stacker

Abstract

The application relates to the technical field of parking auxiliary equipment, and provides a stacking machine, which comprises a frame assembly, at least part of the frame assembly extends in a height direction; a lifting device, which comprises at least two groups of first driving mechanisms, at least two groups of lifting assemblies and a first synchronous mechanism; the lifting assemblies are arranged at intervals in a first horizontal direction and are connected with the frame assembly; each first driving mechanism is in transmission connection with one group of the lifting assemblies; the first synchronous mechanism is arranged at intervals with the first driving mechanisms and is in transmission connection with the at least two groups of the lifting assemblies, so that the lifting assemblies can synchronously perform lifting movement in the height direction; and a lifting platform is connected with the at least two groups of the lifting assemblies and is used for carrying vehicles. According to the technical scheme, the lifting assemblies can synchronously perform lifting movement, the movement stability is higher, the space utilization rate is high, the overall weight and volume of the equipment are reduced, the engineering quantity during installation and construction is reduced, the use energy consumption and the related cost are reduced, and the like.

Description

Technical Field

[0001] This application relates to the field of parking assistance equipment technology, specifically to a stacker crane. Background Technology

[0002] Currently, parking lots using automated parking systems typically employ vehicle stacking machinery to lift and stack vehicles. However, existing stacker cranes for parking lots suffer from structural flaws in their lifting mechanisms. Precise synchronization between different drive mechanisms is difficult, affecting the smoothness of the lifting motion. Furthermore, the complex drive and transmission systems increase the size and weight of the equipment, leading to a corresponding increase in civil engineering work during construction and installation, and a significant rise in equipment costs, construction costs, and energy consumption. Utility Model Content

[0003] In order to solve the problems of complex structure, poor smoothness of lifting movement, large size and weight of the lifting device of the stacker crane used in parking stations, which leads to increased civil engineering work and related costs, this application provides a stacker crane.

[0004] One embodiment of this application provides a stacker crane, comprising: a frame assembly, at least a portion of which extends along the height direction; a lifting device, the lifting device including at least two sets of first drive mechanisms, at least two sets of lifting components, and a first synchronization mechanism; the at least two sets of lifting components are spaced apart in a first horizontal direction and are all connected to the frame assembly, each first drive mechanism is drively connected to one of the sets of lifting components, the first synchronization mechanism is spaced apart from the first drive mechanism in a second horizontal direction perpendicular to the first horizontal direction, and the first synchronization mechanism is drively connected to the at least two sets of lifting components simultaneously, so that the at least two sets of lifting components can synchronously perform lifting and lowering movements along the height direction; and a lifting platform, the lifting platform being connected to the at least two sets of lifting components and capable of synchronously performing lifting and lowering movements with the at least two sets of lifting components, the lifting platform being used to carry vehicles.

[0005] In a further embodiment of this application, the output end of the first drive mechanism has a rotating output component; the lifting assembly has a rotating input component, and the rotating input component is drivenly connected to a corresponding rotating input component; the first synchronization mechanism is disposed between two adjacent sets of lifting assemblies along the first horizontal direction and is rotatably connected to the frame assembly, and both ends of the first synchronization mechanism have rotating synchronization components, each rotating synchronization component being drivenly connected to a corresponding rotating input component; wherein, the rotating output component, the rotating input component, and the rotating synchronization component are gears that mesh with each other in sequence.

[0006] In a further embodiment of this application, the lifting assembly includes: two transmission chain mechanisms, which are symmetrically arranged on both sides of a corresponding first drive mechanism in a second horizontal direction, with a portion of each transmission chain mechanism extending along the height direction and connected to the lifting platform; and two rotation input components, each rotation input component being coaxially connected to a sprocket at one end of a corresponding transmission chain mechanism near the first drive mechanism, the two rotation input components meshing with each other, and one rotation input component meshing with a rotation output component of a corresponding first drive mechanism, and the other rotation input component meshing with a corresponding rotation synchronization component.

[0007] In a further embodiment of this application, the transmission chain mechanism includes: a transmission chain, which is an L-shaped closed structure, comprising a horizontal segment and a vertical segment, the horizontal segment extending along a second horizontal direction and the vertical segment extending along a height direction, with the vertical segment located at the end of the horizontal segment away from the first drive mechanism in the second horizontal direction; a first sprocket, which is disposed inside the transmission chain and rotatably connected to the frame assembly, the first sprocket meshing with the end of the horizontal segment near the first drive mechanism, and the first sprocket being connected to a corresponding rotation input component; and a second sprocket, which is disposed inside the transmission chain and rotatably connected to the frame assembly, and the second sprocket meshing with the top of the vertical segment.

[0008] In a further embodiment of this application, the transmission chain mechanism further includes: a first tensioning wheel, which is disposed inside the transmission chain and rotatably connected to the frame assembly, and the first tensioning wheel engages with the connection between the outer horizontal section and the vertical section; and a second tensioning wheel, which is disposed above the horizontal section and rotatably connected to the frame assembly, and the second tensioning wheel engages with the connection between the inner horizontal section and the vertical section.

[0009] In a further embodiment of this application, the horizontal motion device includes: a track mechanism disposed below the frame assembly and extending along a first horizontal direction, the track mechanism being movably connected to the bottom of the frame assembly; and a second drive assembly disposed at the bottom of the frame assembly, the second drive assembly being used to drive the frame assembly to move along the extension direction of the track mechanism.

