Dual-deck high-speed stacker

Abstract

The utility model discloses a double loading platform high -speed stacking machine relates to new energy warehousing technical field, wherein double loading platform high -speed stacking machine includes ground rail and loading mechanism, and loading mechanism includes frame, elevating drive part and two loading platforms, and frame is movably connected in horizontal direction on ground rail, frame has two opposite setting stands, and forms a guide rail on every stand, and two guide rails all extend along the vertical direction and set up, elevating drive part is located in frame, and two loading platforms all are located in the side wall of one stand facing another stand, and elevating drive part is transmission connection with two loading platforms, and drives the sliding of loading platform on corresponding guide rail, and every loading platform has a station to bear the goods. The utility model discloses technical scheme aims at improving the handling efficiency of stacking machine.

Description

Technical Field

[0001] This utility model relates to the field of new energy warehousing technology, and in particular to a high-speed stacker crane with a dual loading platform. Background Technology

[0002] In recent years, with the rapid development of the new energy industry, materials such as power batteries and photovoltaic modules have shown a trend of batch and high-density storage, which has placed more stringent requirements on the inbound and outbound cycle time, positioning accuracy, and equipment utilization rate of warehousing and logistics systems. In existing technologies, single-platform stacker cranes are commonly used as the core handling equipment in dense warehousing scenarios. They are usually based on a single-column or double-column structure, and the lifting and lowering movement is achieved through a set of loading platforms. They rely on drive units to reciprocate along ground tracks. Their control system is generally uniformly commanded by a programmable logic controller (PLC) or a higher-level scheduling system to complete the three-stage operation process of "picking up - handling - returning to warehouse".

[0003] However, under the unique operating conditions of the new energy industry—characterized by "high storage capacity, high cycle time, and continuous operation"—traditional stacker cranes have gradually revealed insurmountable shortcomings, becoming a key bottleneck restricting capacity improvement. Limited by the loading platform structure, each stroke of the equipment can only complete the inbound or outbound action of one pallet unit. When the upstream production line cycle time is compressed to a low level, the proportion of the empty return trip time to the total cycle time is too high, directly resulting in a limited number of effective handling operations per unit time. Utility Model Content

[0004] The main purpose of this invention is to propose a high-speed stacker crane with a dual loading platform, which aims to improve the handling efficiency of the stacker crane.

[0005] To achieve the above objectives, the present invention proposes a high-speed stacker crane with a dual loading platform, comprising:

[0006] ground rail; and

[0007] A cargo-carrying mechanism includes a frame, a lifting drive, and two cargo platforms. The frame is movably connected to the ground rail in a horizontal direction. The frame has two opposing columns, each with a guide rail, both extending vertically. The lifting drive is located on the frame, and the two cargo platforms are respectively located on the sidewalls of one column facing the other column. The lifting drive is kinetically connected to the two cargo platforms and drives them to slide on the corresponding guide rails. Each cargo platform has a workstation for carrying goods.

[0008] In one embodiment, the lifting assembly further includes eight first rollers, with every four first rollers being drive-connected to one of the loading platforms; the sidewall facing the other column among the two guide rails is the first sidewall, and the sidewall adjacent to the first sidewall among the two guide rails is the second sidewall.

[0009] Each pair of first rollers slides against the two second sidewalls on the guide rail to clamp the guide rail between the four first rollers.

[0010] In one embodiment, the lifting assembly further includes four second rollers, and a protrusion is raised on each of the two first sidewalls; each pair of second rollers is tractively connected to one of the loading platforms, and each pair of second rollers is slidably connected to the corresponding protrusion.

[0011] In one embodiment, the lifting drive is a three-phase asynchronous motor.

[0012] In one embodiment, the frame further includes a bottom beam connected between the bottoms of the two columns; the loading mechanism further includes a lifting laser sensor located on the bottom beam and oriented vertically upward to monitor the lifting distance between the two loading platforms.

[0013] In one embodiment, the bottom beam is movably connected to the ground rail.

[0014] In one embodiment, the cargo-carrying mechanism further includes a traveling assembly, which includes a traveling drive component disposed on the bottom beam and connected to the ground rail for driving the bottom beam to move along the length direction of the ground rail.

[0015] In one embodiment, the walking assembly further includes four third rollers, with each pair of third rollers connected to the front and rear ends of a bottom beam extending along the length of the ground track; two third rollers located at the same end are slidably connected to the opposite side walls of the ground track.

[0016] In one embodiment, the cargo-carrying mechanism further includes a traveling laser sensor, which is disposed at opposite ends of the bottom beam extending along the length of the ground rail, along with the traveling drive component. The traveling laser sensor is positioned toward the length of the ground rail to monitor the distance traveled by the bottom beam.

