the automated storage and retrieval system are transferred to the loading platform using the telescopic component in the loading platform. Even if the posture of the items stored in the storage space of the automated storage and retrieval system deviates from the standard posture (for example, the whole item or the edge facing the telescopic component is skewed relative to the telescopic component's telescopic direction), the items can be placed on the loading platform in the correct posture without deviation relative to the telescopic component's telescopic direction. The items with adjusted posture can be transferred to a new item storage space or workstation using the telescopic component. This effectively prevents the items from colliding with the frame of the automated storage and retrieval system or the telescopic component of the loading platform due to posture deviation, and allows for reliable storage and retrieval of items using the telescopic component. Attached Figure Description

[0016] Figure 1 This is a schematic perspective view of a stacker crane according to one embodiment of the present invention.

[0017] Figure 2 This is a schematic perspective view of the loading platform and its surrounding structure in a stacker crane according to one embodiment of the present invention, and is also a schematic perspective view of the telescopic component in the loading platform in a retracted state.

[0018] Figure 3 This is a schematic perspective view of the loading platform and its surrounding structure in a stacker crane according to one embodiment of the present invention, and is also a schematic perspective view of the telescopic member in the loading platform in the extended state.

[0019] Figure 4 It is a schematic three-dimensional view showing the telescopic components in the loading platform in the retracted state.

[0020] Figure 5 It is a schematic perspective view showing the telescopic components in the loading platform in the extended state.

[0021] Figure 6 This is a schematic perspective view of the three-dimensional shelving system of a stacker crane according to one embodiment of the present invention.

[0022] Figure 7 It is a schematic representation of a partially enlarged 3D view of an automated shelving unit. Detailed Implementation

[0023] The present invention will now be described with reference to the accompanying drawings, which illustrate several embodiments of the present invention. However, it should be understood that the present invention can be presented in many different ways and is not limited to the embodiments described below; in fact, the embodiments described below are intended to make the disclosure of the present invention more complete and to fully illustrate the scope of protection of the present invention to those skilled in the art. It should also be understood that the embodiments disclosed herein can be combined in various ways to provide more additional embodiments.

[0024] It should be understood that the same reference numerals denote the same elements in all the accompanying drawings. For clarity, the dimensions and shapes of certain features may be appropriately modified in the drawings.

[0025] It should be understood that the terminology used in this specification is for describing specific embodiments only and is not intended to limit the scope of the invention. All terms used in this specification (including technical and scientific terms) have the meanings commonly understood by those skilled in the art unless otherwise defined. For the sake of brevity and / or clarity, well-known functions or structures may not be described in detail.

[0026] Unless otherwise specified, the singular forms “a,” “the,” and “the” used in this specification include the plural forms. The terms “comprising,” “including,” and “containing” used in this specification indicate the presence of the claimed feature but do not exclude the presence of one or more other features. The term “and / or” used in this specification includes any and all combinations of one or more of the related listed items. The terms “between X and Y” and “between approximately X and Y” used in this specification should be interpreted as including both X and Y. The term “between approximately X and Y” used in this specification means “between approximately X and approximately Y,” and the term “from approximately X to Y” used in this specification means “from approximately X to approximately Y.”

[0027] In the specification, when an element is described as being "on," "attached," "connected," "coupled," or "in contact" with another element, the element can be directly located on, attached to, connected to, coupled to, or in contact with the other element, or there may be intermediate elements present. Conversely, when an element is described as being "directly" located on, directly attached to, directly connected to, directly coupled to, or directly in contact with another element, no intermediate elements are present. In the specification, the description of a feature being arranged "adjacent" to another feature can mean that a feature has a portion overlapping with the adjacent feature or a portion located above or below the adjacent feature.

[0028] In the specification, spatial relation terms such as "up," "down," "left," "right," "front," "back," "high," and "low" describe the relationship between one feature and another in the accompanying drawings. It should be understood that spatial relation terms include not only the orientation shown in the drawings but also the different orientations of the device during use or operation. For example, when the device in the drawings is inverted, a feature previously described as "below" other features can now be described as "above" other features. The device can also be oriented in other ways (rotated 90 degrees or in other orientations), in which case the relative spatial relationships will be explained accordingly.