[0010] In a further embodiment of this application, the number of track mechanisms is at least two, and the at least two track mechanisms are spaced apart in the second horizontal direction. Each track mechanism is provided with at least two sets of second drive components. The second drive component includes a second drive mechanism and a drive wheel mechanism. The drive wheel mechanism is located above the track mechanism and is rotatably connected to the frame assembly. The axis of the drive wheel mechanism is arranged along the second horizontal direction, and the drive wheel mechanism is in rolling contact with the top surface of the track mechanism. The second drive mechanism is connected to the drive wheel mechanism for driving the drive wheel mechanism to rotate, thereby driving the frame assembly to move horizontally along the track mechanism.

[0011] In a further embodiment of this application, the second drive assembly further includes: a second synchronization mechanism, wherein a second synchronization mechanism is provided between two drive wheel mechanisms disposed opposite to each other in the second horizontal direction, and the two ends of the second synchronization mechanism are respectively connected to the corresponding second drive mechanism and drive wheel mechanism for transmission, so as to drive the two opposite drive wheel mechanisms to rotate synchronously under the drive of the second drive mechanism; and / or a first guide wheel mechanism, wherein the first guide wheel mechanism is disposed on at least one side of the track mechanism in the second horizontal direction and is rotatably connected to the frame assembly, and the first guide wheel mechanism is in rolling engagement with the side wall of the track mechanism.

[0012] In a further embodiment of this application, the frame assembly includes a frame base and two vertical frames; the two vertical frames are connected to the top of the frame base and are spaced apart in a first horizontal direction; wherein, a set of lifting components are connected to each vertical frame, and a first drive mechanism is connected to each end of the frame base in the first horizontal direction, and a first synchronization mechanism is rotatably connected to the frame base.

[0013] In a further embodiment of this application, the frame base has a plurality of base mounting slots extending along a first horizontal direction, and the first synchronization mechanism is disposed in one of the base mounting slots; the lifting platform includes: a platform support member, each of which is disposed in a corresponding base mounting slot along the first horizontal direction, and both ends of the platform support member are respectively connected to a corresponding lifting component; a platform plate, which is disposed along a second horizontal direction and connected to the platform support member; and a leveling mechanism, which is connected to the bottom of the platform plate and located at at least one end of the platform plate in the second horizontal direction, and at least a portion of the leveling mechanism can extend outward or retract inward relative to the platform plate to dock with the corresponding parking platform in the extended state.

[0014] The beneficial effects of the above-mentioned technical solution of this application are as follows:

[0015] The stacker crane in this application, through structural improvements and optimizations, sets independent first drive mechanisms for lifting components on both sides of the lifting platform, and simultaneously connects to the lifting components on both sides through a first synchronization mechanism, so that the lifting components can move up and down synchronously, thereby improving the stability of the lifting components and the lifting platform. Moreover, the first synchronization mechanism and the first drive mechanism are staggered, resulting in high space utilization, a relatively simple structure, and reduced overall weight and volume of the equipment. This helps to reduce space occupation and the amount of engineering work during installation and construction, and also reduces energy consumption during use, thus helping to reduce equipment costs, construction costs, and operating costs. Attached Figure Description

[0016] Figure 1 This is a perspective view of a stacker crane according to one embodiment of this application;

[0017] Figure 2 This is a perspective view of a stacker crane in one embodiment of this application from another angle.

[0018] Figure 3 This is a front view of a stacker crane in one embodiment of this application;

[0019] Figure 4 This is a right view of a stacker crane according to one embodiment of this application;

[0020] Figure 5 This is a top view of a stacker crane according to one embodiment of this application;

[0021] Figure 6 This is a perspective view of a lifting device in one embodiment of this application;

[0022] Figure 7 This is a front view of a lifting device in one embodiment of this application;

[0023] Figure 8 This is a three-dimensional schematic diagram of the platform body in one embodiment of this application;

[0024] Figure 9 This is a perspective view of a partial structure of a stacker crane in one embodiment of this application;

[0025] Figure 10 This is a three-dimensional schematic diagram of a flat-layer mechanism in one embodiment of this application;

[0026] Figure 11 This is a three-dimensional schematic diagram of a partial structure of a flattening mechanism in one embodiment of this application;

[0027] Figure 12 This is a top view of the leveling mechanism and parking platform docking in one embodiment of this application.

[0028] In the above-mentioned figures, arrow F1 represents the first horizontal direction, arrow F2 represents the second horizontal direction, and arrow F3 represents the vertical direction.

[0029] Explanation of reference numerals in the attached figures:

[0030] 100 stacker cranes;

[0031] 1. Frame assembly, 11. Frame base, 111. Base mounting slot, 12. Vertical frame, 121. Guide slot;

[0032] 2 Lifting device, 21 First drive mechanism, 211 Rotary output component, 22 Lifting assembly, 221 Transmission chain mechanism, 2211 Transmission chain, 2212 Horizontal section, 2213 Vertical section, 2214 First sprocket, 2215 Second sprocket, 2216 First tension wheel, 2217 Second tension wheel, 222 Rotary input component, 23 First synchronization mechanism, 231 Rotary synchronization component;

[0033] 3 Lifting platform, 31 Platform body, 311 Platform support component, 3111 Second guide wheel mechanism, 312 Platform plate, 32 Leveling mechanism, 321 Mounting housing, 3211 Opening, 3212 Drive chamber, 3213 Transmission chamber, 322 Leveling drive mechanism, 323 Movable component, 3231 Swing arm, 3232 Docking plate, 3233 Roller mechanism, 324 Leveling transmission mechanism, 3241 Screw, 3242 Nut block, 3245 Push rod, 3246 Guide rod;

