Self-adjusting walking wheel mechanism and rail laneway stacker
By using a self-adjusting walking wheel mechanism and disc springs to drive the walking wheels to float, the safety hazards caused by the height difference between the ground rail and the ground rail are solved, and the stable operation and efficient maintenance of the stacker crane are achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHENZHEN XINCHANGDA TECH CO LTD
- Filing Date
- 2025-06-24
- Publication Date
- 2026-05-05
AI Technical Summary
In existing technologies, the height difference between the ground and the rail leads to safety hazards such as the wheels being suspended in the air, a surge in wheel pressure, increased wear, and derailment. Furthermore, existing solutions cannot adapt to ground settlement and long-term load deformation in real time.
Design a self-adjusting walking wheel mechanism, including a housing, a pin shaft, a walking wheel assembly, and a floating adjustment assembly. The walking wheel is driven to float up and down by the elastic deformation of a disc spring, ensuring close contact with the ground rail and adapting to height differences.
This achieves close contact between the traveling wheels and the ground rails, avoiding suspension, pressure surges, and wear, thus improving the operational safety and efficiency of the stacker crane and reducing maintenance costs.
Smart Images
Figure CN224197757U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of stacker cranes, specifically to a self-adjusting walking wheel mechanism and a rail-guided aisle stacker crane. Background Technology
[0002] In automated warehousing systems, stacker cranes rely on their wheels to run on parallel tracks for precise positioning. However, due to foundation settlement, installation errors, or long-term load deformation, a height difference (leveling deviation) often occurs between the two tracks, leading to a series of operational hazards.
[0003] The height difference causes some of the travel wheels to be suspended in the air, resulting in a surge in pressure on the remaining wheels. This accelerates the wear of the wheel flanges and treads. Furthermore, when the height difference is too large, the wheel flanges are forcibly pressed against the side of the rail, which may lead to rail climbing or derailment accidents during high-speed turns or start-stop phases. In addition, slippage of the suspended wheels causes sudden changes in motor torque, frequently triggering overload protection shutdowns. At the same time, the encoder count does not match the actual displacement, resulting in deviations in the fork's loading and unloading position.
[0004] In existing technologies, solutions such as spring floating wheels or manual periodic track alignment are commonly used to solve the problem of height difference between ground and rail. However, although spring floating wheels can compensate for the height difference, the springs are prone to fatigue and breakage. Under high temperature conditions, the stiffness decreases and the imbalance is aggravated. Manual periodic track alignment relies on laser rangefinders to manually adjust the track, which has a long maintenance cycle and cannot suppress the instantaneous height difference caused by real-time settlement. Utility Model Content
[0005] The purpose of this application is to provide a self-adjusting walking wheel mechanism and a rail-guided stacker crane, which can automatically adjust the height of the walking wheels to ensure close contact between the walking wheels and the ground rail, thereby ensuring the normal and safe operation of the stacker crane.
[0006] This utility model provides a self-adjusting walking wheel mechanism. The technical solution adopted is as follows: a self-adjusting walking wheel mechanism includes a housing, a pin, a walking wheel assembly, and a floating adjustment assembly. The walking wheel assembly includes a mounting frame and a walking wheel fixedly mounted on the mounting frame. One end of the mounting frame is hinged to the housing through the pin, and the other end is elastically connected to the housing through the floating adjustment assembly, so that the walking wheel can float up and down relative to the housing.
[0007] The floating adjustment assembly includes an adjustment shaft with one end abutting against the housing and the other end vertically downward and passing through the mounting frame, as well as multiple disc springs sleeved on the outside of the adjustment shaft. The adjustment shaft includes a shaft body and a head that abuts against the housing. The multiple disc springs are located between the head and the mounting frame. The adjustment shaft and the disc springs cooperate to drive the walking wheel to float up and down relative to the housing.
[0008] Optionally, the floating adjustment assembly further includes a fixed cylinder fixedly mounted on the mounting bracket, and the plurality of disc springs are housed within the fixed cylinder. Both the fixed cylinder and the mounting bracket are provided with through holes for the adjustment shaft to pass through.
[0009] Optionally, the fixed cylinder is also provided with an oil injection nozzle that communicates with its interior, the oil injection nozzle being used to inject oil into the interior of the fixed cylinder.