[0029] The following is for reference Figures 1 to 5 This document provides a detailed description of a stacker crane 100 according to one embodiment of the present invention. It should be noted that in the following drawings, identical or similar parts are labeled with the same or similar reference numerals. However, the drawings are schematic, and attention should be paid to the possibility that the proportions of various dimensions may differ from reality. Therefore, specific dimensions should be determined by referring to the following description. Furthermore, the drawings may include parts with different dimensional relationships or proportions.

[0030] like Figures 1-5 As shown, the stacker crane 100 of this embodiment includes at least a stacker crane frame 10 and a loading platform 20, a lateral displacement assembly 30, and a longitudinal displacement assembly 40 disposed on the stacker crane frame 10. The stacker crane frame 10 may include a frame base frame 11, a frame top frame 12, and a pair of frame columns 13, and is formed into a generally rectangular shape with a closed cross-section. However, it is not limited to this. The stacker crane frame 10 may be configured as a generally polygonal shape, a generally circular shape, or a generally elliptical shape with a closed cross-section, or it may be configured as an L-shaped or T-shaped shape with an open cross-section, consisting only of the frame base frame 11 and a frame column 13. As long as the loading platform 20, the lateral displacement assembly 30, and the longitudinal displacement assembly 40 can be disposed and the loading platform 20 can be moved to a predetermined position using the lateral displacement assembly 30 and the longitudinal displacement assembly 40, it is not particularly limited.

[0031] In the stacker crane 100 of this embodiment, optionally, the loading platform 20 is provided on the stacker crane frame 10. For example, when the stacker crane frame 10 is formed with a closed cross-section, the loading platform 20 can be provided on the inner side of the stacker crane frame 10. Additionally, as... Figures 1-3 As shown, the loading platform 20 is provided with a telescopic member 21 that can extend and retract. The telescopic member 21 is used to store and retrieve items G (such as battery trays containing battery modules) relative to the three-dimensional shelving 200 of the item storage and retrieval system described later.

[0032] Alternatively, the stacker crane frame 10 may also be provided with a lateral displacement component 30 and a longitudinal displacement component 40. For example, when the stacker crane frame 10 is formed in a closed cross-section shape, the lateral displacement component 30 may be provided on the outside of the stacker crane frame 10, for example, on the upper or lower outer side of the stacker crane frame 10. Specifically, it may be provided on the outside of the bottom frame 11 or the top frame 12 of the stacker crane frame 10. On the other hand, the longitudinal displacement component 40 may be provided on the outside of the stacker crane frame 10, for example, on the side outer side of the stacker crane frame 10. Specifically, it may be provided on the outside of the frame column 13 of the stacker crane frame 10.

[0033] In the stacker crane 100 of this embodiment, the loading platform 20 can reciprocate laterally and longitudinally using the lateral displacement component 30 and the longitudinal displacement component 40, respectively. As an example, optionally, the stacker crane frame 10 and the loading platform 20 disposed on the stacker crane frame 10 can be reciprocated laterally using the lateral displacement component 30, and the loading platform 20 can be reciprocated longitudinally relative to the stacker crane frame 10 using the longitudinal displacement component 40. Thus, by using the lateral displacement component 30 and the longitudinal displacement component 40 to move the loading platform 200 relative to the automated storage and retrieval system 200, the item G can be stored and retrieved relative to a specific item storage space 210 within the automated storage and retrieval system 200.

[0034] For ease of explanation, in this specification, the direction in which the loading platform 20 moves laterally using the lateral displacement component 30 is sometimes designated as the X direction, the direction in which the loading platform 20 moves longitudinally using the longitudinal displacement component 40 is designated as the Z direction, and the direction in which the telescopic component 21 extends and retracts is designated as the Y direction. Optionally, the X, Y, and Z directions designated as above are orthogonal to each other. Furthermore, in this specification, "outer side of the stacker crane frame 10 or loading platform 20" refers to the side away from the center of the stacker crane frame 10 or loading platform 20, and "inner side of the stacker crane frame 10 or loading platform 20" refers to the side closer to the center of the stacker crane frame 10 or loading platform 20.