[0034] 4. Horizontal motion device; 41. Track mechanism; 42. Second drive assembly; 421. Second drive mechanism; 422. Drive wheel mechanism; 423. Second synchronization mechanism; 424. First guide wheel mechanism; 5. Parking platform. Detailed Implementation

[0035] The present application will now be described in further detail with reference to the accompanying drawings and specific embodiments. Similar elements in different embodiments are referred to by related similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of the present application. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, certain operations related to the present application are not shown or described in the specification. This is to avoid obscuring the core parts of the present application with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; they can fully understand the related operations based on the description in the specification and general technical knowledge in the art.

[0036] Furthermore, the features, operations, or characteristics described in the specification can be combined in any suitable manner to form various embodiments, and the operational steps involved in each embodiment can also be rearranged or adjusted in a manner that is obvious to those skilled in the art. Therefore, the specification and drawings are only for clearly describing a particular embodiment and do not imply that they represent the necessary components and / or order.

[0037] The serial numbers assigned to components in this document, such as "first" and "second," are used only to distinguish the described objects and have no sequential or technical meaning. The terms "connection" and "linkage" used in this application, unless otherwise specified, include both direct and indirect connections (linkages).

[0038] The stacker crane described in this application can be applied to parking lots, primarily for stacking vehicles in automated parking garages. This includes stacking vehicles from the ground to a parking platform on a target floor of the automated parking garage, and retrieving vehicles from the parking platform to the ground. The stacker crane can be a horizontally moving device or a stationary device.

[0039] In the embodiments described below, for ease of description, the width direction of the stacker crane is taken as the first horizontal direction, and the length direction of the stacker crane is taken as the second horizontal direction, wherein the length direction of the stacker crane is the relative movement direction of the vehicle it carries. Further details will not be elaborated upon below.

[0040] The following describes some embodiments of the stacker crane provided in this application with reference to the accompanying drawings.

[0041] An embodiment of this application provides a stacker crane 100, such as... Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the stacker crane 100 includes a frame assembly 1, a lifting device 2, and a lifting platform 3. The frame assembly 1 serves as the mounting base for the stacker crane 100, used to install and fix the lifting device 2 and the lifting platform 3; at least a portion of the frame assembly 1 extends along the height direction to provide sufficient space for the lifting movement of the lifting platform 3. The lifting device 2 includes a first drive mechanism 21, lifting components 22, and a first synchronization mechanism 23. Both the first drive mechanism 21 and the lifting components 22 are in two sets. The lifting components 22 are spaced apart in the first horizontal direction and connected to the frame assembly 1. Each lifting component 22 is drively connected to a corresponding first drive mechanism 21 to drive the corresponding lifting component 22 to perform lifting movement. The first synchronization mechanism 23 is spaced apart from the first drive mechanism 21 in the second direction to make reasonable use of the space in the second direction. The first synchronization mechanism 23 is also conventionally connected to both sets of lifting components 22. The lifting platform 3 is used to carry vehicles. The lifting platform 3 is connected to two sets of lifting components 22 so that it can move up and down synchronously with the lifting components 22 to realize the lifting and transporting operation of the carried vehicles. When the two sets of lifting components 22 move up and down, the first synchronization mechanism 23 can keep the movement of the two sets of lifting components 22 synchronized, so that the lifting platform 3 always remains horizontal during the lifting process and avoids tilting.

[0042] It is understandable that existing stacker cranes used in parking lots typically employ either integrated or separate lifting devices. Integrated lifting devices have complex structures and occupy a large space and volume, while separate lifting devices, in order to maintain synchronous lifting, usually use a drive mechanism where one component drives the other, thus requiring a more powerful and larger drive mechanism, occupying more space, and being less conducive to installation layout. Both methods lead to an increase in the overall weight and volume of the stacker crane, resulting in increased civil engineering work required during installation and construction, and consequently, higher costs.

[0043] In this embodiment, the stacker crane 100, through structural improvements and optimizations, provides independent first drive mechanisms 21 for lifting components 22 on both sides of the lifting platform 3, and simultaneously connects to the lifting components 22 on both sides through a first synchronization mechanism 23, so that the lifting components 22 can move up and down synchronously, thereby improving the stability of the lifting components 22 and the lifting platform 3. Moreover, the first synchronization mechanism 23 and the first drive mechanism 21 are staggered, resulting in high space utilization, a relatively simple structure, and reduced overall weight and volume of the equipment. This helps to reduce space occupation and the amount of engineering work during installation and construction, and also reduces energy consumption during use, thus helping to reduce equipment costs, construction costs, and operating costs.

[0044] It should be noted that in practical applications, the number of lifting components 22 is not limited to two; other numbers can be set for two as needed, and the number of first drive mechanisms 21 will increase accordingly. Specifically, the first drive mechanism 21 can be a drive motor.