[0010] Optionally, a limiting block is fixedly provided at the top of the fixed cylinder, and the head portion of the adjusting shaft is accommodated within the limiting block.
[0011] Optionally, the adjusting shaft is further fitted with a plurality of spaced abutment rings, and the plurality of disc springs are evenly distributed between the plurality of abutment rings.
[0012] Optionally, the floating adjustment assembly further includes an adjusting nut threaded onto the shaft of the adjusting shaft, and a limiting pin for limiting the adjusting nut. The adjusting nut is used to adjust the initial position of the traveling wheel relative to the housing. The adjusting nut is located at the end of the shaft away from the head. The limiting pin is arranged in an axial direction perpendicular to the adjusting shaft. The limiting pin passes through the adjusting shaft and is used to abut against the bottom of the adjusting nut.
[0013] Optionally, an upper mounting plate and a lower mounting plate are respectively provided on the side of the housing and the mounting bracket away from the pin shaft, and the floating adjustment component is located between the upper mounting plate and the lower mounting plate.
[0014] Optionally, the upper mounting plate is provided with an abutment plate at the position corresponding to the adjustment shaft for abutting against the head of the adjustment shaft.
[0015] Optionally, a crash barrier is provided between the upper mounting plate and the lower mounting plate. One end of the crash barrier is fixedly connected to the lower mounting plate, and the other end extends vertically upward to the top of the upper mounting plate. The floating adjustment component is located on the side of the crash barrier facing the housing and the mounting frame.
[0016] A second aspect of this application provides a rail-guided stacker crane, including a chassis travel system, the chassis travel system including ground rails and a self-adjusting travel wheel mechanism as described above.
[0017] After adopting the above technical solution, the beneficial effects of this utility model are as follows:
[0018] This application provides a self-adjusting traveling wheel mechanism and a rail-guided stacker crane, comprising a housing, a pin shaft, a traveling wheel assembly, and a floating adjustment assembly. The traveling wheel assembly is hinged to one end of the housing via the pin shaft, while the other end is elastically connected to the housing via the floating adjustment assembly. When the traveling wheel encounters a height difference with the ground rail, the disc spring undergoes corresponding elastic deformation, driving the traveling wheel to float up and down, ensuring close contact between the traveling wheel and the ground rail. This guarantees the normal and safe operation of the stacker crane and avoids safety hazards such as traveling wheel suspension, increased wheel pressure, accelerated wear, and rail climbing or derailment caused by height differences. Furthermore, the design of the floating adjustment assembly allows the traveling wheel to adapt in real time to height changes caused by foundation settlement or long-term load deformation, eliminating the need for regular manual rail alignment, reducing maintenance costs, and improving the operating efficiency and reliability of the stacker crane. Attached Figure Description
[0019] 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 some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0020] Figure 1 This is a schematic diagram of the overall structure of this embodiment;
[0021] Figure 2 This is a cross-sectional view of this embodiment;
[0022] Figure 3 yes Figure 2 Enlarged view of part A in the middle.
[0023] Explanation of reference numerals in the attached drawings: 10. Housing; 11. Upper mounting plate; 111. Abutment plate; 12. Anti-collision plate; 20. Pin; 30. Wheel assembly; 31. Mounting bracket; 311. Lower mounting plate; 32. Wheel; 40. Floating adjustment assembly; 41. Adjusting shaft; 411. Shaft body; 412. Head; 42. Disc spring; 43. Fixing cylinder; 431. Oil nozzle; 432. Through hole; 44. Limiting block; 45. Abutment ring; 46. Adjusting nut; 47. Limiting pin. Detailed Implementation
[0024] The following will refer to the appendix in the embodiments of this utility model. Figures 1-3 The technical solutions in the embodiments of this utility model are clearly and completely described herein. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this utility model.
[0025] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.
[0026] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, if the word "and / or" appears throughout the text, it means including three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution that simultaneously satisfies A and B. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.
