A rack and pinion stacker

Abstract

A gear and rack type stacking machine comprises a rack, the rack comprises an upper cross beam, a lower cross beam and a column, the column is vertically arranged and fixedly connected with the upper cross beam and the lower cross beam at both ends, a rigid rack is fixedly arranged on one side of the column, a lifting assembly is arranged between the upper cross beam and the lower cross beam, the lifting assembly comprises a lifting plate and a lifting motor, the lifting motor is located on the lifting plate, a lifting gear is coaxially and fixedly connected with the output shaft of the lifting motor, and the lifting gear is engaged with the rigid rack. When the stacking machine is lifted, the lifting motor is started, the output shaft of the lifting motor rotates, the lifting gear rotates, the lifting plate is lifted through the engagement of the lifting gear and the rigid rack, the transmission precision is high through the engagement of the lifting gear and the rigid rack, the stable lifting of the lifting plate can be realized, the movement of the lifting plate can be controlled through the opening or closing of the lifting motor, the positioning error of the lifting plate is avoided, and the stability of the lifting of the lifting plate is improved.

Description

Technical Field

[0001] This application relates to the field of stacker cranes, and more particularly to a rack and pinion stacker crane. Background Technology

[0002] Stacker cranes, also known as stacker machines, are the most important lifting and transportation equipment in automated warehouses. The main function of stacker cranes is to move back and forth in the aisles of the automated warehouse, storing goods located at the aisle entrance into the racking compartments, or retrieving goods from the racking compartments and transporting them to the aisle entrance. They consist of a frame (upper beam, lower beam, and columns), horizontal travel components, lifting components, loading platform, forks, and an electrical control system.

[0003] For related technology, please refer to Chinese Patent Publication No. CN101293624A, which discloses a stacker crane, including a stacker crane frame, a cargo platform that can move up and down is provided in the frame, a winch motor for driving the cargo platform to move is provided on the side of the frame, and a counterweight is provided in the square tube column of the frame, and the counterweight is connected to the cargo platform by a rope.

[0004] Regarding the aforementioned technologies, the lifting components achieve lifting and movement through rope transmission, which is prone to slippage or positioning errors, resulting in low stability of lifting and lowering during stacking operations. Utility Model Content

[0005] To improve the stability of stacker crane lifting and lowering during stacking, this application provides a rack and pinion stacker crane.

[0006] This application provides a rack and pinion stacker crane, which adopts the following technical solution: A rack and pinion stacker includes a frame, which includes an upper crossbeam, a lower crossbeam, and a column. The column is vertically arranged and its two ends are fixedly connected to the upper and lower crossbeams. A rigid rack is fixedly arranged on one side of the column. A lifting assembly is arranged between the upper and lower crossbeams. The lifting assembly includes a lifting plate and a lifting motor. The lifting motor is located on the lifting plate. A lifting gear is coaxially fixedly connected to the output shaft of the lifting motor. The lifting gear meshes with the rigid rack.

[0007] By adopting the above technical solution, when the stacker crane is lifting, the lifting motor is started, the output shaft of the lifting motor rotates, the lifting gear rotates, and the lifting plate is driven to rise and fall through the meshing of the lifting gear and the rigid rack. The high transmission accuracy of the meshing of the lifting gear and the rigid rack enables the stable lifting of the lifting plate. By turning the lifting motor on or off, the movement of the lifting plate can be controlled, avoiding positioning errors of the lifting plate and improving the stability of the lifting plate.

[0008] Optionally, a lifting screw is fixedly installed between the upper and lower crossbeams, a ratchet is rotatably connected to the lifting plate, and the lifting plate has a connection port for the lifting screw to pass through. The lifting screw passes through the ratchet and is threadedly connected to the ratchet.

[0009] By adopting the above technical solution, when the lifting plate is raised and lowered by meshing with the rigid rack through the lifting gear, the ratchet starts to rotate as the lifting plate is raised and lowered. When the lifting plate moves up and down, the ratchet moves along the length of the lifting screw and rotates, limiting the movement path of the lifting plate and improving the stability of the lifting plate's movement. When the lifting plate is stationary, the ratchet and the lifting screw remain relatively stationary, improving the stability of the lifting plate in a stationary state.

