Wheel type omnidirectional stacking machine

Abstract

The utility model discloses a wheel type omni-directional stacking machine, and belongs to the technical field of storage equipment. The stacking machine comprises a cross beam, a hoisting mechanism and two supporting beams, the two supporting beams are arranged at the two ends of the cross beam respectively, walking mechanisms are arranged at the bottoms of the two supporting beams, the hoisting mechanism is arranged in the middle of the cross beam, and control devices used for controlling the hoisting mechanism and the walking mechanisms are arranged on the supporting beams. The two supporting beams can be driven by the walking mechanism to walk in various different modes, so that the cross beam and the supporting beams form a door-shaped frame which can freely walk in a field, and therefore, the door-shaped frame has better flexibility and can adapt to different fields; the hoisting mechanism is arranged in the middle of the cross beam and used for hoisting the materials and driving the materials to a storage position for stacking.

Description

Technical Field

[0001] This utility model relates to the field of warehousing equipment technology, and in particular to a wheeled omnidirectional stacker crane. Background Technology

[0002] In the field of modern logistics warehousing, efficient and precise cargo handling and storage are key to improving operational efficiency and reducing costs. As one of the core pieces of equipment in warehousing and logistics, the performance and functionality of stacker cranes directly affect the operational effectiveness of the entire warehousing system. Traditional stacker cranes have certain limitations in terms of flexibility and space adaptability, making it difficult to meet the increasingly diverse and complex warehousing needs. Utility Model Content

[0003] Other features and advantages of this invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of this invention may be realized and obtained by means of the structures particularly pointed out in the description and other accompanying drawings.

[0004] The purpose of this invention is to overcome the above-mentioned shortcomings and provide a wheeled omnidirectional stacker.

[0005] To achieve the above objectives, the technical solution of this utility model is: a wheeled omnidirectional stacker, including a crossbeam, a lifting mechanism and two support beams, the two support beams being respectively disposed at both ends of the crossbeam, a traveling mechanism being disposed at the bottom of the two support beams, the lifting mechanism being disposed in the middle of the crossbeam, and a control device for controlling the lifting mechanism and the traveling mechanism being disposed on the support beams.

[0006] By adopting the above technical solution, the walking mechanism can drive the two support beams to move in various ways, so that the crossbeam and support beam form a portal frame that can move freely in the site, thus having better flexibility to adapt to different sites. The lifting mechanism is set in the middle of the crossbeam to lift materials and move them to the storage position for stacking.

[0007] Preferably, the lifting mechanism includes a lifting device, a lifting rope, and a winch assembly for winding and unwinding the lifting rope. The winch assembly is mounted on the support beam. One end of the lifting rope is connected to the winch assembly, and the other end of the lifting rope is connected to the lifting device via a drive mechanism. The lifting device is connected to the support beam via a guide mechanism. This invention utilizes a lifting device to clamp and fix materials to the lifting rope, a winch assembly to wind or unwind the rope, driving the lifting device to rise or fall vertically, and a guide mechanism to prevent the lifting device from swaying, enabling it to move vertically up and down under the drive of the lifting rope and the winch assembly.

[0008] Preferably, the guiding mechanism includes a scissor fork assembly, one end of which is connected to the crossbeam, and the other end of which is connected to the lifting device. The scissor fork assembly includes several scissor fork groups, each including two connecting rods. The middle portions of the two connecting rods are rotatably connected to each other, and the two connecting rods form an X-shape. Two connecting rods in one scissor fork group are rotatably connected to one end of two connecting rods in an adjacent scissor fork group. This invention utilizes the cross-rotation of multiple connecting rods to form a scissor fork assembly, which can guide the lifting device vertically through its own telescopic movement, while the rigid structure formed by the multiple connecting rods prevents the lifting device from swaying.

[0009] Preferably, the scissor fork assembly is provided in two sets, with the two sets of scissor fork assemblies respectively located on both sides of the lifting device. A reinforcing rod connects the connecting rods in the two sets of scissor fork assemblies. This utility model strengthens the lifting device by providing scissor fork assemblies on both sides of the lifting device. The reinforcing rod enables the two sets of scissor fork assemblies to form a single unit, further enhancing its rigidity and preventing swaying.

