Walking mechanism and stacker

Abstract

The utility model relates to hoisting equipment technical field especially is a walking mechanism and stacker, wherein walking mechanism includes: the lower crossbeam, its both sides are equipped with fixed plate, support, install in fixed plate and close to the top of fixed plate, walking wheel box body is connected with support and fixed plate key, and close to the bottom of fixed plate, the utility model has reduced the difficulty of maintenance, reduced equipment downtime, improved the advantage of operation reliability.

Description

Technical Field

[0001] This utility model relates to the field of lifting equipment technology, and in particular to a traveling mechanism and a stacker crane. Background Technology

[0002] As the automated warehousing industry develops towards greater flexibility and efficiency, stacker cranes are no longer limited to material storage and turnover in traditional warehouses. They are increasingly integrated into the continuous material handling process of production lines, becoming key equipment connecting various stages of the production line. This role transformation not only requires them to adapt to high-frequency, high-load operating rhythms, but also places stringent demands on the stability of equipment operation and the ability to quickly respond to maintenance after failures.

[0003] Currently, most conventional stacker cranes on the market adopt an integrated lower crossbeam design, such as... Figures 1 to 3 As shown. The processing flow is as follows: the lower crossbeam is boring on both sides in the machining center, then assembled with the finished bearing housing or self-made bearing housing, and finally the traveling wheels are fixed to realize the equipment movement function.

[0004] The design has the following problems: On the one hand, the machining of the lower crossbeam requires strict control of the overall precision, including the coaxiality, perpendicularity and surface roughness of the boring holes, which places stringent requirements on the machining equipment and processes; on the other hand, during long-term high-load operation, the lower crossbeam's round hole and the bearing seat will wear due to friction and vibration, and after wear, abnormal fit clearance and jamming are likely to occur, which directly leads to difficulties in subsequent disassembly and maintenance, seriously affecting the equipment's operation and maintenance efficiency and production line continuity. Utility Model Content

[0005] To address the shortcomings of existing technologies, this utility model discloses a walking mechanism and a stacker crane.

[0006] The technical solution adopted in this utility model is as follows: Firstly, a walking mechanism is provided, comprising: The lower crossbeam has fixing plates on both sides; A support is installed on the fixed plate and near the top of the fixed plate; The wheel well housing is keyed to the support and the fixing plate, and is located near the bottom of the fixing plate.

[0007] In one embodiment of the present invention, a first keyway is provided on the side of the wheel box near the fixed plate along a first horizontal direction; a first positioning key is provided between the fixed plate and the first keyway, and the fixed plate and the wheel box are fixedly connected by a first fastener.

[0008] In one embodiment of this utility model, the first fastener is a bolt.

[0009] In one embodiment of this utility model, a second keyway is provided on the top of the wheel housing along a first horizontal direction; a second positioning key is provided between the bottom of the support and the second keyway, and the support and the wheel housing are fixedly connected by a second fastener.

[0010] In one embodiment of this utility model, the second fastener is a bolt.

[0011] In one embodiment of the present invention, the support includes two connecting plates arranged in parallel along a second horizontal direction and two upright plates respectively disposed between the two connecting plates; one side of the connecting plate and one side of the upright plate are fixedly connected to the fixing plate; the connecting plate near the wheel box is keyed to the fixing plate.

[0012] In one embodiment of the present invention, the support further includes a reinforcing plate disposed between the two connecting plates.

[0013] In one embodiment of the present invention, the wheel housing is provided with a drive source and a wheel connected to the output end of the drive source and disposed within the wheel housing; the wheel is configured to travel along a ground rail, which is arranged along a second horizontal direction.

[0014] In one embodiment of the present invention, it further includes a connecting bracket connected to the wheel housing and an auxiliary wheel installed on the connecting bracket; the auxiliary wheel is configured to travel along the ground track.

[0015] In a second aspect, a stacker crane is provided, including the traveling mechanism as described above.