[0045] In further embodiments of this application, such as Figure 1 , Figure 5 and Figure 6As shown, in the lifting device 2, the output end of the first drive mechanism 21 has a rotation output component 211, the lifting assembly 22 has a rotation input component 222, and the first synchronization mechanism 23 has a rotation synchronization component 231. The rotation output component 211 of the first drive mechanism 21 is driven to the rotation input component 222 of the lifting assembly 22 to drive the rotation input component 222 to rotate, thereby driving the lifting assembly 22 to perform lifting and lowering movements. The first synchronization mechanism 23 is arranged along the first horizontal direction between two adjacent sets of lifting assemblies 22 and is rotatably connected to the frame assembly 1 so as to be able to rotate relative to the frame assembly 1; both ends of the first synchronization mechanism 23 have rotation synchronization components 231, and each rotation synchronization component 231 is driven to the rotation input component 222 on the corresponding side so as to rotate under the drive of the rotation input components 222 on both sides. Since the two rotating synchronizing elements 231 of the first synchronizing mechanism 23 rotate at the same speed, the two rotating input elements 222 connected to it maintain synchronous rotation. Even if there is a certain difference in the output speed of the corresponding first drive mechanism 21, the first synchronizing mechanism 23 can adjust the speed difference to eliminate or control the speed difference of the two rotating input elements 222 within an acceptable range, thereby achieving speed synchronization. Preferably, the rotating output element 211, the rotating input element 222, and the rotating synchronizing element 231 all adopt a gear structure, and the rotating output element 211, the rotating input element 222, and the rotating synchronizing element 231 mesh with each other in sequence. The structure is simple and compact, occupies little space, is lightweight, and has high transmission efficiency and relatively high energy utilization.

[0046] It should be noted that in practical applications, each of the first drive mechanisms 21 is operated and controlled by a controller or control system to ensure that different first drive mechanisms 21 can operate with the same operating parameters, and that the rotational speeds of the corresponding lifting components 222 will not differ significantly. The first synchronization mechanism 23 is mainly used to adjust for speed errors in different rotational input components 222 or small speed differences caused by mechanical transmission, so that the lifting components 22 can achieve synchronous lifting and lowering, ensuring the stability of the lifting platform 3 during movement.

[0047] Furthermore, such as Figures 5 to 7 As shown, the lifting assembly 22 includes two transmission chain mechanisms 221 and two rotation input components 222. The two transmission chain mechanisms 221 are symmetrically arranged on both sides of the first drive mechanism 21 in the second horizontal direction. Each transmission chain mechanism 221 has a portion extending along the height direction, and the lifting platform 3 is fixedly connected to the portion extending along the height direction of the transmission chain mechanism 221, so that when the transmission chain mechanism 221 is running, it drives the lifting platform 3 to perform corresponding lifting movements along the height direction. It can be understood that the lifting platform 3 is typically a horizontally arranged rectangular structure, such as... Figure 1The example is adapted to fit the vehicle; the two lifting components 22 include a total of four transmission chain mechanisms 221, which are connected to the four corner points of the lifting platform 3 respectively, so that the force distribution of the lifting platform 3 is relatively uniform and the stability during lifting movement is higher. Among them, each transmission chain mechanism 221 has a rotation input component 222 coaxially connected to the sprocket at one end near the first drive mechanism 21, and the two rotation input components 222 are meshed with each other; correspondingly, the rotation output component 211 of the first drive mechanism 21 meshes with one of the rotation input components 222, and the corresponding rotation synchronization component 231 on the first synchronization mechanism 23 meshes with the other rotation input component 222, so that the output torque of the first drive mechanism 21 is transmitted to the transmission chain mechanism 221 and the first synchronization mechanism 23 through the sequentially meshing rotation output component 211, rotation input component 222 and rotation synchronization component 231, so as to drive the transmission chain mechanism 221 to perform corresponding rotation operation, and at the same time drive the first synchronization mechanism 23 to perform corresponding rotation.

[0048] Specifically, such as Figures 5 to 7 In the example, the transmission chain mechanism 221 includes a transmission chain 2211, a first sprocket 2214, and a second sprocket 2215. The transmission chain 2211 is a closed structure with its ends connected, and it is configured in an L-shape, that is, a part of the transmission chain 2211 is arranged in the horizontal direction to form a horizontal segment 2212, and the other part of the transmission chain 2211 is arranged in the vertical direction to form a vertical segment 2213; the lifting platform 3 is connected to the vertical segment 2213 of the transmission chain 2211 so as to perform lifting and lowering movements as the vertical segment 2213 moves. The first sprocket 2214 and the second sprocket 2215 are both located inside the transmission chain 2211, that is, the transmission chain 2211 is wound around the outside of the first sprocket 2214 and the second sprocket 2215 to form mutual meshing; the first sprocket 2214 meshes with the end of the horizontal section 2212 near the first drive mechanism 21 and is rotatably connected to the frame assembly 1 so as to be able to rotate relative to the frame assembly 1, and a rotation input component 222 is coaxially connected to the first sprocket 2214; the second sprocket 2215 meshes with the top of the vertical section 2213 and is rotatably connected to the corresponding position on the frame assembly 1 so as to be able to rotate relative to the frame assembly 1; the vertical section 2213 is connected to the lifting platform 3 on the side away from the first drive mechanism 21 in the second horizontal direction so that the connection point is located outside the frame assembly 1, which facilitates connection and fixation, and also prevents the connection part of the lifting platform 3 from interfering with other structures on the frame assembly 1. In the second horizontal direction, the vertical segment 2213 is located at the end of the horizontal segment 2212 that is far away from the first drive mechanism 21, so that the connection point between the vertical segment 2213 and the lifting platform 3 is relatively far away from the first drive mechanism 21. This not only makes the force distribution of the lifting platform 3 more dispersed, but also makes reasonable use of space for connection and assembly, avoiding interference with other structures or components.