[0010] Preferably, the lifting device is equipped with a load-bearing wheel, and one end of the lifting rope is guided by several guide wheels to pass over the load-bearing wheel, and one end of the lifting rope is fixedly connected to the crossbeam. This invention utilizes the load-bearing wheel to enable the lifting device to move by passing the lifting rope from below.

[0011] Preferably, the walking mechanism includes a plurality of drive wheels, which are respectively disposed at the bottom of two support beams. The number of drive wheels on the two support beams is the same, and each drive wheel is driven by a set of servo motors. This invention, by providing a separate servo motor for each drive wheel, allows for individual control of the rotation speed of each drive wheel, thereby enabling the walking mechanism to have more walking modes and thus be suitable for different sites.

[0012] Preferably, a second servo motor for steering the drive wheel is provided on one side of each drive wheel. This invention, by providing a second servo motor for steering the drive wheel, allows for individual control of the steering of each drive wheel, thereby enabling the walking mechanism to have more walking modes and thus be suitable for different sites.

[0013] Preferably, both support beams are detachably connected to the crossbeam, and both support beams are rotatably connected to a tilting frame, which is fixedly connected to the crossbeam. This invention utilizes the tilting frame to connect the support beams and crossbeams into a single unit, allowing them to rotate relative to each other. The rotation of the support beams enables the stacker crane's portal frame to fold, thus facilitating transport by the stacker crane.

[0014] Preferably, the tilting frame is a right-angled triangle, with one end of the hypotenuse rotatably connected to the support beam, and the other end of the hypotenuse rotatably connected to the support beam. One of the right-angled sides of the tilting frame is perpendicular to the crossbeam. This invention utilizes this tilting frame structure to support the crossbeam after the support beam is tilted, creating a space between the support beam and the crossbeam that prevents pressure on the portal frame.

[0015] Preferably, both support beams are equipped with laser anti-collision sensors. This invention utilizes a laser anti-collision mechanism to prevent collisions with the stacker crane.

[0016] In summary, the beneficial effects of this utility model are:

[0017] 1. The walking mechanism can drive the two support beams to move in various ways, so that the crossbeam and support beam form a portal frame that can move freely in the field, thus having better flexibility to adapt to different sites. The lifting mechanism is set in the middle of the crossbeam to lift materials and move them to the storage location for stacking.

[0018] 2. The scissor fork assembly is formed by the cross rotation of multiple links. It can guide the lifting device to move vertically through its own extension and retraction, while the rigid structure formed by multiple links prevents the lifting device from swaying.

[0019] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure.

[0020] Undoubtedly, such and other objects of this invention will become more apparent after the following detailed description of the preferred embodiments, which are illustrated in various accompanying drawings and illustrations.

[0021] To make the above and other objects, features and advantages of this utility model more apparent and understandable, one or more preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0022] The accompanying drawings are provided to further understand the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation thereof.

[0023] In the accompanying drawings, the same parts use the same reference numerals, and the drawings are schematic and not necessarily drawn to actual scale.

[0024] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only one or more embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on such drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the overall structure;

[0026] Figure 2 This is a schematic diagram of the overall structure in the folded state.

[0027] Key reference numerals in the attached drawings: 1. Crossbeam; 2. Support beam; 3. Lifting device; 4. Lifting rope; 5. Winch assembly; 6. Control device; 7. Connecting rod; 8. Reinforcing rod; 9. Load-bearing wheel; 10. Drive wheel; 11. Servo motor one; 12. Servo motor two; 13. Tilting frame; 14. Guide wheel. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to specific embodiments. It should be understood that the specific embodiments described herein are merely for explaining the present utility model and are not intended to limit the present utility model.

[0029] Furthermore, it should be understood in the description of this utility model that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0030] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral unit; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. However, specifying a direct connection indicates that the two main bodies at the connection point are not connected through a transitional structure, but are simply connected to form a whole through a connecting structure. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0031] In this utility model, unless otherwise expressly specified and limited, the first feature "on" or "below" the second feature may be in direct contact with the first and second features, or indirect contact through an intermediate medium. In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this utility model. 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.