[0016] The above-mentioned technical solution of this utility model has the following advantages compared with the prior art: The walking mechanism described in this invention can be disassembled into independently machined and replaceable components, effectively avoiding the dependence of the integrated lower crossbeam on the overall boring precision. When the walking wheel housing wears due to long-term high-load operation, the walking wheel housing can be directly disassembled and replaced without remachining the lower crossbeam. This completely solves the maintenance difficulties caused by abnormal fit clearances or jamming in traditional solutions, significantly improving equipment operation and maintenance efficiency and production line continuity. Attached Figure Description

[0017] To make the content of this utility model easier to understand, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0018] Figure 1 This is a schematic diagram of the existing walking mechanism.

[0019] Figure 2 This is the front view of the existing walking wheels.

[0020] Figure 3 This is a top view of the existing wheels.

[0021] Figure 4 This is a schematic diagram of the walking mechanism in this utility model.

[0022] Figure 5 yes Figure 4 Enlarged diagram of point A in the middle.

[0023] Figure 6 This is the front view of the walking mechanism in this utility model.

[0024] Figure 7 yes Figure 6 An enlarged diagram of point B in the diagram.

[0025] Explanation of reference numerals in the instruction manual: 10. Lower crossbeam; 101. First positioning key; 102. Second positioning key; 103. Fixing plate; 20. Support; 201. Connecting plate; 202. Vertical plate; 203. Reinforcing plate; 30. Wheel housing; 301. First keyway; 302. Second keyway; 303. First fastener; 304. Second fastener; 40. Wheel; 50. Connecting bracket; 60. Auxiliary wheel; 70. Ground rail. Detailed Implementation

[0026] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0027] The foregoing and other technical contents, features, and effects of this utility model will be clearly presented in the following detailed description of the embodiments with reference to the accompanying drawings. The directional terms mentioned in the following embodiments, such as up, down, left, right, front, or back, are only for reference to the directions in the accompanying drawings. Therefore, the directional terms used are for illustrative purposes and not for limiting the present utility model. Furthermore, in all embodiments, the same reference numerals denote the same elements.

[0028] In automated warehousing systems, stacker cranes are key equipment for continuous material handling on production lines. The integrated structure of their lower crossbeams requires boring to strictly control geometric precision parameters such as coaxiality, perpendicularity, and surface roughness, which significantly increases the complexity of the machining process. At the same time, during long-term high-load operation, friction and vibration between the lower crossbeam's circular holes and the bearing seats can easily cause abnormal fit clearances and jamming, hindering the disassembly and maintenance process and affecting the stability of equipment operation and maintenance response efficiency. In particular, the extended maintenance cycle after equipment failure directly restricts the continuous operation capability of the production line.

[0029] If the above problems are not resolved, the equipment failure rate will continue to rise, the reliance on the overall machining accuracy of the lower crossbeam during maintenance will exacerbate the risk of production line downtime, the reliability of equipment operation will be fundamentally constrained, and ultimately the overall efficiency of the production system will decline.

[0030] In response, this embodiment proposes a walking mechanism to address the problems of high overall machining accuracy requirements for the lower crossbeam 10 and the difficulty of disassembly and maintenance after wear.

[0031] Combination Figures 4 to 7 A walking mechanism includes: The lower crossbeam 10 has fixing plates 103 on both sides; Support 20 is installed on the fixing plate 103 and near the top of the fixing plate 103; The wheel box 30 is keyed to the support 20 and the fixing plate 103, and is located near the bottom of the fixing plate 103.

[0032] Among them, the lower crossbeam 10 is provided with fixing plates 103 on both sides. In actual application, the fixing plates 103 refer to independent components fixed on both sides of the lower crossbeam 10 as installation reference surfaces. Their main purpose is to achieve high-precision assembly and positioning between the lower crossbeam 10 and the support 20, and to avoid high-precision boring of the entire lower crossbeam 10.

[0033] Furthermore, the wheel box 30 is keyed to the support 20 and the fixing plate 103. Specifically, the keyed connection means that the circumferential fixing and torque transmission between the components are achieved through the key. This is mainly to enable the quick disassembly and replacement of the wheel box 30. When the components wear out due to long-term operation, the wheel box 30 can be directly replaced without reprocessing the lower crossbeam 10.