[0017] In one embodiment, the loading platform includes a platform body, a lateral movement drive, and a carrying platform, both of which are convexly connected to the lifting drive; the lateral movement drive is disposed on the platform body, and the carrying platform is convexly connected to the lateral movement drive; the lateral movement drive drives the carrying platform to move closer to or away from the platform body; the carrying platform has the workstation.

[0018] The direction in which the ground track extends is defined as the first direction, the direction in which the column extends is defined as the second direction, and the direction in which the bearing platform moves is defined as the third direction; wherein the first direction, the second direction, and the third direction are perpendicular to each other.

[0019] In the technical solution of this utility model, the high-speed stacker crane with dual loading platforms includes a ground rail and a loading mechanism. The loading mechanism includes a frame, a lifting drive, and two loading platforms. The frame is movably connected to the ground rail in the horizontal direction. The frame has two opposing columns, each with a guide rail. Both guide rails extend vertically. The lifting drive is located on the frame. The two loading platforms are located on the side wall of one column facing the other column. The lifting drive is connected to the two loading platforms and drives the loading platforms to slide on the corresponding guide rails. Each loading platform has a workstation for carrying goods. In the technical solution of this utility model, the key to the dual-carrying platform design lies in using two columns to provide independent guide rails, enabling the two cargo platforms to operate without interference. By selecting to set the cargo platforms on the opposite side walls of the columns, the stability and guidance provided by the column structure can be maximized, while avoiding interference between the two cargo platforms. In actual operation, the control system can simultaneously control the position of the two cargo platforms according to the storage and retrieval commands, thereby realizing the synchronous operation of the dual cargo platforms and significantly improving the operating efficiency of the stacker crane. This is suitable for the high-density, high-frequency material storage and retrieval needs in the new energy industry. Attached Figure Description

[0020] 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 the structures shown in these drawings without creative effort.

[0021] Figure 1 A schematic diagram of the structure of an embodiment of the high-speed stacker with dual loading platforms provided by this utility model;

[0022] Figure 2 for Figure 1 A magnified view of a section at point A in the middle;

[0023] Figure 3 This is a schematic diagram of another embodiment of a dual-loading platform high-speed stacker crane;

[0024] Figure 4 for Figure 3 A magnified view of a section at point B in the middle;

[0025] Figure 5This is a structural schematic diagram of yet another embodiment of a dual-loading platform high-speed stacker crane;

[0026] Figure 6 for Figure 5 A magnified view of a section at point C;

[0027] Figure 7 This is a structural schematic diagram of another embodiment of a dual-loading platform high-speed stacker crane;

[0028] Figure 8 for Figure 7 A magnified view of a section at point D.

[0029] Explanation of icon numbers:

[0030] 1 Earth Rail 223 Second roller 2 Cargo handling 23 Cargo Platform 21 frame 23a workstation 211 Column 231 Taiwan 2111 guide 232 carrier platform 2111a First side wall 24 Lifting laser sensor 2111a1 convex strip 251 Walking drive components 2111b Second side wall 252 Third roller 212 Bottom beam 26 Walking laser sensor 221 Lifting drive components

[0031] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0032] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0033] 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 specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0034] 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, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. 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.

[0035] In recent years, with the rapid development of the new energy industry, materials such as power batteries and photovoltaic modules have shown a trend of batch and high-density storage, which has placed more stringent requirements on the inbound and outbound cycle time, positioning accuracy, and equipment utilization rate of warehousing and logistics systems. In existing technologies, single-platform stacker cranes are commonly used as the core handling equipment in dense warehousing scenarios. They are usually based on a single-column or double-column structure, and the lifting and lowering movement is achieved through a set of loading platforms. They rely on drive units to reciprocate along ground tracks. Their control system is generally uniformly commanded by a programmable logic controller (PLC) or a higher-level scheduling system to complete the three-stage operation process of "picking up - handling - returning to warehouse".

[0036] However, under the unique operating conditions of the new energy industry—characterized by "high storage capacity, high cycle time, and continuous operation"—traditional stacker cranes have gradually revealed insurmountable shortcomings, becoming a key bottleneck restricting capacity improvement. Limited by the loading platform structure, each stroke of the equipment can only complete the inbound or outbound action of one pallet unit. When the upstream production line cycle time is compressed to a low level, the proportion of the empty return trip time to the total cycle time is too high, directly resulting in a limited number of effective handling operations per unit time.