[0032] like Figure 1-2 As shown, a wheeled omnidirectional stacker includes a crossbeam 1, a lifting mechanism, and two support beams 2. The two support beams 2 are respectively located at both ends of the crossbeam 1. A traveling mechanism is located at the bottom of the two support beams 2. The lifting mechanism is located in the middle of the crossbeam 1. A control device 6 for controlling the lifting mechanism and the traveling mechanism is provided on the support beams 2.

[0033] By adopting the above technical solution, the walking mechanism can drive the two support beams 2 to move in various ways, so that the crossbeam 1 and the support beam 2 form a portal frame that can move freely in the site, thus having better flexibility to adapt to different sites. The lifting mechanism is set in the middle of the crossbeam 1 to lift materials and move them to the storage position for stacking.

[0034] The lifting mechanism includes a lifting device 3, a lifting rope 4, and a winch assembly 5 for winding and unwinding the lifting rope 4. The winch assembly 5 is mounted on the support beam 2. One end of the lifting rope 4 is connected to the winch assembly 5, and the other end of the lifting rope 4 is connected to the lifting device 3 via a drive mechanism. The lifting device 3 is connected to the support beam 2 via a guide mechanism. The lifting device 3 can be used to clamp and fix materials to the lifting rope 4. The winch assembly 5 can wind or unwind the lifting rope 4, causing the lifting device 3 to rise or fall vertically. The guide mechanism is used to prevent the lifting device 3 from swaying and to allow it to move vertically up and down under the drive of the lifting rope 4 and the winch assembly 5.

[0035] The guiding mechanism includes a scissor fork assembly. One end of the scissor fork assembly is connected to the crossbeam 1, and the other end is connected to the lifting device 3. The scissor fork assembly includes several scissor fork groups, each of which includes two connecting rods 7. The middle parts of the two connecting rods 7 are rotatably connected to each other, and the two connecting rods 7 form an X shape. The two connecting rods 7 in one scissor fork group are rotatably connected to one end of the two connecting rods 7 in the adjacent scissor fork group. By utilizing the cross rotation of multiple connecting rods 7 to form the scissor fork assembly, the lifting device 3 can be guided to move vertically through its own extension and retraction. At the same time, the rigid structure formed by the multiple connecting rods 7 prevents the lifting device 3 from swaying.

[0036] The scissor fork assembly consists of two sets, each positioned on one side of the lifting device 3. A reinforcing rod 8 connects the connecting rod 7 between the two sets of scissor fork assemblies. By installing scissor fork assemblies on both sides of the lifting device 3, the strength of the lifting device 3 is enhanced. The reinforcing rod 8 allows the two sets of scissor fork assemblies to form a single unit, further increasing its rigidity and preventing swaying.

[0037] The lifting device 3 is equipped with a load-bearing wheel 9. One end of the lifting rope 4 is guided by several guide wheels 14 to pass over the load-bearing wheel 9, and one end of the lifting rope 4 is fixedly connected to the crossbeam 1. The load-bearing wheel 9 allows the lifting rope 4 to drive the lifting device 3 to move by passing it over the load-bearing wheel from below.

[0038] The walking mechanism includes several drive wheels 10, which are respectively set at the bottom of two support beams 2. The number of drive wheels 10 on the two support beams 2 is the same, and each drive wheel 10 is driven by a set of servo motors 11. By setting a servo motor 11 for each drive wheel 10, the rotation speed of each drive wheel 10 can be controlled individually, thereby enabling the walking mechanism to have more walking modes and thus be suitable for different sites.

[0039] Each drive wheel 10 is equipped with a servo motor 2 12 on one side for steering the drive wheel 10. By equipping each drive wheel 10 with a servo motor 2 12 for steering, the steering of each drive wheel 10 can be controlled independently, thereby enabling the walking mechanism to have more walking modes and thus be suitable for different sites.

[0040] Both support beams 2 are detachably connected to the crossbeam 1, and both support beams 2 are rotatably connected to a tilting frame 13, which is fixedly connected to the crossbeam 1. The tilting frame 13 connects the support beams 2 and the crossbeam 1 into one unit, allowing the crossbeam 1 and support beams 2 to rotate relative to each other. The rotation of the support beams 2 allows the stacker crane's portal frame to fold, thus facilitating the stacker crane's transportation.