[0027] This embodiment provides a self-adjusting walking wheel mechanism for use with the ground rail of a rail-guided stacker crane, as shown in the following figure. Figures 1-3 The system includes a housing 10, a pin 20, a wheel assembly 30, and a floating adjustment assembly 40. The wheel assembly 30 includes a mounting frame 31 and wheels 32 fixedly mounted on the mounting frame 31. One end of the mounting frame 31 is hinged to the inside of the housing 10 via the pin 20, and the other end is elastically connected to the housing 10 via the floating adjustment assembly 40, allowing the wheels 32 to float up and down relative to the housing 10. In other words, one end of the wheel assembly 30 is hinged to the housing 10 via the pin 20, and the other end is elastically connected to the housing 10 via the floating adjustment assembly 40.
[0028] Specifically, the floating adjustment assembly 40 includes an adjustment shaft 41 with one end abutting against the housing 10 and the other end vertically downward and passing through the mounting bracket 31, and a plurality of disc springs 42 sleeved on the outside of the adjustment shaft 41. The adjustment shaft 41 is vertically arranged and includes a shaft body 411 and a head 412 located at the top of the shaft body 411 for abutting against the housing 10. The plurality of disc springs 42 are located between the head 412 and the mounting bracket 31, and the adjustment shaft 41 and the disc springs 42 cooperate to drive the walking wheel 32 to float up and down relative to the housing 10.
[0029] During operation, the radial load of the traveling wheel 32 is transmitted to the housing 10 through the pin 20 and the floating adjustment component 40. At this time, the disc spring 42 is compressed. When there is a height difference between the two ground rails, the disc spring 42 on the traveling wheel 32 undergoes corresponding deformation, causing the traveling wheel 32 to float up and down relative to the housing 10. This ensures that the traveling wheel 32 is always in close contact with the ground rail, thereby ensuring the normal and safe operation of the stacker crane and avoiding safety hazards such as the traveling wheel 32 being suspended, wheel pressure surging, wear aggravated, and climbing or derailing due to height differences.
[0030] Furthermore, the floating adjustment assembly 40 also includes a fixed cylinder 43 fixedly mounted on the mounting bracket 31, and multiple disc springs 42 are housed in the fixed cylinder 43. Both the fixed cylinder 43 and the mounting bracket 31 are provided with through holes 432 for the adjustment shaft 41 to pass through.
[0031] Understandably, the fixed cylinder 43 not only provides a stable housing space for the disc spring 42, but also helps maintain the stability and consistency of the disc spring 42 under stress. The through hole 432 ensures that the adjusting shaft 41 can smoothly pass through the fixed cylinder 43 and the mounting bracket 31, achieving an elastic connection with the housing 10. In addition, this structure helps simplify the installation and maintenance process, and improves the reliability and durability of the entire traveling wheel 32 mechanism.
[0032] Furthermore, the fixed cylinder 43 is also provided with an oil injection nozzle 431 that communicates with its interior, and the oil injection nozzle 431 is used to inject oil into the interior of the fixed cylinder 43.
[0033] Understandably, the oil nozzle 431 facilitates lubrication of the disc spring 42 inside the fixed cylinder 43, reducing friction and wear during deformation and extending its service life. Simultaneously, the oil also provides a buffering effect, further enhancing the stability and smoothness of the traveling wheel 32 when dealing with height differences. Furthermore, periodically injecting oil into the fixed cylinder 43 effectively prevents the disc spring 42 from rusting or jamming due to prolonged stress, ensuring the normal operation of the traveling wheel 32 mechanism.
[0034] In addition, it should be noted that, in order to avoid oil leakage, a sealing ring or other sealing structure can be installed in the gap between the adjusting shaft 41 and the fixed cylinder 43 during the specific implementation process.
[0035] Furthermore, a limiting block 44 is fixedly provided on the top of the fixed cylinder 43, and the head 412 of the adjusting shaft 41 is accommodated in the limiting block 44.
[0036] The limiting block 44 is used to limit the deformation of the disc spring 42 inside the fixed cylinder 43. On the one hand, it prevents the disc spring 42 from deforming excessively under excessive force, which could lead to damage or failure of the disc spring 42. On the other hand, by controlling the deformation range of the disc spring 42, it allows the traveling wheel 32 to float up and down within a certain range, preventing the stacker crane from running on ground rails with excessive height differences, thus ensuring that the stacker crane operates under safe and stable conditions. At the same time, the limiting block 44 also guides and positions the movement of the adjusting shaft 41, ensuring that the adjusting shaft 41 remains stable during movement, further improving the stability and reliability of the traveling wheel 32 mechanism.