[0034] Therefore, this embodiment uses a modular structural design to decompose the walking mechanism into components that can be independently processed and replaced, avoiding the dependence of the integrated lower crossbeam on the overall boring accuracy and simplifying the maintenance process after wear.

[0035] As a preferred embodiment, the fixing plate 103 can be fixed to the lower crossbeam 10 by bolt connection or welding, thereby ensuring the stability of the installation reference.

[0036] In this embodiment, the support 20 is installed on the fixed plate 103 and close to the top of the fixed plate 103. Therefore, the positioning accuracy of the support 20 is completely determined by the processing quality of the fixed plate 103, effectively isolating the influence of the processing error of the lower crossbeam 10 on the assembly.

[0037] Therefore, this technical solution effectively avoids the dependence of the integrated lower crossbeam on the overall boring accuracy by decomposing the traveling mechanism into independently machined and replaceable components. When the traveling wheel housing 30 wears due to long-term high-load operation, it can be directly disassembled and replaced without remachining the lower crossbeam 10. This completely solves the maintenance difficulties caused by abnormal fit clearances or jamming in traditional solutions, significantly improving equipment operation and maintenance efficiency and production line continuity.

[0038] This embodiment further proposes that the side of the wheel box 30 near the fixing plate 103 is provided with a first keyway 301 along the first horizontal direction; a first positioning key 101 is provided between the fixing plate 103 and the first keyway 301 and the fixing plate 103 and the wheel box 30 are fixedly connected by the first fastener 303.

[0039] The first keyway 301 refers to the guide groove structure opened on the side of the wheel housing 30 to accommodate the positioning key. It can be implemented by using a rectangular or trapezoidal cross-section groove, with the aim of providing precise axial positioning function and reducing alignment deviation during assembly.

[0040] The first positioning key 101 can be a standard key or a guide key. Its purpose is to serve as an independent and replaceable force transmission intermediate component, specifically designed to bear frictional loads. After wear, only the key needs to be replaced to restore the original fit accuracy.

[0041] The first fastener 303 refers to a mechanical fastening element used to achieve a detachable fixed connection. It can be implemented using bolts, with the aim of simplifying the maintenance process and avoiding damage to the main structure through a reversible connection.

[0042] Specifically, the solution in this embodiment ensures high-precision alignment and eliminates assembly errors during installation by using the interlocking relationship between the first keyway 301 and the first positioning key 101 on the side of the wheel housing 30. During disassembly, it allows only the first positioning key 101 to be removed without damaging the wheel housing 30 or the main body of the fixing plate 103. The first positioning key 101, which is provided between the fixing plate 103 and the first keyway 301, independently bears the friction load as a vulnerable component. After wear, only the key needs to be replaced to restore the connection rigidity. At the same time, the first fastener 303 fixes the fixing plate 103 and the wheel housing 30 together. Combined with the guiding and constraining effect of the keyway and the key, the connection is made firm under high load operation, while the detachable characteristics of the fastener are used to achieve quick separation, thus forming a complete maintenance-friendly connection mechanism.

[0043] As a specific implementation method, the solution of this embodiment is implemented as follows: the first positioning flat key 101 adopts a standard flat key, the first fastener 303 uses a hexagonal head bolt, and the fixing plate 103 and the wheel box 30 are fastened by the bolt. The first keyway 301 is processed into a rectangular cross section and is parallel to the corresponding mounting surface of the fixing plate 103.

[0044] Through the above solution, this embodiment solves the problem of disassembly difficulties caused by abnormal fit clearance after wear of the connection parts. During maintenance, only the first positioning key 101 needs to be replaced to restore the function. There is no need to treat the entire walking wheel box 30 or the fixing plate 103. This significantly improves the on-site maintenance efficiency of the stacker crane's walking mechanism and the ability to ensure continuous operation of the production line.

[0045] This embodiment further proposes that the top of the wheel box 30 is provided with a second keyway 302 along the first horizontal direction; the bottom of the support 20 is provided with a second positioning key 102 between the second keyway 302 and the support 20 and the wheel box 30 are fixedly connected by a second fastener 304.