[0049] Understandable, such as Figure 7 In the example, since the transmission chain 2211 is connected end to end and forms a closed structure, both the horizontal segment 2212 and the vertical segment 2213 include two parts arranged opposite to each other. That is, the part wrapped around both sides of the first sprocket 2214 is the horizontal segment 2212, while the part wrapped around both sides of the second sprocket 2215 is the vertical segment 2213.

[0050] In addition, such as Figure 7 In the example shown, the transmission chain mechanism 221 further includes a first tensioning wheel 2216 and a second tensioning wheel 2217. Both the first tensioning wheel 2216 and the second tensioning wheel 2217 are located at the connection between the vertical segment 2213 and the horizontal segment 2212, and are rotatably connected to the frame assembly 1. The first tensioning wheel 2216 is located inside the transmission chain 2211 and meshes with the connection between the outer horizontal segment 2212 and the vertical segment 2213 on the transmission chain 2211. Correspondingly, the second tensioning wheel 2217 is located above the horizontal segment 2212 and meshes with the connection between the inner horizontal segment 2212 and the vertical segment 2213 on the transmission chain 2211. The first tensioning wheel 2216 and the second tensioning wheel 2217 cause the transmission chain 2211 to be wound in an L-shape so that the vertical section 2213 can always move along the height direction, while keeping the horizontal section 2212 and the vertical section 2213 of the transmission chain 2211 taut, so that the lifting movement of the lifting platform 3 remains stable.

[0051] It should be noted that the diameters of the first sprocket 2214, the second sprocket 2215, the first tensioner 2216, and the second tensioner 2217 can be set according to specific circumstances.

[0052] By setting the transmission chain mechanism 221 to connect with the lifting platform 3 to form a chain-driven lifting method, compared with the traditional counterweight stacker crane, the stacker crane 100 of this application does not need to set an additional counterweight structure. It has a compact structure, occupies less space, and is conducive to reducing the overall weight and volume of the equipment. At the same time, the lifting capacity during operation is reduced accordingly, and the operating stability and reliability of the lifting component 22 are higher.

[0053] In further embodiments of this application, such as Figures 1 to 5In the example, the stacker crane 100 also includes a horizontal movement device 4, which includes a track mechanism 41 and a second drive assembly 42. The track mechanism 41 is disposed below the frame assembly 1 and is movably connected to the bottom of the frame assembly 1; the track mechanism 41 extends along a first horizontal direction so that the frame assembly 1, the lifting device 2, and the lifting platform 3 can move as a whole along the first horizontal direction, so that the lifting platform 3 can be aligned with parking platforms at different positions in the first horizontal direction. The second drive assembly 42 is disposed at the bottom of the frame assembly to drive the frame assembly 1 to move along the extension direction of the track mechanism 41.

[0054] Furthermore, such as Figures 3 to 5 As shown, the horizontal motion device 4 has two track mechanisms 41 and four sets of second drive components 42. The two track mechanisms 41 are spaced apart in the second horizontal direction and located near both ends of the frame assembly 1. Each track mechanism 41 has a set of second drive components 42 at both ends. Specifically, the second drive component 42 includes a second drive mechanism 421 and a drive wheel mechanism 422. The drive wheel mechanism 422 is located above the track mechanism 41, with its axis aligned along the second horizontal direction. The drive wheel mechanism 422 rolls with the top surface of the track mechanism 41 and is rotatably connected to the frame assembly 1, so that when the drive wheel mechanism 422 rotates relative to the track mechanism 41, it can drive the frame assembly 1 to move along the extension direction of the track mechanism 41, i.e., along the first horizontal direction. The second drive mechanism 421 is drive-connected to the drive wheel mechanism 422 to output torque and provide power to the drive wheel mechanism 422. Specifically, the second drive mechanism 421 can be a drive motor.

[0055] Furthermore, in a specific example, such as Figure 3 and Figure 5 In the example, the second drive assembly 42 further includes a second synchronization mechanism 423. The second synchronization mechanism 423 is disposed between the two drive wheel mechanisms 422 along the second horizontal direction, and both ends of the second synchronization mechanism 423 are respectively connected to the corresponding second drive mechanism 421 and drive wheel mechanism 422 for transmission. When the second drive mechanism 421 outputs torque, it can simultaneously drive the second synchronization mechanism 423 to rotate, and through the second synchronization mechanism 423, the rotational speeds of the two drive wheel mechanisms 422 in the second horizontal direction are kept synchronized (i.e., the rotational speeds are the same or the rotational speed difference is kept within an allowable small range), so as to avoid the phenomenon of drive wheel slippage when moving relative to the track mechanism 41.

[0056] Furthermore, in one specific example, the second drive assembly 42 further includes a first guide wheel mechanism 424. The first guide wheel mechanism 424 is disposed on one side of the track mechanism 41 in the second horizontal direction and is rotatably connected to the frame assembly 1; the first guide wheel mechanism 424 rolls into contact with the side wall of the corresponding track mechanism 41 so that when the frame assembly 1 moves along the track mechanism 41 under the drive of the drive wheel mechanism 422, the first guide wheel mechanism 424 can move accordingly to guide the frame assembly 1.