[0037] Furthermore, the adjusting shaft 41 is also fitted with a plurality of spaced abutment rings 45, and a plurality of disc springs 42 are evenly distributed between the plurality of abutment rings 45.
[0038] Understandably, the abutment ring 45 not only serves to space and protect the disc springs 42, preventing them from squeezing or rubbing against each other during stress, thus avoiding damage or performance degradation, but also increases the contact area between the adjusting shaft 41 and the disc springs 42. This allows for more even distribution of stress on the disc springs 42, further improving their load-bearing capacity and stability.
[0039] Furthermore, the floating adjustment assembly 40 also includes an adjusting nut 46 threaded onto the shaft body 411 of the adjusting shaft 41, and a limiting pin 47 for limiting the adjusting nut 46. The adjusting nut 46 is used to adjust the initial position of the traveling wheel 32 relative to the housing 10. The adjusting nut 46 is located at the end of the shaft body 411 away from the head 412. The limiting pin 47 is arranged in an axial direction perpendicular to the adjusting shaft 41. The limiting pin 47 passes through the adjusting shaft 41 and is used to abut against the bottom of the adjusting nut 46.
[0040] Understandably, the design of the adjusting nut 46 allows users to adjust the initial height of the traveling wheel 32 relative to the housing 10 by rotating the adjusting nut 46 according to actual needs, thereby achieving precise control over the floating range of the traveling wheel 32. This design not only improves the flexibility of the traveling wheel 32 mechanism but also enhances the stacker crane's adaptability to different working environments and rail heights. The limit pin 47 ensures that the adjusting nut 46 can be stably held in the required position after adjustment, preventing it from loosening or shifting due to vibration or other external forces during operation.
[0041] Furthermore, an upper mounting plate 11 and a lower mounting plate 311 are respectively provided on the side of the housing 10 and the mounting bracket 31 away from the pin 20, and the floating adjustment component 40 is located between the upper mounting plate 11 and the lower mounting plate 311.
[0042] Understandably, the upper mounting plate 11 and the lower mounting plate 311 provide a stable installation environment for the floating adjustment assembly 40, enabling the floating adjustment assembly 40 to be securely connected between the housing 10 and the mounting bracket 31.
[0043] In addition, to prevent damage to the adjusting shaft 41 or the upper mounting plate 11 when they come into contact with each other, the upper mounting plate 11 is provided with an abutment plate 111 on the side facing the adjusting shaft 41 for contacting the adjusting shaft 41.
[0044] Furthermore, a crash barrier 12 is provided between the upper mounting plate 11 and the lower mounting plate 311. One end of the crash barrier 12 is fixedly connected to the lower mounting plate 311, and the other end extends vertically upward to the top of the upper mounting plate 11. The floating adjustment component 40 is located on the side of the crash barrier 12 facing the housing 10 and the mounting bracket 31.
[0045] In this embodiment, the anti-collision plate 12 is arranged in a "U" shape, with its opening facing the housing 10 and the mounting bracket 31, and the floating adjustment component 40 is located at the opening of the anti-collision plate 12.
[0046] The design of the anti-collision plate 12 not only enhances the structural strength of the traveling wheel 32 mechanism but also provides it with effective collision protection. During stacker crane operation, in the event of an accidental collision, the anti-collision plate 12 can absorb the impact force first, thereby protecting the floating adjustment assembly 40 and other critical components from damage. This extends the service life of the traveling wheel 32 mechanism and also improves the overall safety and reliability of the stacker crane.
[0047] The second aspect of this embodiment also provides a rail-guided stacker crane, which includes a chassis travel system and a stacker crane body disposed on the chassis travel system. The chassis travel system includes two ground rails and a self-adjusting travel wheel mechanism as described above.
[0048] Working principle: When the stacker crane is running, the chassis travel system carries the stacker crane body to move on the ground rails. When there is a height difference between the ground rails, the self-adjusting travel wheel 32 mechanism starts to function. When the travel wheel assembly 30 encounters a height difference, the disc spring 42 of the floating adjustment assembly 40 will deform. This deformation can adaptively adjust according to the size of the height difference, causing the travel wheel 32 to float up and down relative to the housing 10, ensuring that the travel wheel 32 always maintains close contact with the ground rails.