[0046] The second keyway 302 refers to the slot structure opened on the top of the wheel housing 30 to accommodate the positioning key. Its purpose is to provide a standardized positioning reference surface to ensure rapid alignment and suppress initial deviations during assembly.

[0047] The second positioning key 102 can be understood as a mechanical connector used to transmit torque, with the purpose of forming a gapless radial fit to prevent relative rotation or slight displacement between components.

[0048] The second fastener 304 refers to a fixing element used to provide axial constraint. It can be implemented by a detachable connection method such as bolts. The purpose is to establish a reversible fixing mechanism to facilitate quick separation of components during maintenance.

[0049] Specifically, in this embodiment, the second keyway 302 on the top of the wheel housing 30 cooperates with the second positioning key 102 on the bottom of the support 20 to establish a precise positioning reference, enabling rapid alignment without relying on overall boring processes during assembly. The second positioning key 102 transmits torque and absorbs dynamic loads during equipment movement, effectively preventing relative rotation or slight displacement between components. The second fastener 304 provides reliable axial constraint, allowing the support 20 and wheel housing 30 to be separated simply by loosening it during maintenance, avoiding the problem of forced disassembly due to wear and jamming.

[0050] As a specific implementation method, the solution of this embodiment is implemented as follows: a second keyway 302 with a rectangular cross section is provided on the top of the wheel box 30; a second positioning flat key 102 is embedded in the bottom of the support 20; the support 20 and the wheel box 30 are fixedly connected by a hexagonal head bolt as a second fastener 304, which is made of high-strength stainless steel to enhance fatigue resistance.

[0051] Through the above technical solution, this embodiment effectively improves the assembly accuracy and operational stability of the walking mechanism, reduces the occurrence of vibration and fretting wear, simplifies the maintenance and disassembly process, and ensures the continuous operation capability of the production line.

[0052] This embodiment further proposes that the support 20 includes two connecting plates 201 arranged in parallel along the second horizontal direction and two upright plates 202 respectively disposed between the two connecting plates 201; one side of the connecting plate 201 and one side of the upright plate 202 are fixedly connected to the fixing plate 103; the connecting plate 201 and the fixing plate 103 near the wheel box 30 are keyed together.

[0053] Among them, the connecting plate 201 refers to a flat plate structure used to bear and transmit loads, with the purpose of providing a uniform support base to distribute the stress transmitted by the wheel box 30.

[0054] The vertical plate 202 can be understood as a reinforcing member perpendicular to the connecting plate 201. It can be made of the same material as the connecting plate 201 through welding or integral molding process. The purpose is to enhance the overall rigidity and torsional resistance of the support 20 and prevent structural deformation under vibration environment.

[0055] Fixed connection refers to a rigid connection formed by mechanical fastening or welding. It can be achieved by high-strength bolt groups or electric arc welding process. The purpose is to ensure a stable connection between the support 20 and the lower crossbeam 10 and reduce relative displacement during operation.

[0056] Specifically, the solution in this embodiment effectively disperses the concentrated load transmitted by the wheel housing 30 through the parallel arrangement of the connecting plates 201, avoiding local stress concentration; the vertical plate 202 is embedded between the connecting plates 201 to form a closed or semi-closed frame structure, significantly improving the torsional stiffness of the support 20; the fixed connection between the connecting plates 201 and the vertical plate 202 and the fixed plate 103 constitutes a stable support platform, suppressing running sway; at the same time, the key connection between the connecting plate 201 near the wheel housing 30 and the fixed plate 103 achieves rapid alignment and positioning during the installation stage, and the key body resists shear force during operation to suppress relative sliding. The above structures work together to form a complete force flow transmission path, fundamentally avoiding abnormal fit clearance and jamming problems caused by vibration and friction.

[0057] Through the above solution, this embodiment achieves structural reinforcement and precise positioning of the connection between the support 20 and the fixed plate 103, effectively suppresses abnormal fit clearance and jamming caused by vibration and friction during long-term high-load operation, significantly improves the convenience of maintenance and disassembly, and ensures the continuous operating efficiency of the stacker crane equipment.