[0035] Furthermore, in the stacker crane 100 of this embodiment, such as Figures 1-3As shown, the loading platform 20 is, for example, formed into a frame shape surrounded by a base plate, a top plate, and two side plates, and a telescopic member 21 capable of extending and retracting along the Y direction (telescopic direction) is mounted on the base plate. Optionally, the telescopic member 21 includes, for example, a pair of telescopic forks 21f and a telescopic motor M1. The pair of telescopic forks 21f can simultaneously extend and retract relative to the base plate of the loading platform 20 under the drive of the telescopic motor M1, thereby storing and retrieving the item G. However, it is not limited to this. The loading platform 20 only needs to be able to support the telescopic member 21, and the top plate and two side plates can be omitted, making the loading platform 20 a flat plate consisting only of the base plate. In addition, the number of telescopic forks 21f in the telescopic member 21 is not particularly limited; for example, one or more can be provided.

[0036] Optionally, such as Figure 1 As shown, the lateral displacement assembly 30, which moves the loading platform 20 along the lateral X direction, is, for example, located on the outer side of the base frame 11 of the stacker crane frame 10, and includes a lateral displacement guide rail 31, a lateral displacement drive motor M2, and lateral displacement rollers (not shown) located on the outer side of the base frame 11. Under the driving action of the lateral displacement drive motor M2, the lateral displacement rollers move the stacker crane frame 10 and the loading platform 20 located on the stacker crane frame 10 reciprocally along the lateral displacement guide rail 31 in the lateral X direction.

[0037] In some embodiments, the lateral displacement assembly 30 may optionally include, for example, a top lateral displacement guide rail 32 and lateral displacement rollers 33 disposed on the outer side of the top frame 12 of the stacker crane. The top lateral displacement guide rail 32 and the lateral displacement guide rail 31 are arranged parallel to each other at intervals in the longitudinal direction Z, thereby enabling reliable and stable lateral movement of the loading platform 20 when the stacker crane frame 10 and the loading platform 20 are moved along the lateral direction X using the lateral displacement assembly 30.

[0038] Alternatively, as Figure 1 As shown, the longitudinal displacement assembly 40, which moves the loading platform 20 along the longitudinal direction Z, is, for example, located on the outside of the frame column 13 of the stacker crane frame 10, and includes a longitudinal displacement drive motor M3, a longitudinal displacement rope, and multiple pulley components. By fixing one end of the longitudinal displacement rope to the loading platform 20 and fixing the other end to the output end of the longitudinal displacement drive motor M3 via the pulley components across the upper side (frame top 12) of the stacker crane frame 10, the loading platform 20 reciprocates relative to the stacker crane frame 10 along the frame column 13, i.e., along the longitudinal direction Z, through the winch action of the longitudinal displacement rope, driven by the longitudinal displacement drive motor M3.

[0039] In some embodiments, optionally, longitudinal displacement rollers (not shown) are provided on the side connection surface of the loading platform 20 that connects to the frame column 13 of the stacker crane frame 10. Thus, when the loading platform 20 is moved relative to the stacker crane frame 10 along the longitudinal direction Z using the longitudinal displacement assembly 40, the longitudinal displacement rollers can be used to smoothly reciprocate the loading platform 20 relative to the stacker crane frame 10 along the longitudinal direction Z.

[0040] In the stacker crane 100 of this embodiment, as Figures 1-3 As shown, the loading platform 20 is also provided with an adjustment member 22. Optionally, a pair of adjustment members 22 may be provided on the base plate of the loading platform 20, and respectively provided on both sides of the telescopic member 21 in the transverse X direction; in other words, the telescopic member 21 is provided between a pair of adjustment members 22. When the telescopic member 21 in the loading platform 20 retracts from the extended state to the loading platform 20 after obtaining the item G from the automated storage and retrieval unit 200, the posture of the item G on the telescopic member 21 can be adjusted using the adjustment member 22. In addition, the adjustment member 22 only needs to be able to adjust the posture of the item G on the telescopic member 21 when the telescopic member 21 retracts from the extended state; the adjustment member 22 can be set to be fixed relative to the loading platform 20, or it can be set to be movable relative to the loading platform 20.