[0037] To address the aforementioned problems, this utility model proposes a high-speed stacker crane 1000 with a dual loading platform. Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 as well as Figure 8 This is a structural schematic diagram of an embodiment of the dual-loading platform high-speed stacker 1000 provided by this utility model.

[0038] Please refer to Figure 1 , Figure 2 , Figure 3 as well as Figure 4 This utility model proposes a high-speed stacker crane 1000 with dual loading platforms, including a ground rail 1 and a loading mechanism 2. The loading mechanism 2 includes a frame 21, a lifting drive 221, and two loading platforms 23. The frame 21 is movably connected to the ground rail 1 in the horizontal direction. The frame 21 has two opposing columns 211, each column 211 having a guide rail 2111 formed on it. Both guide rails 2111 extend vertically. The lifting drive 221 is located on the frame 21. The two loading platforms 23 are located on the side wall of one column 211 facing the other column 211. The lifting drive 221 is connected to the two loading platforms 23 and drives the loading platforms 23 to slide on the corresponding guide rails 2111. Each loading platform 23 has a workstation 23a to carry goods.

[0039] The ground rail 1 refers to the track structure laid on the ground to support and guide the movement of the frame 21. It can be made of steel rails or aluminum alloy profiles, providing a stable horizontal movement path for the frame 21 and ensuring overall structural rigidity. The cargo-carrying mechanism 2 refers to the mechanical components used to carry and transport goods. It can be implemented using a combination of a metal frame and a drive system, achieving precise positioning of goods in three-dimensional space through integrated lifting and walking functions. The frame 21 refers to the rigid frame structure supporting the cargo platform 23 and the lifting components. It can be implemented using welded steel structures or bolted profiles, providing an installation foundation for the lifting drive component 221 and the cargo platform 23 and maintaining overall structural stability. The lifting drive component 221 refers to the power and transmission device that drives the cargo platform 23 to move vertically. It can be implemented using a motor combined with a chain or wire rope transmission system, achieving asynchronous lifting of the two cargo platforms 23 through independent control to improve the operating cycle time. The two loading platforms 23 refer to liftable cargo-carrying platforms 232, which can be implemented using welded steel plates or aluminum alloy frame structures. Parallel operation reduces idle travel time and increases the number of cargo handling operations per unit time. The guide rail 2111 is a guide structure that guides the loading platform 23 to slide vertically. It can be implemented using H-beams or linear guide rails 2111 with roller grooves. Limiting the degrees of freedom of movement of the loading platform 23 ensures the smoothness and positioning accuracy of the lifting process. The lifting drive 221 is a device that provides power for the lifting of the loading platform 23. It can be implemented using a combination of a servo motor, reducer, and ball screw. Closed-loop control enables precise start / stop and speed adjustment of the loading platform 23 in the vertical direction. The workstation 23a refers to the cargo-carrying area on the loading platform 23, which can be implemented using anti-slip steel plates or adjustable fork structures. Standardized dimensions match pallet specifications to ensure the stability of goods during handling.

[0040] The key to the design of the dual loading platform 23 lies in using two columns 211 to provide independent guide rails 2111, enabling the two loading platforms 23 to operate without interference. By placing the loading platforms 23 on opposite side walls of the columns 211, the stability and guidance provided by the column structure can be maximized, while avoiding interference between the two loading platforms 23. In actual operation, the control system can simultaneously control the position of the two loading platforms 23 according to the access commands, thereby achieving synchronous operation of the dual loading platforms 23 and significantly improving the operating efficiency of the stacker crane. This design is suitable for the high-density, high-frequency material access requirements in the new energy industry, can match the fast pace of upstream production lines, and provides strong support for the efficient production of the new energy industry.

[0041] Please refer to Figure 1 , Figure 2 , Figure 5 as well as Figure 6In one embodiment of the present invention, the lifting assembly further includes eight first rollers 222, and every four first rollers 222 are connected to a loading platform 23; the side wall of the two guide rails 2111 facing the other column 211 is the first side wall 2111a, and the side wall of the two guide rails 2111 adjacent to the first side wall 2111a is the second side wall 2111b; every two first rollers 222 slide against the two second side walls 2111b on a guide rail 2111 respectively, so as to clamp the guide rail 2111 between the four first rollers 222.

[0042] The eight first rollers 222 are symmetrically arranged in two groups on both sides of the loading platform 23, with each group containing four parallel cylindrical rollers. The roller axes are perpendicular to the extension direction of the guide rail 2111, and their surfaces are covered with a polyurethane wear-resistant layer, forming a rolling friction pair with the metal sidewalls of the guide rail 2111. When the loading platform 23 moves along the guide rail 2111, each group of first rollers 222 clamps the guide rail 2111 from both sides, forming a three-point contact constraint. Four rollers contact the two second sidewalls 2111b on the same side of the guide rail 2111, while the other side is spatially constrained by the guide rail 2111 structure of the adjacent column 211.