[0058] It should be noted that in this embodiment, the first horizontal direction refers to the width direction of the lower crossbeam 10, and the second horizontal direction refers to the length direction of the lower crossbeam 10.

[0059] This embodiment further proposes that the support 20 also includes a reinforcing plate 203 disposed between the two connecting plates 201.

[0060] Among them, the reinforcing plate 203 refers to the additional support component used to enhance the rigidity of the structure. It can be implemented in the form of flat plate, I-beam or channel steel, etc., with the purpose of improving the overall bending stiffness of the support 20 and reducing the risk of deformation under dynamic load.

[0061] Specifically, the solution in this embodiment involves placing a reinforcing plate 203 between two parallel connecting plates 201, using the geometric layout of the connecting plates 201 to form a support frame, thereby distributing the local load evenly throughout the entire support 20 structure. Since the connecting plates 201 bear dynamic loads and vibrations when the walking mechanism is working, the intervention of the reinforcing plate 203 directly bridges the two connecting plates 201, preventing the connecting plates 201 from undergoing relative displacement during vibration. This ensures that the walking wheel box 30 maintains a precise installation position during operation, reducing abnormal fit clearances and wear problems caused by loose support 20.

[0062] Through the above solution, this embodiment effectively improves the structural stability of the support 20, reduces micro-deformation caused by vibration, avoids abnormal fit clearance and wear problems, thereby improving the reliability and maintenance convenience of the equipment in continuous material handling.

[0063] This embodiment further proposes that the wheel housing 30 is provided with a drive source and a wheel 40 connected to the output end of the drive source and located inside the wheel housing 30; the wheel 40 is configured to travel along the ground rail 70, which is arranged in the second horizontal direction.

[0064] The drive source refers to the core device that provides power to the wheels. It can be implemented using a servo motor, with the aim of directly transmitting power to the wheels and avoiding the long transmission path in the traditional split structure.

[0065] The walking wheel 40 refers to the mobile actuator that is directly coupled to the output end of the drive source. It can be made of rubber-coated wheel or alloy steel wheel body. The purpose is to reduce the risk of loosening of intermediate transmission links through internal integration of the housing and to form a physical protective barrier to isolate external interference.

[0066] Ground rail 70 refers to the guide rail that constrains the walking trajectory. It can be implemented using I-beam rails. The purpose is to optimize the linearity of the walking path through linear constraints and reduce lateral stress during operation.

[0067] Specifically, the solution in this embodiment integrates the drive source inside the wheel housing 30, allowing the power output end to be directly connected to the wheel 40. This eliminates additional vibration sources caused by external connectors, thereby shortening the power transmission path and reducing energy loss. The wheel 40 is enclosed in the environment of the wheel housing 30, effectively isolating it from external dust and impacts, and reducing the wear rate caused by friction and vibration. At the same time, the cooperation between the wheel 40 and the ground rail 70 constrains the deviation of the movement trajectory, avoiding derailment or jamming caused by vibration.

[0068] This embodiment further includes a connecting bracket 50 connected to the wheel housing 30 and an auxiliary wheel 60 installed on the connecting bracket 50; the auxiliary wheel 60 is configured to travel along the ground track 70.

[0069] The connecting bracket 50 is a rigid support structure used to fix the auxiliary wheel 60 and connect the walking wheel box 30. It can be implemented using a frame structure, with the purpose of providing additional support points to share the vertical and horizontal loads. The auxiliary wheel 60 can be understood as an auxiliary support component that travels along the ground rail 70. It can be made of rubber, polyurethane or metal wheels, and its purpose is to disperse dynamic impacts during operation and suppress lateral swaying.

[0070] Specifically, the solution in this embodiment ensures structural rigidity and positional accuracy through the rigid connection between the connecting bracket 50 and the wheel housing 30, enabling the auxiliary wheel 60 to be accurately positioned and share the vertical and horizontal loads borne by the wheel. When the auxiliary wheel 60 moves synchronously along the ground rail 70, it forms a multi-point support system with the wheel, effectively dispersing the dynamic impact during high-frequency movement, suppressing lateral swaying and vibration transmission, thereby reducing frictional losses between key components.