[0041] According to the stacker crane 100 of this embodiment, by providing an adjustment member 22 on the loading platform 20, and by using the adjustment member 22 to adjust the posture of the item G on the telescopic member 21 from both sides of the lateral X of the telescopic member 21 when the telescopic member 21 is retracted, the posture of the item G can be adjusted when transferring the item G stored in the automated storage and retrieval system 200 to the loading platform 20 using the telescopic member 21 in the loading platform 20. Even if the posture of the item G stored in the storage space of the automated storage and retrieval system 200 deviates from the standard posture (e.g., the entire item G or its surface), the posture of the item G can be adjusted. Even if the edge of the telescopic member 21 is skewed relative to the telescopic direction of the telescopic member 21, the item G can be placed on the loading platform 20 in the correct posture without skew relative to the telescopic direction of the telescopic member 21. The item G, whose posture has been adjusted, can be transferred to a new storage space or workstation in the correct posture using the telescopic member 21. It can effectively prevent the item G from colliding with the frame of the three-dimensional rack 200 or the telescopic member 21 of the loading platform 20 due to the posture deviation of the item G. The item G can be reliably stored and retrieved using the telescopic member 21.

[0042] In some embodiments, optionally, a front guide portion 22a is provided at the front end of the adjusting member 22. This front guide portion 22a is, for example, shaped to tilt outward in the lateral X direction toward the loading platform 20 as it extends toward the telescopic member 21. It should be noted that the front guide portion 22a at the front end of the adjusting member 22 only needs to be shaped to tilt outward in the lateral X direction toward the loading platform 20 as it extends toward the telescopic member 21 and is capable of adjusting the posture of the item G on the telescopic member 21. The tilt length and tilt angle of the front guide portion 22a are not particularly limited. As an example, optionally, the main body of the adjusting member 22, excluding the front guide portion 22a, extends parallel to the telescopic direction of the telescopic member 21. In this case, the front guide portion 22a and the main body of the adjusting member 22 can be smoothly connected, for example, by rounded corners, so that the posture of the item G can be adjusted more smoothly. Alternatively, optionally, the adjusting member 22 may not have a main body extending parallel to the telescopic direction of the telescopic member 21 and may consist only of the front guide portion 22a.

[0043] In this way, by providing a front guide 22a in the adjusting member 22 that is inclined laterally to the outside of the loading platform 20 in the direction of extension of the telescopic member 21, the posture of the item G on the telescopic member 21 can be easily and reliably adjusted by the front guide 22a when the telescopic member 21 is retracted, and the item G can be placed on the loading platform 20 in the correct posture without deviation relative to the extension direction of the telescopic member 21.

[0044] In some embodiments, optionally, an adjustment member drive unit 22b is provided on the loading platform 20, which enables the adjustment member 22 to reciprocate in the transverse X direction. As an example, the adjustment member drive unit 22b may include a transverse drive motor, a transverse guide rail, and an adjustment member support. The adjustment member 22 is disposed on the adjustment member support and, under the drive of the transverse drive motor, the adjustment member support and the adjustment member 22 can reciprocate together along the transverse guide rail in the transverse X direction. However, the structure of the adjustment member drive unit 22b is not limited to this; any structure that enables the adjustment member 22 to reciprocate in the transverse X direction can be used, and other structures known in the art can also be employed.

[0045] In this way, by providing an adjustment member drive unit 22b on the loading platform 20 and using the adjustment member drive unit 22b to reciprocate the adjustment member 22 in the transverse X direction, when the item G stored in the three-dimensional rack 200 is transferred to the loading platform 20 using the telescopic member 21 in the loading platform 20, even if the transverse X dimension of the item G is large, after the adjustment member 22 is moved away in the transverse X by using the adjustment member drive unit 22b so that the telescopic member 21 carrying the item G is retracted, the adjustment member 22 is moved closer to each other in the transverse X direction by using the adjustment member drive unit 22b and abuts against the sides of the item G, thereby adjusting the posture of the item G. Therefore, it is possible to conveniently and reliably adjust the posture of various items G with different transverse dimensions.

[0046] In some embodiments, the adjusting member drive unit 22b may optionally also be able to reciprocate the adjusting member 22 in the longitudinal direction Z. In this case, as an example, the adjusting member drive unit 22b may optionally include a longitudinal drive motor and a longitudinal guide rail, which is disposed, for example, between the adjusting member support and the transverse guide rail in the longitudinal direction Z, and is able to reciprocate along the longitudinal guide rail in the longitudinal direction Z under the driving action of the longitudinal drive motor. However, the structure of the adjusting member drive unit 22b is not limited to this; any structure that enables the adjusting member 22 to reciprocate in the longitudinal direction Z can be used, and other structures known in the art can also be employed.