[0043] Specifically, during the lifting and lowering of the loading platform 23, the first set of rollers 222 rolls along the second side wall 2111b of the guide rail 2111, restricting the lateral displacement of the loading platform 23 in the horizontal plane through clamping action. When the loading platform 23 is subjected to uneven loading of goods or external vibration, the opposing constraint forces generated by the first rollers 222 on both sides form a torque balance, effectively suppressing the rotational tendency of the loading platform 23 around the vertical axis. The gap between the rollers and the guide rail 2111 is adjusted to a range of 0.2-0.5mm by a preload spring, ensuring smooth movement while avoiding positioning deviations caused by excessive gaps. This structure allows the horizontal displacement of the loading platform 23 to be controlled within ±1mm at a lifting speed of 30m / min, meeting the requirements for high-precision warehouse positioning.

[0044] By slidably abutting the guide rail 2111 with four first rollers 222 on each loading platform 23, and clamping the guide rail 2111 between them, the stability and smoothness of the loading platform 23 during lifting can be effectively improved. At the same time, the sliding contact between the rollers and the guide rail 2111 reduces friction and improves lifting efficiency. Furthermore, by clamping the guide rail 2111 between the four first rollers 222, the loading platform 23 can be prevented from shifting or swaying during lifting, further ensuring the accuracy and safety of the lifting process.

[0045] Please refer to Figure 1 , Figure 2 , Figure 5 as well as Figure 6In one embodiment of the present invention, the lifting assembly further includes four second rollers 223, and a protrusion 2111a1 is raised on each of the two first sidewalls 2111a; each pair of second rollers 223 is respectively connected to a loading platform 23, and each pair of second rollers 223 is slidably connected to the corresponding protrusion 2111a1.

[0046] The second roller 223 is rigidly connected to the loading platform 23 via a transmission mechanism, and the convex strip 2111a1 extends continuously along the vertical direction of the first side wall 2111a. Each loading platform 23 is equipped with two second rollers 223, and their installation positions are spatially staggered with those of the first rollers 222. The contact point between the second rollers 223 and the convex strip 2111a1 is located within the center-of-gravity projection area of ​​the loading platform 23.

[0047] When the lifting drive 221 drives the loading platform 23 to move along the guide rail 2111, the second roller 223 rolls along the surface of the ridge 2111a1. The raised structure of the ridge 2111a1 forms a track, and the contact surface between the second roller 223 and the two ridges 2111a1 generates a radial constraint force, suppressing the displacement of the loading platform 23 in the direction perpendicular to the plane of the first side wall 2111a. The clamping of the first roller 222 on the second side wall 2111b and the rolling constraint of the second roller 223 on the ridge 2111a1 form a composite guiding mechanism in three-dimensional space, eliminating the lateral degree of freedom of the loading platform 23 during the lifting process.

[0048] By providing a protruding rib 2111a1 on the first sidewall 2111a of the guide rail 2111 and employing a structure in which a second roller 223 is slidably connected to the protruding rib 2111a1, the connection strength between the loading platform 23 and the guide rail 2111 is effectively enhanced. Therefore, when the loading platform 23 is running at high speed or carrying heavy loads, it can effectively prevent the loading platform 23 from shaking or shifting, ensuring the operating accuracy and stability of the loading platform 23. Furthermore, this structure is simple in design, easy to process and install, and also has good wear resistance and service life, resulting in high reliability.

[0049] It is understood that the lifting drive component 221 can be a drive cylinder, a hydraulic cylinder, or a three-phase asynchronous motor. In one embodiment of this utility model, the lifting drive component 221 is a three-phase asynchronous motor.

[0050] The three-phase asynchronous motor adopts a squirrel-cage rotor structure, with the stator windings directly connected to a three-phase AC power supply. The motor output shaft is rigidly connected to the input end of the reducer via a coupling. The output end of the reducer is equipped with a sprocket or gear, which meshes with the transmission mechanism of the loading platform 23. The rated power range of the three-phase asynchronous motor is set at 5.5-22 kW, with 4 or 6 poles preferred, and stepless speed regulation is achieved through a frequency converter. The motor protection level reaches IP55 or higher, and the insulation class is F.