[0010] Optionally, the lifting plate is provided with a locking assembly for controlling the rotation of the ratchet. The locking assembly includes a pawl and a cylinder. The pawl is rotatably connected to the lifting plate at its center near the side of the lifting plate. One end of the pawl is inclined, and the inclination angle of the pawl matches that of the ratchet. The cylinder is located on the lifting plate and is fixedly connected to the lifting plate. A moving rod is fixedly provided at the end of the cylinder piston rod. A connecting groove is opened at the end of the pawl near the moving rod. The end of the moving rod away from the cylinder is located in the connecting groove. Sliding columns are fixedly provided on both sides of the moving rod. Sliding slots communicating with the connecting groove are opened on both sides of the pawl. The sliding columns are located in the sliding slots and are movably connected to the pawl.

[0011] By adopting the above technical solution, when the lifting platform is raised to the height of the goods, the lifting motor stops, the cylinder is started, the cylinder piston rod extends, the moving rod begins to move, the sliding column on the moving rod moves in the sliding groove, driving the pawl to rotate, and the inclined end of the pawl touches the ratchet, the pawl locks the ratchet, preventing the lifting platform from falling and improving the stability of the stacker crane's lifting.

[0012] Optionally, a horizontal traveling component is provided between the lifting component and the locking component. The horizontal traveling component includes a ball screw and a drive motor. A groove is provided on the lifting plate, and the ball screw and the drive motor are both located in the groove. The output shaft of the drive motor is coaxially and fixedly connected to one end of the ball screw. A nut seat is provided in the groove, and the ball screw passes through the nut seat and is threadedly connected to the nut seat. A connecting block is fixedly provided on the nut seat, and a moving plate is provided on the connecting block. A fork is fixedly provided on the moving plate.

[0013] By adopting the above technical solution, when the stacker crane needs to retrieve goods, the lifting plate is raised to the retrieval height via the lifting assembly, the drive motor is started, the output shaft of the drive motor rotates, the ball screw rotates, the screw nut moves horizontally on the ball screw, the moving plate moves horizontally, and the forks extend horizontally to insert into the pallet to complete the retrieval. When the drive motor rotates in the opposite direction, the output shaft of the drive motor rotates in the opposite direction, the ball screw rotates, the screw nut moves horizontally in the opposite direction, the moving plate moves horizontally, and the forks disengage from the pallet, realizing the placement of the pallet and the goods on the pallet. Through the threaded connection between the ball screw and the screw nut, the moving plate can move horizontally and stably, improving the stability of the lifting plate when retrieving goods.

[0014] Optionally, the forks are tilted at the end furthest from the moving plate.

[0015] By adopting the above technical solution, the inclined fork ends facilitate for the forks to enter the pallet, improving the ease with which the forks can pick up goods.

[0016] Optionally, a connecting plate is fixedly connected to the top of the lifting plate, and two connecting plates are located on both sides of the moving plate. A connecting rod is fixedly connected to the side of the two connecting plates that are close to each other. Connecting holes for the connecting rods to pass through are opened on both sides of the moving plate, and the connecting rods slide through the corresponding connecting holes and are slidably connected to the moving plate.

[0017] By adopting the above technical solution, when the forks insert into the pallet, the weight of the goods on the pallet exerts gravity on the forks. The increased gravity on the nut under the forks can damage the ball screw. The connecting rod improves the connection of the moving plate, disperses the gravity of the goods on the pallet, reduces the gravity exerted by the goods on the nut, and improves the stability of the moving plate in gripping the goods.

[0018] Optionally, the column is provided with a guide rail on the side near the lifting plate, and the lifting plate is provided with a slider that matches the guide rail on the end near the column. The slider is located inside the guide rail and is slidably connected to the guide rail.

[0019] By adopting the above technical solution, the guide rail limits the lifting plate, preventing one side of the lifting plate from tilting and improving the stability of the lifting plate's lifting.

[0020] Optionally, a ground rail is provided at the bottom of the lower crossbeam, a horizontal rack is provided on the ground rail, a moving motor is installed on the lower crossbeam, and a moving gear is coaxially fixedly connected to the output shaft of the moving motor, the moving gear meshing with the horizontal rack.