[0057] It should be noted that in the above embodiments, the number of track mechanisms 41 and second drive components 42 can be set according to actual usage needs. Each drive wheel mechanism 422 may include one or more drive wheels, or may include both drive wheels and driven wheels. When multiple drive wheels are provided, they can be connected by chain drive. Additionally, first guide wheel mechanisms 424 can be provided on both sides of the track mechanism 41, so that the first guide wheel mechanisms 424 on both sides can clamp the side walls of the track mechanism 41, simultaneously providing guidance and limiting functions.

[0058] In practical applications, depending on the specific application scenario, a corresponding idler wheel mechanism can be set at the bottom of the frame component 1 to achieve horizontal movement, replacing the horizontal movement device 4 in the above embodiment, so that the stacker crane 100 forms an AGV device with lifting function and has better movement flexibility.

[0059] In further embodiments of this application, such as Figure 1 and Figure 2 As shown, the frame assembly 1 includes a frame base 11 and two vertical frames 12. The frame base 11 is arranged horizontally, and the two vertical frames 12 are arranged vertically and spaced apart in a first horizontal direction. Both vertical frames 12 are connected to the top of the frame base 11, so that the middle of the frame assembly 1 forms a space for the installation and lifting movement of the lifting platform 3. Each vertical frame 12 is connected to a set of lifting components 22, which are respectively connected to both sides of the lifting platform 3. In the first horizontal direction, each end of the frame base 11 is connected to a first drive mechanism 21 to drive the two lifting components 22 to move. A first synchronization mechanism 23 is located on one side of the first drive mechanism 21 and is rotatably connected to the frame base 11, allowing it to rotate relative to the frame base 11. Through the above arrangement, the frame assembly 1 provides sufficient lifting and installation space for the lifting platform 3. Moreover, the lifting components 22 can be distributed on the vertical frames 12 on both sides, eliminating the need for additional space occupation by the lifting components 22, resulting in higher space utilization and reducing the overall weight and volume of the equipment.

[0060] In further embodiments of this application, such as Figure 1 , Figure 5 and Figure 8 As shown, a plurality of base mounting slots 111 extending along a first horizontal direction are provided on the frame base 11, and the plurality of base mounting slots 111 are spaced apart in a second horizontal direction. Correspondingly, a first synchronization mechanism 23 is provided in one of the base mounting slots 111 along the first horizontal direction. The lifting platform 3 includes a platform support 311, a platform plate 312, and a leveling mechanism 32. The platform support 311 extends along the first horizontal direction and is provided in the corresponding base mounting slot 111 on the frame base 11. Both ends of the platform support 311 are respectively connected to the corresponding lifting components 22 so that they can move up and down with the lifting components 22. The platform plate 312 is provided on the platform support 311 along the second horizontal direction and is fixedly connected to the platform support 311 so that the platform plate 312 and the platform support 311 form a platform body 31 so as to move up and down synchronously under the drive of the lifting components 22. The number of platform support 311 can be one or more. When multiple platform support 311 are provided, for example Figure 8 The two platform support members 311 are spaced apart in the second horizontal direction; the number of platform plates 312 can also be one or more. When multiple platform plates 312 are provided, such as... Figure 8 The two platform plates 312 shown are spaced apart in the first horizontal direction. At least one end of the platform plate 312 in the second horizontal direction is provided with a leveling mechanism 32, which is connected to the bottom of the platform plate 312. At least a portion of the leveling mechanism 32 can extend outward relative to the platform plate 312 to dock with the corresponding parking platform. After the stacking operation or vehicle retrieval operation is completed, the outwardly extended portion of the leveling mechanism 32 can retract inward to below the platform plate 312.

[0061] With the above-mentioned lifting platform 3, on the one hand, the first synchronization mechanism 23 and the platform support 311 can be housed in the base mounting groove 111 of the frame base 11 without occupying additional space, thereby reducing the overall height of the frame base 11 and the lifting platform 3, and thus reducing the overall weight and volume. This helps to reduce the amount of civil engineering work during construction and installation, and the corresponding cost can also be reduced accordingly. On the other hand, it can also be connected to the parking platform through the leveling mechanism 32, which plays the role of positioning and filling gaps, making it convenient to move and stack vehicles and retrieve vehicles, which helps to improve work efficiency.

[0062] Furthermore, in a specific example, such as Figure 1 , Figure 8 and Figure 9In the example, in the first horizontal direction, the platform support 311 has a second guide wheel mechanism 3111 on the side opposite to the vertical frame 12 at both ends. Correspondingly, the vertical frame 12 has a guide groove 121 extending in the height direction on the side facing the second guide wheel mechanism 3111. The second guide wheel mechanism 3111 extends into the guide groove 121 and rolls with the inner wall surface of the guide groove 121 so that when the lifting platform 3 moves up and down with the lifting assembly, the second guide wheel mechanism 3111 rolls along the guide groove 121 to achieve guidance and limiting functions.

[0063] Furthermore, in a specific example, such as Figure 5 , Figure 10 , Figure 11 and Figure 12 In the example shown, the leveling mechanism 32 includes a mounting housing 321, a leveling drive mechanism 322, a movable member 323, and a leveling transmission mechanism 324. The mounting housing 321 is connected to the bottom of the platform plate 312. The leveling drive mechanism 322, the movable member 323, and the leveling transmission mechanism 324 are all disposed within the mounting housing 321. The mounting housing 321 has an opening 3211 at one end facing outward in the first horizontal direction. The movable member 323 is located near the opening 3211 and is rotatably connected to the mounting housing 321. The leveling transmission mechanism 324 is drively connected to the leveling drive mechanism 322 and the movable member 323 so that when the leveling drive mechanism 322 outputs power, it transmits the power to the movable member 323 through the leveling transmission mechanism 324, driving the movable member 323 to rotate so that it extends outward or retracts inward relative to the opening 3211 of the mounting housing 321.