[0041] The tilting frame 13 is a right-angled triangle. One end of the hypotenuse of the tilting frame 13 is rotatably connected to the support beam 2, and the other end of the hypotenuse of the tilting frame 13 is also rotatably connected to the support beam 2. One of the right-angled sides of the tilting frame 13 is perpendicular to the crossbeam 1. This structure of the tilting frame 13 allows the crossbeam 1 to be supported after the support beam 2 is tilted, thus creating a gap between the support beam 2 and the crossbeam 1 that prevents pressure on the portal frame.

[0042] Both support beams 2 are equipped with laser anti-collision sensors. The laser anti-collision mechanism can prevent the stacker crane from colliding.

[0043] It should be noted that many specific details have been set forth in the above description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

Claims

1. A wheeled omnidirectional stacker comprising a crossbeam (1), a hoisting mechanism and two support beams (2), characterized in that: Two support beams (2) are arranged at two ends of the cross beam (1), and walking mechanisms are arranged at bottoms of the two support beams (2); the lifting mechanism is arranged at the middle of the cross beam (1); and a control device (6) for controlling the lifting mechanism and the walking mechanisms is arranged on the support beam (2).

2. The wheel-based omnidirectional stacker according to claim 1, characterized in that: The lifting mechanism comprises a sling (3), a lifting rope (4) and a winch assembly (5) for winding and unwinding the lifting rope (4), the winch assembly (5) is arranged on the support beam (2), one end of the lifting rope (4) is connected to the winch assembly (5), the other end of the lifting rope (4) is in transmission connection with the sling (3), and the sling (3) is connected to the cross beam (1) through a guide mechanism.

3. The wheel-based omnidirectional stacker according to claim 2, characterized in that: The guide mechanism comprises a scissor fork assembly, one end of the scissor fork assembly is connected to the cross beam (1), the other end of the scissor fork assembly is connected to the sling (3), the scissor fork assembly comprises a plurality of scissor fork groups, each scissor fork group comprises two connecting rods (7), the middle portions of the two connecting rods (7) are rotationally connected to each other, and the two connecting rods (7) form an X shape, and one end of the two connecting rods (7) in the scissor fork group is rotationally connected to one end of the two connecting rods (7) in the adjacent scissor fork group.

4. The wheel-based omnidirectional stacker according to claim 3, characterized in that: The scissor fork assembly is provided with two groups, the two groups of scissor fork assemblies are arranged at two sides of the sling (3), and the connecting rods (7) in the two groups of scissor fork assemblies are connected through reinforcing rods (8).

5. The wheel-based omnidirectional stacker according to claim 2, wherein: A load bearing wheel (9) is arranged on the sling (3), one end of the lifting rope (4) is guided to pass through the load bearing wheel (9) through a plurality of guide wheels (14), and the other end of the lifting rope (4) is fixedly connected to the cross beam (1).

6. The wheel-based omnidirectional stacker according to claim 1, wherein: The walking mechanism comprises a plurality of drive wheels (10), the plurality of drive wheels (10) are arranged at bottoms of the two support beams (2) respectively, the numbers of the drive wheels (10) on the two support beams (2) are the same, and each drive wheel (10) is driven by a group of servo motors (11).

7. The wheel-based omnidirectional stacker according to claim 6, characterized in that: One side of each drive wheel (10) is provided with a servo motor (12) for driving the drive wheel (10) to turn.

8. The wheel-based omnidirectional stacker according to claim 1, wherein: The two support beams (2) are detachably connected to the cross beam (1), and each of the two support beams (2) is rotationally connected with a turnover frame (13), and the turnover frame (13) is fixedly connected to the cross beam (1).

9. The wheel-based omnidirectional stacker according to claim 8, characterized in that: The turnover frame (13) is a right triangle, one end of the hypotenuse of the turnover frame (13) is rotationally connected to the support beam (2), the other end of the hypotenuse of the turnover frame (13) is rotationally connected to the support beam (2), and one of the right angles of the turnover frame (13) is perpendicular to the cross beam (1).

10. The wheel-based omnidirectional stacker according to claim 1, wherein: Laser anti-collision sensors are arranged on the two support beams (2).

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