[0021] By adopting the above technical solution, when the frame needs to be moved, the moving motor is started, the output shaft of the moving motor rotates, the moving gear rotates, and the frame moves by meshing with the horizontal rack on the ground rail, thereby improving the positioning accuracy of the frame and enhancing the stability of the lifting plate.

[0022] In summary, this application includes at least one of the following beneficial technical effects: 1. When the stacker crane is lifting, the lifting motor is started, the output shaft of the lifting motor rotates, the lifting gear rotates, and the lifting plate is driven to rise and fall through the meshing of the lifting gear and the rigid rack. The high transmission accuracy of the meshing of the lifting gear and the rigid rack enables the stable lifting of the lifting plate. By turning the lifting motor on or off, the movement of the lifting plate can be controlled to avoid positioning errors of the lifting plate and improve the stability of the lifting plate. 2. When the lifting plate is raised and lowered by meshing with the rigid rack through the lifting gear, the ratchet starts to rotate as the lifting plate is raised and lowered. When the lifting plate moves up and down, the ratchet moves along the length of the lifting screw and rotates, limiting the movement path of the lifting plate and improving the stability of the lifting plate. When the lifting plate is stationary, the ratchet and the lifting screw remain relatively stationary, improving the stability of the lifting plate when it is stationary. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of a rack and pinion stacker; Figure 2 yes Figure 1 An enlarged schematic diagram of part A in the middle; Figure 3 This is a schematic diagram used to illustrate the connection relationship between the cylinder and the moving rod in this application; Figure 4 This is a structural schematic diagram used to illustrate the horizontal walking component in this application.

[0024] Explanation of reference numerals in the attached drawings: 1. Frame; 11. Upper crossbeam; 12. Lower crossbeam; 13. Column; 131. Rigid rack; 132. Guide rail; 2. Lifting assembly; 21. Lifting plate; 211. Groove; 212. Connecting plate; 213. Connecting rod; 214. Slider; 22. Lifting motor; 23. Lifting gear; 3. Locking assembly; 31. Cylinder; 32. Pawl; 321. Connecting groove; 322. Sliding groove; 33. Ratchet; 34. Moving rod; 341. Sliding column; 35. Lifting screw; 4. Horizontal travel assembly; 41. Ball screw; 42. Drive motor; 43. Nut seat; 44. Connecting block; 45. Moving plate; 46. Fork; 5. Ground rail; 51. Horizontal rack; 52. Moving motor; 53. Moving gear. Detailed Implementation

[0025] The present application will be further described in detail below with reference to all the accompanying drawings.

[0026] This application discloses a rack and pinion stacker.

[0027] Reference Figure 1A rack and pinion stacker includes a frame 1, which includes an upper crossbeam 11, a lower crossbeam 12, and a column 13. The column 13 is vertically installed and its two ends are fixedly connected to the upper crossbeam 11 and the lower crossbeam 12. A rigid rack 131 is fixedly installed on one side of the column 13. A lifting assembly 2 is installed between the upper crossbeam 11 and the lower crossbeam 12. The lifting assembly 2 includes a lifting plate 21 and a lifting motor 22. The lifting motor 22 is located on the lifting plate 21. A lifting gear 23 is coaxially fixedly connected to the output shaft of the lifting motor 22. The lifting gear 23 meshes with the rigid rack 131. When the stacker crane is lifting, the lifting motor 22 is started. The output shaft of the lifting motor 22 rotates, and the lifting gear 23 rotates. The lifting gear 23 meshes with the rigid rack 131 to drive the lifting plate 21 to rise and fall. The high transmission accuracy of the meshing between the lifting gear 23 and the rigid rack 131 enables the stable lifting of the lifting plate 21. By turning the lifting motor 22 on or off, the movement of the lifting plate 21 can be controlled to avoid positioning errors of the lifting plate 21 and improve the stability of the lifting of the lifting plate 21.