[0047] In this way, by using the adjustment member drive 22b to reciprocate the adjustment member 22 in the longitudinal direction Z, when the item G stored in the three-dimensional shelving 200 is transferred to the loading platform 20 using the telescopic member 21 in the loading platform 20, even if the two sides of the item G are difficult to reliably abut against the adjustment member 22 due to the presence of uneven structures, the adjustment member drive 22b can be used to raise or lower the adjustment member 22 in the longitudinal direction Z, adjusting the adjustment member 22 to a height position suitable for abutting against the two sides of the item G (e.g., flat surfaces on the two sides of the item G without uneven structures), and adjusting the posture of the item G. Therefore, it is possible to conveniently and reliably adjust the posture of various items G with different side structures.

[0048] In some embodiments, optionally, a vision camera 23 is provided on the loading platform 20, which is configured to acquire the relative position of the loading platform 20 relative to the stored item G. As an example, the vision camera 23 can be mounted on the frame of the loading platform 20, such as on the top or side panel, as long as it can acquire the relative position of the loading platform 20 relative to the stored item G; the specific location of the vision camera 23 is not particularly limited. Furthermore, the number of vision cameras 23 is not particularly limited; one or more vision cameras 23 can be installed on the loading platform 20.

[0049] In this way, by setting a vision camera 23 on the loading platform 20 and configuring the vision camera 23 to acquire the relative position of the loading platform 20 with respect to the item G being stored, the vision camera 23 can reliably detect whether the relative position of the loading platform 20 with respect to the item G being stored is correct. This ensures that after the loading platform 20 is moved to an accurate predetermined position using the lateral displacement component 30 and the longitudinal displacement component 40, the telescopic member 21 extends and acquires the item G stored in the item storage space. Therefore, it can reliably prevent accidents such as collisions between the telescopic member 21 and the frame of the automated storage and retrieval system caused by the telescopic member 21 extending when the loading platform 20 is offset from the predetermined position.

[0050] In some embodiments, such as Figure 4 and Figure 5 As shown, optionally, a limiting member 24 is provided on the telescopic member 21, which limits the extension and retraction distance of the telescopic member 21. For example, if the telescopic member 21 includes a pair of telescopic forks 21f and a telescopic motor M1, when the telescopic motor M1 causes the pair of telescopic forks 21f to extend and retract relative to the base plate of the loading platform 20, the limiting member 24 limits the extension stroke of the telescopic forks 21f. The limiting member 24 can be, for example, a non-contact limiting structure composed of a proximity sensor or other known in the art, installed on the loading platform 20 or the telescopic member 21, or a contact limiting structure composed of a limiting block or other mechanical component known in the art, installed on the telescopic member 21. As long as the extension stroke of the telescopic forks 21f can be limited by the limiting member 24, its specific structure and installation position are not particularly limited.

[0051] As an example, one option is, such as Figure 4 and Figure 5As shown, the telescopic fork 21f includes, for example, a telescopic fixing part 21f1, a first telescopic part 21f2, and a second telescopic part 21f3 arranged in the longitudinal direction Z. A telescopic motor M1 is connected to the telescopic fixing part 21f1, and under the drive of the telescopic motor M1, the telescopic fixing part 21f1 and the first telescopic part 21f2, as well as the first telescopic part 21f2 and the second telescopic part 21f3, can respectively perform telescopic movements relative to each other. In such a structure, for example, a limiting member 24 can be provided in the telescopic fixing part 21f1 to limit the telescopic stroke of the telescopic fork 21f.

[0052] In this way, by setting a limiting member 24 on the telescopic member 21 and using the limiting member 24 to limit the extension and retraction distance of the telescopic member 21, accidents such as falling off the loading platform 20 due to excessive extension or retraction of the telescopic member 21 can be effectively prevented when storing and retrieving items G using the telescopic member 21. This allows for reliable storage and retrieval of items G using the telescopic member 21 relative to the storage space of the rack 200, thereby improving the reliability of using the stacker crane 100.