[0051] Specifically, the three-phase asynchronous motor uses frequency conversion control to precisely adjust the lifting speed of the loading platform 23. During acceleration, vector control is employed to enhance torque response, while regenerative braking ensures smooth stopping during deceleration. During operation, the rotor speed remains consistently lower than the synchronous speed of the rotating magnetic field, maintaining a slip rate within the 2%-5% range, ensuring sufficient driving torque while preventing overheating. Two motors independently drive their respective loading platforms 23, with encoders providing real-time speed data feedback to the control system. This dynamically adjusts the output frequency of the two motors, ensuring that the two loading platforms 23 maintain height synchronization during lifting, with an error controlled within ±1 mm. This configuration can withstand over 60 start-stop cycles per hour during continuous operation, with winding temperature rise not exceeding 80K, meeting the high uptime requirements of the new energy industry.

[0052] The lifting drive unit 221 uses a three-phase asynchronous motor. Three-phase asynchronous motors have advantages such as simple structure, high reliability, and convenient maintenance. In this embodiment, the rated power of the three-phase asynchronous motor is 5kW, and the rated speed is 1500rpm. The motor is connected to the loading platform 23 through a reducer with a reduction ratio of 50:1. The motor adopts frequency conversion control, enabling smooth start-up and precise positioning. To improve positioning accuracy, an encoder is installed on the motor shaft to provide feedback on motor speed and position information. Furthermore, limit switches are installed on the loading platform 23 to prevent it from overtraveling. Through the above technical solutions, this application achieves high-speed, precise lifting control of the loading platform 23. The three-phase asynchronous motor has a large starting torque and good speed regulation performance, enabling rapid response to control commands and shortening the acceleration and deceleration time of the loading platform 23. Simultaneously, through frequency conversion control and encoder feedback, precise positioning of the loading platform 23 can be achieved, meeting the requirements of high-density storage. In addition, the long service life of the three-phase asynchronous motor helps improve the reliability and stability of the stacker crane and reduces maintenance costs.

[0053] Please refer to Figure 1 , Figure 2 , Figure 3 as well as Figure 4 In one embodiment of the present invention, the frame 21 further includes a bottom beam 212, which is connected between the bottoms of the two columns 211; the loading mechanism 2 further includes a lifting laser sensor 24, which is located on the bottom beam 212 and is oriented in a vertically upward direction to monitor the lifting distance of the two loading platforms 23.

[0054] Among them, the bottom beam 212 serves as the basic support structure connecting the two columns 211, and its horizontal direction is consistent with the length direction of the ground rail 1; the lifting laser sensor 24 is fixed on the upper surface of the bottom beam 212, and the emitting end is vertically upward and aimed at the bottom of the loading platform 23; the laser beam path is parallel to the lifting trajectory of the loading platform 23, and the real-time height of the loading platform 23 is calculated through the reflected signal; the bottom beam 212 and the ground rail 1 achieve horizontal movement through the walking component, and the lifting laser sensor 24 moves synchronously with the bottom beam 212.

[0055] Specifically, the base beam 212 is a rectangular steel beam, welded at both ends to the inner bottom of the column 211 to form a rigid frame; the lifting laser sensor 24 is fixed to the center of the top surface of the base beam 212 by bolts, with its emission direction parallel to the guide rail 2111 of the column 211; a reflector is installed at the bottom of the loading platform 23, and the reflector is aligned with the optical axis of the lifting laser sensor 24; when the loading platform 23 rises and falls along the guide rail 2111, the change in the distance between the reflector and the sensor is converted into an electrical signal in real time, the signal is transmitted to the control system and compared with the preset height value to generate an error correction command; the control system adjusts the output of the lifting drive component 221 according to the error value, so that the loading platform 23 stops precisely at the target workstation 23a. Through the rigid support of the base beam 212, the stability of the sensor installation position is ensured, avoiding measurement deviation caused by the vibration of the frame 21; the laser ranging accuracy reaches ±1 mm, meeting the millimeter-level positioning requirements in high-bay scenarios.

[0056] In practical applications, the lifting laser sensor 24 emits a laser beam in real time and receives the reflected signal, calculating the current height of the loading platform 23 by measuring the laser's round-trip time. This height data is transmitted to the control system for precise control of the lifting position and speed of the loading platform 23. Through the above technical solution, this application achieves high-precision real-time monitoring of the lifting motion of the two loading platforms 23. This allows for accurate determination of the relative positional relationship between the two loading platforms 23, avoiding mutual interference or collisions. Simultaneously, precise position feedback helps optimize the lifting control algorithm, improving positioning accuracy and operational stability. Furthermore, the bottom-mounted laser sensor is unaffected by the movement of the loading platforms 23, resulting in higher reliability and contributing to the long-term stable operation of the stacker crane.