[0049] The above is only used to illustrate the technical solution of this utility model and not to limit it. Any other modifications or equivalent substitutions made by those skilled in the art to the technical solution of this utility model, as long as they do not depart from the spirit and scope of the technical solution of this utility model, should be covered within the scope of the claims of this utility model.
Claims
1. A self-adjusting walking wheel mechanism, characterized in that, The device includes a housing (10), a pin (20), a wheel assembly (30), and a floating adjustment assembly (40). The wheel assembly (30) includes a mounting frame (31) and a wheel (32) fixed on the mounting frame (31). One end of the mounting frame (31) is hinged to the housing (10) via the pin (20), and the other end is elastically connected to the housing (10) via the floating adjustment assembly (40) so that the wheel (32) can float up and down relative to the housing (10). The floating adjustment assembly (40) includes an adjustment shaft (41) with one end abutting against the housing (10) and the other end vertically downward and passing through the mounting bracket (31), and a plurality of disc springs (42) sleeved on the outside of the adjustment shaft (41). The adjustment shaft (41) includes a shaft body (411) and a head (412) abutting against the housing (10). The plurality of disc springs (42) are located between the head (412) and the mounting bracket (31). The adjustment shaft (41) and the disc springs (42) cooperate to drive the walking wheel (32) to float up and down relative to the housing (10).
2. The self-adjusting walking wheel mechanism according to claim 1, characterized in that, The floating adjustment assembly (40) also includes a fixed cylinder (43) fixed on the mounting bracket (31), and a plurality of disc springs (42) are housed in the fixed cylinder (43). Both the fixed cylinder (43) and the mounting bracket (31) are provided with through holes (432) for the adjustment shaft (41) to pass through.
3. The self-adjusting walking wheel mechanism according to claim 2, characterized in that, The fixed cylinder (43) is also provided with an oil injection nozzle (431) that communicates with its interior. The oil injection nozzle (431) is used to inject oil into the interior of the fixed cylinder (43).
4. The self-adjusting walking wheel mechanism according to claim 2, characterized in that, A limiting block (44) is fixedly provided at the top of the fixed cylinder (43), and the head (412) of the adjusting shaft (41) is housed in the limiting block (44).
5. A self-adjusting walking wheel mechanism according to any one of claims 1-4, characterized in that, The adjusting shaft (41) is also fitted with a plurality of spaced abutment rings (45), and a plurality of disc springs (42) are evenly distributed between the plurality of abutment rings (45).
6. The self-adjusting walking wheel mechanism according to claim 1, characterized in that, The floating adjustment assembly (40) further includes an adjusting nut (46) threaded onto the shaft body (411) of the adjusting shaft (41), and a limiting pin (47) for limiting the adjusting nut (46). The adjusting nut (46) is used to adjust the initial position of the traveling wheel (32) relative to the housing (10). The adjusting nut (46) is located at the end of the shaft body (411) away from the head (412). The limiting pin (47) is arranged in an axial direction perpendicular to the adjusting shaft (41). The limiting pin (47) passes through the adjusting shaft (41) and is used to abut against the bottom of the adjusting nut (46).
7. The self-adjusting walking wheel mechanism according to claim 1, characterized in that, The housing (10) and the mounting bracket (31) are respectively provided with an upper mounting plate (11) and a lower mounting plate (311) on the side away from the pin (20), and the floating adjustment component (40) is located between the upper mounting plate (11) and the lower mounting plate (311).
8. The self-adjusting walking wheel mechanism according to claim 7, characterized in that, The upper mounting plate (11) is provided with an abutment plate (111) at the position corresponding to the adjustment shaft (41) for abutting against the head (412) of the adjustment shaft (41).
9. A self-adjusting walking wheel mechanism according to claim 8, characterized in that, A crash plate (12) is also provided between the upper mounting plate (11) and the lower mounting plate (311). One end of the crash plate (12) is fixedly connected to the lower mounting plate (311), and the other end extends vertically upward to the top of the upper mounting plate (11). The floating adjustment component (40) is located on the side of the crash plate (12) facing the housing (10) and the mounting bracket (31).
10. A rail-guided stacker crane, comprising a chassis travel system, characterized in that, The chassis running system includes ground rails and a self-adjusting running wheel mechanism as described in any one of claims 1-9.