[0064] Specifically, such as Figure 10 and Figure 11 In the example, the mounting housing 321 can be divided into a drive chamber 3212 and a transmission chamber 3213. The drive chamber 3212 is located in the middle of the mounting housing 321, and a transmission chamber 3213 is provided on each side of the drive chamber 3212 in the first horizontal direction. The leveling drive mechanism 322 is provided in the drive chamber 3212. Correspondingly, each transmission chamber 3213 is provided with a leveling transmission mechanism 324, and two movable parts 323 are provided at the opening 3211. Both leveling transmission mechanisms 324 are connected to the output end of the leveling drive mechanism 322, and each leveling transmission mechanism 324 is connected to a corresponding movable part 323.

[0065] Among them, such as Figure 11As shown, the movable component 323 specifically includes a swing arm 3231, a docking plate 3232, and a roller mechanism 3233; the swing arm 3231 is rotatably connected to the mounting housing 321 to allow horizontal rotation; the swing arm 3231 has an outer end and an inner end that are oppositely arranged; the docking plate 3232 is connected to the top of the outer end of the swing arm 3231; the roller mechanism 3233 is located below the docking plate 3232 and is rotatably connected to the swing arm 3231; the docking plate 3232 and the roller mechanism 3233 can extend outward with the rotation of the swing arm 3231 to engage with the corresponding slot on the parking platform 5, such as... Figure 12 The state shown in the figure. Correspondingly, the leveling transmission mechanism 324 includes a screw 3241, a nut block 3242, a push rod 3245, and a guide rod 3246; the screw 3241 extends along a first horizontal direction, one end of the screw 3241 is connected to the output end of the leveling drive mechanism 322, and the other end is rotatably connected to the mounting housing 321 so as to rotate under the drive of the leveling drive mechanism 322; the nut block 3242 is provided with a screw hole and a sliding hole that pass through along the first horizontal direction, the nut block 3242 is sleeved on the screw 3241 through the screw hole, and forms a threaded connection with the screw 3241; the guide rod 3246 is arranged parallel to the screw 3241 and is fixedly connected to the mounting housing 321, and the guide rod 3246 passes through the corresponding sliding hole on the nut block 3242. One end of the push rod 3245 is rotatably connected to the nut block 3242, and the other end of the push rod 3245 is rotatably connected to the corresponding movable part 323, specifically to the inner end of the swing arm 3231 of the movable part 323. When the screw 3241 rotates, the nut block 3242 can move linearly along the guide rod 3246 under the action of the threaded engagement, and pushes the swing arm 3231 of the movable part 323 to rotate horizontally through the push rod 3245, thereby causing the mating plate 3232 and the roller mechanism 3233 at the outer end of the swing arm 3231 to extend outward or retract inward.

[0066] By reasonably setting the thickness dimension (i.e. the dimension in the height direction) of the mounting housing 321, the overall height of the leveling mechanism 32 is not greater than the height of the frame base 11 of the frame assembly 1, thereby avoiding increasing the overall height of the frame assembly 1 and the lifting platform 3, which is conducive to further reducing the overall weight and volume of the equipment.

[0067] In practical applications, the stacker crane 100 can be equipped with a corresponding controller or control system. The controller or control system is connected in communication with the lifting device 2, the horizontal movement device 4 and the driving mechanism of the leveling mechanism 32 to control the lifting movement and horizontal movement of the lifting component 22 and the leveling operation of the leveling mechanism 32.

[0068] The stacker crane 100 according to the above embodiments of this application can effectively reduce the height of the lifting platform 3 and the frame base 11, and make full use of the limited space for reasonable layout, thereby improving the utilization rate of the lifting space. The overall space occupied by the equipment is relatively small, making it suitable for application in scenarios with limited space. At the same time, it can effectively reduce the overall weight and volume of the equipment, effectively reduce the amount of civil engineering work (reduced foundation pit depth) during construction and installation, and significantly reduce equipment cost, construction cost and usage cost. Moreover, the energy consumption during use is correspondingly reduced, which can effectively improve energy utilization. In addition, the lifting component 22 adopts the forced lifting method of the transmission chain mechanism 221, which does not require additional counterweight structure, resulting in higher lifting efficiency. Corresponding synchronization mechanisms are provided between the relatively arranged lifting components 22 and between the relatively arranged second drive components 42 in the horizontal motion device 4, which can adaptively adjust the speed difference to achieve synchronous movement and improve the stability of equipment operation.

[0069] The above examples illustrate this application only to aid understanding and are not intended to limit its scope. Those skilled in the art to which this application pertains can make various simple deductions, modifications, or substitutions based on the ideas presented.

Claims

1. A stacker crane, characterized in that, include: A frame component, at least a portion of which extends along the height direction; A lifting device includes at least two sets of first drive mechanisms, at least two sets of lifting components, and a first synchronization mechanism. The at least two sets of lifting components are spaced apart in a first horizontal direction and are all connected to the frame assembly. Each first drive mechanism is drively connected to one of the sets of lifting components. The first synchronization mechanism is spaced apart from the first drive mechanism in a second horizontal direction perpendicular to the first horizontal direction and is drively connected to at least two sets of lifting components simultaneously, so that the at least two sets of lifting components can synchronously move up and down in the height direction. The lifting platform is connected to at least two sets of lifting components and is capable of moving up and down synchronously with the at least two sets of lifting components. The lifting platform is used to carry vehicles.