[0053] In some embodiments, such as Figure 4 and Figure 5 As shown, optionally, a support member 21a is provided on the telescopic member 21, which supports the article G placed on the telescopic member 21. For example, multiple support members 21a are provided on the upper surface of the telescopic member 21, and the multiple support members 21a contact the article G from its bottom surface and support the article G. Additionally, optionally, the frictional force of the support member 21a relative to the article G is less than the frictional force of the portion of the telescopic member 21 without support members 21a relative to the article G. For example, the coefficient of friction of the support member 21a relative to the article G may be less than the coefficient of friction of the portion of the telescopic member 21 without support members 21a relative to the article G. Furthermore, the support member 21a can also function as an insulating member, thereby effectively preventing electrical conductivity between the article G and the telescopic member 21.

[0054] In this way, by providing a support member 21a in the telescopic member 21 and making the frictional force of the support member 21a relative to the article G less than the frictional force of the part of the telescopic member 21 without the support member 21a relative to the article G, when the posture of the article G on the telescopic member 21 is adjusted by the adjustment member 22 when the telescopic member 21 is retracted, since the frictional force of the support member 21a relative to the article G is small, the article G can be reliably moved relative to the support member 21a to the correct posture under the action of the adjustment member 22, which helps to smoothly adjust the posture of the article G by using the adjustment member 22.

[0055] Additionally, in some embodiments, the support member 21a may optionally have a support body portion 21a1 extending laterally X and a support limiting portion 21a2 extending longitudinally Z from one end of the support body portion 21a1. The support body portion 21a1 is the portion for contacting and supporting the article G from its bottom surface, and the support limiting portion 21a2 is the portion for preventing excessive displacement of the article G in the lateral X direction. Optionally, multiple support members 21a may be respectively provided on a pair of telescopic forks 21f of the telescopic member 21, and the support limiting portion 21a2 may be as follows: Figure 4 and Figure 5 As shown, it is located at the end of the support body 21a1 near the center of the loading platform 20. In this case, a groove structure is correspondingly provided on the bottom surface of the item G supported by the pair of telescopic forks 21f of the telescopic member 21. When the telescopic member 21 extends into the vertical shelf 200 and retrieves the item G, the support limiting part 21a2 in the support member 21a is, for example, housed in the groove structure on the bottom surface of the item G. Thus, when retrieving the item G using the telescopic member 21, the posture of the item G can be pre-adjusted by the cooperation of the support limiting part 21a2 and the groove structure on the bottom surface of the item G before adjustment using the adjustment member 22. This reduces the amount of adjustment based on the adjustment member 22 and makes it easier to adjust the item G to the correct posture.

[0056] Furthermore, by having the support member 21a have a support body portion 21a1 extending in the lateral direction X and a support limiting portion 21a2 extending in the longitudinal direction Z from one end of the support body portion 21a1, when the posture of the item G on the telescopic member 21 is adjusted by the adjustment member 22 when the telescopic member 21 is retracted, the support limiting portion 21a2 can be used to prevent the item G from being excessively displaced in the lateral direction X, thereby improving the reliability when using the stacker crane 100.

[0057] However, it is not limited to this. For example, the support limiting part 21a2 in the support member 21a can be provided at the end of the support body part 21a1 on the side away from the center position of the loading platform 20. In this way, the article G can be placed between the support limiting parts 21a2 of the support member 21a on the pair of telescopic forks 21f without the need to open a groove structure on the bottom surface of the article G. Therefore, not only can the telescopic member 21 be used to access the article G with a specific bottom surface shape, but also the telescopic member 21 can be used to access the article G with a flat bottom surface without a groove structure, which can effectively expand the application range of the stacker crane 100.

[0058] In some embodiments, optionally, a lifting portion 21b is provided at the front end of the telescopic member 21. As an example, the lifting portion 21b is, for example, a protrusion provided at the front end of the telescopic member 21. The lifting portion 21b can be integrally formed with the telescopic member 21 or separately provided at the front end of the telescopic member 21.

[0059] In this way, by providing a lifting part 21b at the front end of the telescopic member 21, even if the posture of the item G on the telescopic member 21 is adjusted by the adjusting member 22 when the telescopic member 21 is retracted, the lifting part 21b can reliably prevent the item G from falling off the telescopic member 21 along the extension direction due to the action of the adjusting member 22, thereby further improving the reliability when using the stacker crane 100.