[0057] In one embodiment of this utility model, the bottom beam 212 is movably connected to the ground rail 1.

[0058] The bottom beam 212 and the ground rail 1 are connected by a sliding mechanism.

[0059] The movable connection between the bottom beam 212 and the ground rail 1 allows the entire cargo-carrying mechanism 2 to move horizontally. This design improves the flexibility and efficiency of the stacker crane, enabling it to handle and stack goods over a wider range. Simultaneously, the movable connection between the bottom beam 212 and the ground rail 1 is simple, reliable, easy to maintain and replace, and helps extend the equipment's service life.

[0060] Please refer to Figure 1 , Figure 2 , Figure 3 as well as Figure 7 In one embodiment of the present invention, the cargo-carrying mechanism 2 further includes a traveling component, which includes a traveling drive component 251. The traveling drive component 251 is disposed on the bottom beam 212 and is connected to the ground rail 1 for transmission, so as to drive the bottom beam 212 to move along the length direction of the ground rail 1.

[0061] The cargo-carrying mechanism 2 includes a traveling assembly, which includes a traveling drive component 251. The traveling drive component 251 is mounted on the bottom beam 212 and is connected to the ground rail 1 for transmission, thereby driving the bottom beam 212 to move along the length of the ground rail 1. Specifically, the traveling drive component 251 can be a motor, such as a servo motor or a stepper motor. The output shaft of the motor meshes with a rack on the ground rail 1 through a gear set, thereby realizing the movement of the bottom beam 212. Furthermore, the traveling drive component 251 can be located in the middle or at both ends of the bottom beam 212 to ensure uniform distribution of driving force. Thus, the cargo-carrying mechanism 2 can achieve precise positioning and smooth movement in the horizontal direction.

[0062] Through the above technical solution, this application achieves efficient horizontal movement of the cargo-carrying mechanism 2. The transmission connection between the traveling drive component 251 and the ground rail 1 provides a stable and reliable driving force, ensuring the precise movement of the bottom beam 212 along the length of the ground rail 1. This design not only improves the operating efficiency of the stacker crane but also enhances the stability and reliability of the entire system. Therefore, the stacker crane can complete the horizontal handling of goods more quickly and accurately, meeting the needs of high-density storage and rapid inbound / outbound operations.

[0063] It is worth mentioning that the walking drive component 251 can also be a three-phase asynchronous motor.

[0064] Please refer to Figure 1 , Figure 2 , Figure 7 as well as Figure 8 In one embodiment of this utility model, the walking assembly further includes four third rollers 252, with each pair of third rollers 252 connected to the front and rear ends of a bottom beam 212 extending along the length of the ground track 1; two third rollers 252 located at the same end are slidably connected to the opposite side walls of the ground track 1.

[0065] The third roller 252 is divided into two groups, which are respectively installed at the front and rear ends of the bottom beam 212 along the length of the ground rail 1. Each group contains two rollers. The two rollers in each group contact the two side walls of the ground rail 1 at the same cross section, forming a clamping sliding structure. The rollers are connected to the mounting base of the bottom beam 212 through bearings.

[0066] Specifically, when the driving component 251 drives the bottom beam 212 to move, the two side walls of the ground rail 1 are subjected to rolling friction from two third rollers 252 at the same end. The radial forces exerted by the rollers on the ground rail 1 are balanced, preventing the bottom beam 212 from shifting laterally due to unilateral force during movement. The contact area between the rollers and the ground rail 1 is designed to match the roller width and the side wall thickness of the ground rail 1, ensuring uniform distribution of contact pressure. The roller groups at the front and rear ends of the bottom beam 212 form a four-point support structure, dispersing the bending moment of the bottom beam 212 during long-stroke movement and reducing the risk of track deformation due to its own weight.

[0067] The traveling assembly includes four cylindrical third rollers 252, each rotatably connected to the base beam 212 via flange bearings. Two third rollers 252 are symmetrically mounted at the front end of the base beam 212 extending along the length of the ground rail 1, and the other two are symmetrically mounted at the rear end. The two third rollers 252 at the same end are respectively arranged on the outer side of the left and right walls of the ground rail 1, with their rim surfaces forming surface contact with the side walls of the ground rail 1. The rollers are made of polyurethane-coated steel, with their axes perpendicular to the length of the ground rail 1. The gap between the rollers and the side walls of the ground rail 1 is compensated by adjusting bolts. When the ground rail 1 is subjected to a lateral load, the two third rollers 252 at the same end generate opposing frictional forces, forming a self-balancing clamping effect. Through the above technical solution, this application effectively constrains the lateral displacement of the base beam 212 on the ground rail 1, avoiding the risk of derailment due to inertia or external impact. The symmetrically arranged third rollers 252 on both sides, through bidirectional limiting, ensure the straightness of the travel trajectory of the walking components during high-speed start-stop operations, reducing the wear rate of the guide structure. This improves the positioning accuracy and stability of the stacker crane during continuous operation, meeting the stringent reliability requirements of the high-frequency operation in the new energy industry.