2. The stacker crane according to claim 1, characterized in that, The output end of the first drive mechanism has a rotating output component; The lifting assembly has a rotation input component, and the rotation input component is kinetically connected to a corresponding rotation input component; The first synchronization mechanism is disposed between two adjacent sets of lifting components along the first horizontal direction and is rotatably connected to the frame component. Both ends of the first synchronization mechanism have rotation synchronization components, and each rotation synchronization component is drively connected to a corresponding rotation input component. The rotation output component, the rotation input component, and the rotation synchronization component are gears that mesh with each other in sequence.

3. The stacker crane according to claim 2, characterized in that, The lifting assembly includes: Two drive chain mechanisms are symmetrically arranged on both sides of the corresponding first drive mechanism in the second horizontal direction. A portion of each drive chain mechanism extends along the height direction and is connected to the lifting platform. And two rotary input components, each rotary input component being coaxially connected to a sprocket at one end of a corresponding transmission chain mechanism near the first drive mechanism, the two rotary input components meshing with each other, and one of the rotary input components meshing with a rotary output component of a corresponding first drive mechanism, and the other rotary input component meshing with a corresponding rotary synchronizing component.

4. The stacker crane according to claim 3, characterized in that, The transmission chain mechanism includes: The transmission chain is an L-shaped closed structure, comprising a horizontal segment and a vertical segment. The horizontal segment extends along the second horizontal direction, and the vertical segment extends along the height direction. The vertical segment is located at the end of the horizontal segment in the second horizontal direction that is away from the first drive mechanism. The first sprocket is located inside the transmission chain and is rotatably connected to the frame assembly. The first sprocket meshes with the end of the horizontal section near the first drive mechanism and is connected to the corresponding rotation input component. The second sprocket is located inside the transmission chain and is rotatably connected to the frame assembly, and the second sprocket meshes with the top of the vertical section.

5. The stacker crane according to claim 4, characterized in that, The transmission chain mechanism also includes: The first tensioning pulley is located inside the transmission chain and is rotatably connected to the frame assembly. The first tensioning pulley engages with the connection between the horizontal section and the vertical section located on the outer side. The second tensioning wheel is located above the horizontal section and is rotatably connected to the frame assembly. The second tensioning wheel engages with the connection between the horizontal section and the vertical section located on the inner side.

6. The stacker crane according to claim 1, characterized in that, It also includes horizontal movement devices; The horizontal motion device includes: A track mechanism is provided below the frame assembly and extends along a first horizontal direction, and the track mechanism is movably connected to the bottom of the frame assembly; The second drive assembly is located at the bottom of the frame assembly and is used to drive the frame assembly to move along the extension direction of the track mechanism.

7. The stacker crane according to claim 6, characterized in that, The number of the track mechanisms is at least two, and the at least two track mechanisms are spaced apart in the second horizontal direction, with at least two sets of the second drive components corresponding to each track mechanism; The second drive assembly includes a second drive mechanism and a drive wheel mechanism; The drive wheel mechanism is located above the track mechanism and is rotatably connected to the frame assembly. The axis of the drive wheel mechanism is arranged along a second horizontal direction, and the drive wheel mechanism rolls in contact with the top surface of the track mechanism. The second drive mechanism is connected to the drive wheel mechanism for driving the drive wheel mechanism to rotate, thereby causing the frame assembly to move horizontally along the track mechanism.

8. The stacker crane according to claim 7, characterized in that, The second driving component also includes: A second synchronization mechanism is provided between two drive wheel mechanisms arranged opposite each other in a second horizontal direction. The two ends of the second synchronization mechanism are respectively connected to the corresponding second drive mechanism and the drive wheel mechanism for transmission, so as to drive the two opposite drive wheel mechanisms to rotate synchronously under the drive of the second drive mechanism; and / or, A first guide wheel mechanism is disposed on at least one side of the track mechanism in the second horizontal direction and is rotatably connected to the frame assembly, and the first guide wheel mechanism is in rolling engagement with the side wall of the track mechanism.

9. The stacker crane according to claim 1, characterized in that, The frame assembly includes a frame base and two vertical frames; The two vertical frames are connected to the top of the frame base and are spaced apart in the first horizontal direction; Each of the vertical frames is connected to a set of lifting components, and the frame base is connected to a first drive mechanism at each end in the first horizontal direction. The first synchronization mechanism is rotatably connected to the frame base.

10. The stacker crane according to claim 9, characterized in that, The frame base has multiple base mounting slots extending along a first horizontal direction, and the first synchronization mechanism is disposed in one of the base mounting slots. The lifting platform includes: Platform support components, each of which is disposed in the corresponding base mounting groove along the first horizontal direction, and both ends of the platform support components are respectively connected to the corresponding lifting components; A platform plate, which is arranged along a second horizontal direction and connected to the platform support member; And a leveling mechanism, which is connected to the bottom of the platform plate and located at at least one end of the platform plate in a second horizontal direction, at least a portion of which can extend outward or retract inward relative to the platform plate to dock with the corresponding parking platform in the extended state.

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