[0060] In some embodiments, optionally, the stacker crane 100 may also include an electrical control box 50 and a plurality of maintenance frames 60. The electrical control box 50 and the plurality of maintenance frames 60 may be located, for example, on the upper side of the bottom frame 11 of the stacker crane frame 10, and can reciprocate along the lateral X direction together with the loading platform 20 via the lateral displacement assembly 30. Optionally, the lateral displacement assembly 30 and the longitudinal displacement assembly 40 can be controlled using the control device in the electrical control box 50 to move the loading platform 20 to a predetermined position in the lateral X and longitudinal Y directions. Additionally, the telescopic member 21 can be controlled using the control device in the electrical control box 50 to extend or retract the telescopic member 21 for storing or retrieving items G. The control devices for the lateral displacement assembly 30, the longitudinal displacement assembly 40, and the telescopic member 21 can be either separately installed or integrated. In addition, multiple maintenance frames 60 can be arranged in the longitudinal Z direction to the top frame 12 of the stacker crane frame 10, allowing operators to conveniently perform maintenance on the stacker crane 100 via the multiple maintenance frames 60 provided on the stacker crane 100.

[0061] Alternatively, the stacker crane 100 described above can be, for example, set in... Figure 6 An inventory storage system is constructed near the illustrated automated storage and retrieval system 200. This system can be used, for example, as an automated warehouse. In such an inventory storage system, the automated storage and retrieval system 200 has, for example, at least one storage space 210, and the items G stored in the storage space 210 can be accessed using the telescopic member 21 in the stacker crane 100. By incorporating the stacker crane 100 described above, the inventory storage system constructed in this way can achieve the same advantageous effects as the stacker crane 100 described above.

[0062] As an example, such as Figure 6 and Figure 7As shown, optionally, in the automated storage and retrieval system 200, for example, an item guide support 211 is provided in the item storage space 210. This item guide support 211 includes, for example, an inclined guide 211a that tilts upwards towards the outside of the item storage space 210; and an item support 211b that extends laterally X from the lower end of the inclined guide 211a. When an item G is placed into the item storage space 210 of the automated storage and retrieval system 200, the item G moves under the guidance of the inclined guide 211a of the item guide support 211 to the support surface of the item support 211b and is supported by the item support 211b. In addition, when the article G is supported by the article guide support 211, the bottom surface of the article guide support 211 and the article G form an extension space for the telescopic member 21 to extend and be inserted. By using the longitudinal displacement assembly 40 to lift the loading platform 20 and the telescopic member 21 by an appropriate distance while the telescopic member 21 is extended into the extension space, the article G is placed on the telescopic member 21.

[0063] In this way, by providing an item guide support 211 in the item storage space 210, and using the tilt guide 211a in the item guide support 211 to guide the item G placed in the item storage space 210 of the automated rack 200, and using the item support 211b in the item guide support 211 to support the item G, the item guide support 211 can be used to guide the item G when it is placed in, so as to prevent the posture of the item G from deviating significantly from the correct posture. This can effectively reduce the amount of posture adjustment of the item G on the telescopic member 21 that needs to be made using the adjustment member 22, and can effectively improve the storage and retrieval efficiency of the item G based on the stacker crane 100 in the item storage and retrieval system.

[0064] The stacker crane 100 and the item storage and retrieval system having the stacker crane 100 and the three-dimensional rack 200 have been described in detail above, but are not limited thereto. The stacker crane 100 of the present invention can also be modified as follows.

[0065] For example, in the above embodiment, a structure is illustrated in which the stacker crane frame 10 is moved along the lateral X direction using the lateral displacement component 30 and the loading platform 20 is moved relative to the stacker crane frame 10 along the longitudinal Z direction using the longitudinal displacement component 40. However, it is not limited to this. It can also be configured to move the stacker crane frame 10 along the longitudinal Z direction using the longitudinal displacement component 40 and move the loading platform 20 relative to the stacker crane frame 10 along the lateral X direction using the lateral displacement component 30. As long as the loading platform 20 can be moved to a predetermined position using the lateral displacement component 30 and the longitudinal displacement component 40, its specific structure is not particularly limited.