[0071] This embodiment also discloses a stacker crane, including the aforementioned traveling mechanism.

[0072] It should be noted that the core innovation of this embodiment lies in assembling the fixing plate 103 as an independent processing unit to the lower crossbeam 10, so that the positioning accuracy of the support 20 depends entirely on the processing quality of the fixing plate 103, effectively isolating the processing error of the lower crossbeam 10; at the same time, the wheel box 30 is fixed by a key connection, and the guiding characteristics of the key are used to achieve quick disassembly. When wear occurs, the wheel box 30 can be replaced independently without interfering with the overall state of the lower crossbeam 10, thereby avoiding overall boring processing, simplifying the maintenance process, improving the stability of equipment operation and the ability to quickly repair after failure. Specifically, the high-precision machining process of the fixed plate 103 is separated from the overall manufacturing process of the lower crossbeam 10, avoiding the stringent control requirements for coaxiality and perpendicularity; the installation position of the support 20 is limited to the top area of ​​the fixed plate 103, ensuring structural load-bearing capacity and reducing the risk of wear caused by vibration; the keyed connection between the wheel box 30 and the fixed plate 103 and the support 20 is based on a keyway with a positioning key and fixed by fasteners, allowing for quick disassembly and replacement after long-term high-load operation, completely solving the problems of abnormal fit clearance and jamming caused by wear in traditional integrated lower crossbeams. Through the above technical solutions, the equipment achieves efficient operation and maintenance in the continuous material handling of automated warehousing systems, ensuring the continuous operation capability of the production line.

[0073] In the description of the embodiments of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0074] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the protection scope of this invention.

Claims

1. A walking mechanism, characterized in that, include: The lower crossbeam (10) has fixing plates (103) on both sides. A support (20) is installed on the fixed plate (103) and close to the top of the fixed plate (103); The wheel box (30) is keyed to the support (20) and the fixing plate (103), and is located near the bottom of the fixing plate (103).

2. The walking mechanism according to claim 1, characterized in that, The wheel housing (30) has a first keyway (301) on the side near the fixing plate (103) along the first horizontal direction; a first positioning key (101) is provided between the fixing plate (103) and the first keyway (301), and the fixing plate (103) and the wheel housing (30) are fixedly connected by a first fastener (303).

3. The walking mechanism according to claim 2, characterized in that, The first fastener (303) is a bolt.

4. The walking mechanism according to claim 1, characterized in that, The top of the wheel housing (30) is provided with a second keyway (302) along the first horizontal direction; a second positioning key (102) is provided between the bottom of the support (20) and the second keyway (302), and the support (20) and the wheel housing (30) are fixedly connected by a second fastener (304).

5. The walking mechanism according to claim 4, characterized in that, The second fastener (304) is a bolt.

6. The walking mechanism according to claim 1, characterized in that, The support (20) includes two connecting plates (201) arranged in parallel along a second horizontal direction and two upright plates (202) respectively disposed between the two connecting plates (201); one side of the connecting plate (201) and one side of the upright plate (202) are fixedly connected to the fixing plate (103); the connecting plate (201) near the wheel box (30) and the fixing plate (103) are keyed together.

7. The walking mechanism according to claim 6, characterized in that, The support (20) also includes a reinforcing plate (203) disposed between the two connecting plates (201).

8. The walking mechanism according to claim 1, characterized in that, The wheel housing (30) is provided with a drive source and a wheel (40) connected to the output end of the drive source and located inside the wheel housing (30); the wheel (40) is configured to travel along a ground rail (70), which is arranged in a second horizontal direction.

9. The walking mechanism according to claim 8, characterized in that, It also includes a connecting bracket (50) connected to the wheel housing (30) and an auxiliary wheel (60) mounted on the connecting bracket (50); the auxiliary wheel (60) is configured to travel along the ground rail (70).

10. A stacker crane, characterized in that, Includes the walking mechanism as described in any one of claims 1-9.

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