[0068] Please refer to Figure 1 , Figure 2 , Figure 3 as well as Figure 4 In one embodiment of the present invention, the cargo-carrying mechanism 2 further includes a walking laser sensor 26. The walking laser sensor 26 and the walking drive component 251 are respectively disposed at opposite ends of the bottom beam 212 extending along the length direction of the ground rail 1. The walking laser sensor 26 is disposed toward the length direction of the ground rail 1 to monitor the distance traveled by the bottom beam 212.

[0069] A walking laser sensor 26 is fixedly installed at the front end of the base beam 212 extending along the length of the ground rail 1, and a walking drive unit 251 is fixedly installed at the rear end of the base beam 212 extending along the length of the ground rail 1. The laser emitting surface of the walking laser sensor 26 faces the length direction of the ground rail 1, and its beam axis is parallel to the center line of the ground rail 1. During the movement of the base beam 212, the walking laser sensor 26 continuously emits laser pulses onto the surface of the ground rail 1, and calculates the displacement of the base beam 212 relative to the starting point by receiving the reflected signals. The servo controller of the walking drive unit 251 receives the displacement data in real time, compares it with the preset target position, and dynamically adjusts the speed and direction of the motor to achieve millimeter-level positioning accuracy when the base beam 212 reaches the target position.

[0070] Through the above technical solution, this application achieves real-time closed-loop control of the travel distance of the bottom beam 212, effectively eliminating the influence of mechanical transmission errors on positioning accuracy. The spatial separation of the travel laser sensor 26 and the travel drive component 251 avoids electromagnetic interference from disturbing the measurement signal, ensuring the accuracy of displacement data. The dynamic position correction mechanism enables the bottom beam 212 to accurately stop even during high-speed movement, reducing the time for repeated positioning adjustments, thereby improving the stability and efficiency of continuous equipment operation.

[0071] Please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 as well as Figure 7 In one embodiment of this utility model, the loading platform 23 includes a platform body 231, a transverse drive component, and a carrying platform 232. Both platform bodies 231 are connected to the lifting drive component 221. The transverse drive component is located on the platform body 231, and the carrying platform 232 is connected to the transverse drive component. The transverse drive component drives the carrying platform 232 to move closer to or away from the platform body 231. The carrying platform 232 has a workstation 23a. The direction extending along the length of the ground rail 1 is defined as the first direction, the direction extending along the length of the column 211 is defined as the second direction, and the direction in which the carrying platform 232 moves is defined as the third direction. The first direction, the second direction, and the third direction are perpendicular to each other.

[0072] The platform 231 moves vertically along the column 211 via a lifting drive 221, while the lateral drive can be a linear motor or a ball screw module. The carrying platform 232 is connected to the platform 231 via a slide rail or guide groove. The third direction is defined as orthogonal to the first and second directions, allowing the carrying platform 232 to extend and retract laterally independently of the frame 21. Anti-slip textures or limit baffles can be provided at the bottom of the carrying platform 232 to prevent the goods from shifting during movement.

[0073] Specifically, after the loading platform 23 reaches the target shelf level via the lifting assembly, the lateral drive is activated, pushing the carrying platform 232 to extend horizontally in a third direction, allowing the workstation 23a to directly contact the pallet edge to complete the picking action. Subsequently, the carrying platform 232 retracts into the platform body 231, and the frame 21 moves along the ground rail 1 to the target storage location, where the carrying platform 232 extends again to place the goods. Because the carrying platform 232 has independent telescopic capability, the frame 21 can achieve multi-workstation 23a operation without repeated position adjustments, effectively reducing the empty-load travel distance.