[0066] Furthermore, in the above embodiment, an example is given of a structure in which the lateral displacement drive motor M2 of the lateral displacement component 30 is located on the lower side of the stacker frame 10. However, it is not limited to this. It is also possible to configure the lateral displacement drive motor M2 of the lateral displacement component 30 to be located on the upper side of the stacker frame 10. As long as the lateral displacement component 30 can be used to make the loading platform 20 reciprocate along the lateral X, the specific structure is not particularly limited.

[0067] In addition, in the above embodiment, guide members such as rollers that contact the adjustment member 22 can also be provided on the side of the article G. Therefore, when adjusting the posture of the article G on the telescopic member 21 using the adjustment member 22, the rollers or other guide members can effectively reduce the frictional force in the telescopic direction between the adjustment member 22 and the article G, allowing the article G to be smoothly moved onto the loading platform 20 using the telescopic member 21 while the posture of the article G is adjusted using the adjustment member 22.

[0068] Furthermore, although exemplary embodiments of the present invention have been described, those skilled in the art will understand that various changes and modifications can be made to the exemplary embodiments of the present invention without departing from the spirit and scope thereof. Therefore, all changes and modifications are included within the scope of protection of the present invention as defined by the claims. The present invention is defined by the appended claims, and equivalents of those claims are also included.

Claims

1. A stacker (100), characterized in that, The stacker (100) is provided with: a stacker frame body (10); a loading platform (20) provided on the stacker frame body (10) and having a telescopic member (21) for accessing articles (G); a lateral displacement assembly (30) provided on the stacker frame body (10) for moving the stacker frame body (10) along a lateral direction (X); and a longitudinal displacement assembly (40) provided on the stacker frame body (10) for moving the loading platform (20) relative to the stacker frame body (10) along a longitudinal direction (Z), wherein the loading platform (20) is provided with an adjusting member (22) disposed on both sides of the telescopic member (21) in the lateral direction (X), and the adjusting member (22) adjusts the posture of the articles (G) on the telescopic member (21) when the telescopic member (21) is retracted.

2. The stacker (100) according to claim 1, wherein a front end guide portion (22a) is provided at a front end of the adjusting member (22), and the front end guide portion (22a) is formed to be inclined to an outside of the loading platform (20) in the lateral direction (X) as it goes in an extension direction of the telescopic member (21).

3. The stacker (100) according to claim 1 or 2, wherein an adjusting member driving portion (22b) is provided on the loading platform (20), and the adjusting member driving portion (22b) is capable of reciprocating the adjusting member (22) in the lateral direction (X).

4. The stacker (100) according to claim 3, wherein the adjusting member driving portion (22b) is also capable of reciprocating the adjusting member (22) in the longitudinal direction (Z).

5. The stacker (100) according to claim 1 or 2, wherein a vision camera (23) is provided on the loading platform (20), and the vision camera (23) is disposed to be capable of acquiring a relative position of the loading platform (20) relative to the accessed articles (G).

6. The stacker (100) according to claim 1 or 2, wherein a limiting member (24) is provided on the telescopic member (21), and the limiting member (24) limits a movement distance of the telescopic member (21) in extension and retraction.

7. The stacker (100) according to claim 1 or 2, wherein a supporting member (21a) is provided on the telescopic member (21), and the supporting member (21a) is used for supporting the articles (G), a frictional force of the supporting member (21a) relative to the articles (G) is smaller than a frictional force of a portion of the telescopic member (21) without the supporting member (21a) relative to the articles (G).

8. The stacker (100) according to claim 1 or 2, wherein a lifting portion (21b) is provided at a front end of the telescopic member (21).

9. An article accessing system, comprising: ​ The article access system is provided with: The stacker (100) according to any one of claims 1 to 8; and A shelf (200) having at least one article storage space (210), An article (G) stored in the article storage space (210) is accessed using the telescopic member (21) in the stacker (100).

10. The article access system according to claim 9, wherein An article guide support portion (211) is provided in the article storage space (210), The article guide support portion (211) has an inclined guide portion (211a) inclined outward of the article storage space (210) as it goes upward, and an article support portion (211b) extending in the lateral direction (X) from a lower end of the inclined guide portion (211a).

Images