[0074] The platform 231 transmits power to the lifting drive 221 via a rack and pinion structure. The lateral drive uses a servo motor and is fixed to the top of the platform 231. The carrying platform 232 forms a sliding pair with the platform 231 via a linear slide rail. A synchronous pulley is installed at the output end of the servo motor, and the two ends of the synchronous belt are connected to the front and rear side walls of the carrying platform 232, respectively. The forward and reverse rotation of the pulley controls the lateral movement of the carrying platform 232 along the slide rail. Limiting baffles are provided on the surface of the carrying platform 232. The baffles are perpendicular to the axis of the slide rail, forming a station 23a for fixing the pallet. The length direction of the ground rail 1 is defined as the first direction, the height direction of the column 211 is defined as the second direction, and the movement direction of the carrying platform 232 is defined as the third direction. The three directions constitute a spatial rectangular coordinate system.

[0075] Through the above technical solution, this application enables the carrying platform 232 to achieve independent lateral displacement based on vertical lifting and horizontal movement. In a single work cycle, it can simultaneously complete cargo storage and retrieval actions and the empty platform return action, eliminating the time loss of traditional equipment that must return to its original position empty after retrieval. When the equipment performs a warehousing operation, the unloaded carrying platform 232 can immediately move laterally to the retrieval position, coordinating with the lifting and walking movements, effectively shortening the cycle time of the equipment under continuous operation conditions.

[0076] The above description is merely an exemplary embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A high-speed stacker crane with dual loading platforms, characterized in that, include: Ground track; and A cargo-carrying mechanism, comprising a frame, a lifting drive component, and two cargo platforms, wherein the frame is movably connected to the ground rail in the horizontal direction; The frame has two opposing columns, each column having a guide rail, both guide rails extending vertically; the lifting drive is located on the frame, and the two loading platforms are respectively located on the side wall of one column facing the other column. The lifting drive is connected to the two loading platforms and drives the loading platforms to slide on the corresponding guide rails; each loading platform has a workstation for carrying goods.

2. The high-speed stacker crane with dual loading platforms as described in claim 1, characterized in that, The cargo-carrying mechanism further includes a lifting assembly, which includes eight first rollers, with each set of four first rollers being driven to a cargo platform; the side wall of one of the two guide rails facing the other column is the first side wall, and the side wall of the two guide rails adjacent to the first side wall is the second side wall. Each pair of first rollers slides against the two second sidewalls on the guide rail to clamp the guide rail between the four first rollers.

3. The high-speed stacker crane with dual loading platforms as described in claim 2, characterized in that, The lifting assembly also includes four second rollers, and a protrusion is raised on each of the two first side walls; each pair of second rollers is driven to one of the loading platforms, and each pair of second rollers is slidably connected to the corresponding protrusion.

4. The high-speed stacker crane with dual loading platforms as described in claim 3, characterized in that, The lifting drive component is a three-phase asynchronous motor.

5. The high-speed stacker crane with dual loading platforms as described in claim 1, characterized in that, The frame also includes a bottom beam connected between the bottoms of the two columns; the loading mechanism also includes a lifting laser sensor located on the bottom beam and facing vertically upward, to monitor the lifting distance of the two loading platforms.

6. The high-speed stacker crane with dual loading platforms as described in claim 5, characterized in that, The bottom beam is movably connected to the ground rail.

7. The high-speed stacker crane with dual loading platforms as described in claim 6, characterized in that, The cargo-carrying mechanism also includes a traveling assembly, which includes a traveling drive component. The traveling drive component is disposed on the bottom beam and is connected to the ground rail for transmission, so as to drive the bottom beam to move along the length direction of the ground rail.

8. The high-speed stacker crane with dual loading platforms as described in claim 7, characterized in that, The walking assembly also includes four third rollers, with each pair of third rollers connected to the front and rear ends of a bottom beam extending along the length of the ground rail; two third rollers located at the same end are slidably connected to the opposite side walls of the ground rail.

9. The high-speed stacker crane with dual loading platforms as described in claim 8, characterized in that, The cargo-carrying mechanism also includes a walking laser sensor, which is located at opposite ends of the bottom beam extending along the length of the ground rail, along with the walking drive component. The walking laser sensor is positioned towards the length of the ground rail to monitor the distance traveled by the bottom beam.

10. The high-speed stacker crane with dual loading platforms as described in any one of claims 1 to 9, characterized in that, The loading platform includes a platform body, a lateral movement drive, and a carrying platform. Both platform bodies are connected to the lifting drive. The lateral movement drive is located on the platform body, and the carrying platform is connected to the lateral movement drive. The lateral movement drive drives the carrying platform to move closer to or away from the platform body. The carrying platform has the workstation. The direction extending along the length of the ground track is defined as the first direction, the direction extending along the length of the column is defined as the second direction, and the direction in which the bearing platform moves is defined as the third direction; wherein, the first direction, the second direction, and the third direction are perpendicular to each other.

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