[0028] Reference Figure 2 and Figure 3 A locking assembly 3 is installed on the side of the lifting plate 21 away from the column 13. The locking assembly 3 includes a cylinder 31 and a pawl 32. The cylinder 31 is fixedly installed on the lifting plate 21, and a moving rod 34 is installed at the end of the piston rod of the cylinder 31. The pawl 32 is rotatably connected to the lifting plate 21 at its center near the lifting plate 21. A connecting groove 321 is opened at one end of the pawl 32. The end of the moving rod 34 away from the cylinder 31 is located in the connecting groove 321. Sliding columns 341 are fixedly installed on both sides of the moving rod 34. Sliding slots 322 communicating with the connecting groove 321 are opened on both sides of the pawl 32. The sliding columns 341 are located in the sliding slots 322 and are movably connected to the pawl 32. When the piston rod of the cylinder 31 is activated, it extends, the moving rod 34 moves, and the sliding columns 341 on the moving rod 34 move in the sliding slots 322, causing the pawl 32 to rotate.

[0029] Reference Figure 2 and Figure 3A lifting screw 35 is fixedly installed between the upper crossbeam 11 and the lower crossbeam 12. A ratchet 33 is rotatably connected to the lifting plate 21. The lifting plate 21 has a connection port for the lifting screw 35 to pass through. The lifting screw 35 passes through the ratchet 33 and is threadedly connected to the ratchet 33. The end of the pawl 32 away from the moving rod 34 is installed at an angle, and the angle of the pawl 32 matches that of the ratchet 33. When the lifting plate 21 is raised and lowered by meshing with the rigid rack 131 through the lifting gear 23, the ratchet 33 starts to rotate as the lifting plate 21 is raised and lowered. When the lifting plate 21 moves up and down, the ratchet 33 moves along the length of the lifting screw 35, and the ratchet 33 rotates. The rotation limits the movement path of the lifting plate 21, improving the stability of its lifting and moving motion. When the lifting plate 21 is stationary, the ratchet 33 and the lifting screw 35 remain relatively stationary, improving the stability of the lifting plate 21 in its stationary state. When the lifting plate 21 is raised to the height of the goods, the lifting motor 22 stops rotating, and the cylinder 31 is started. The piston rod of the cylinder 31 extends, and the moving rod 34 begins to move. The sliding column 341 on the moving rod 34 moves in the sliding groove 322, driving the pawl 32 to start rotating. The pawl 32 locks the ratchet 33 to prevent the lifting plate 21 from falling, improving the stability of the stacker crane's lifting and lowering.

[0030] Reference Figure 1 and Figure 3 A guide rail 132 is installed on the side of the column 13 near the lifting plate 21. A slider 214 matching the guide rail 132 is installed on the end of the lifting plate 21 near the column 13. The slider 214 is located inside the guide rail 132 and is slidably connected to the guide rail 132. The guide rail 132 limits the lifting plate 21 to prevent one side of the lifting plate 21 from tilting and improves the stability of the lifting plate 21.

[0031] Reference Figure 1 and Figure 4 A horizontal traveling assembly 4 is installed between the lifting assembly 2 and the locking assembly 3. The horizontal traveling assembly 4 includes a ball screw 41 and a drive motor 42. A groove 211 is provided on the lifting plate 21. Both the ball screw 41 and the drive motor 42 are located in the groove 211. The output shaft of the drive motor 42 is coaxially and fixedly connected to one end of the ball screw 41. A nut seat 43 is installed in the groove 211. The ball screw 41 passes through the nut seat 43 and is threadedly connected to the nut seat 43. A connecting block 44 is fixedly installed on the nut seat 43. A moving plate 45 is installed on the connecting block 44. A fork 46 is fixedly installed on the moving plate 45. The end of the fork 46 away from the moving plate 45 is installed at an angle.

[0032] When the stacker crane needs to retrieve goods, the lifting plate 21 is raised to the retrieval height via the lifting assembly 2. The drive motor 42 is then activated, causing its output shaft to rotate. This rotates the ball screw 41, causing the lead screw nut 43 to move horizontally on the ball screw. The moving plate 45 moves horizontally, and the forks 46 extend horizontally to insert into the pallet, completing the retrieval. The drive motor 42 then rotates in the opposite direction, causing its output shaft to rotate in the same direction. This rotates the ball screw 41, causing the lead screw nut 43 to move horizontally in the opposite direction. The moving plate 45 moves horizontally, and the forks 46 disengage from the pallet, allowing the pallet and its contents to be placed on it. The threaded connection between the ball screw 41 and the lead screw nut 43 ensures stable horizontal movement of the moving plate 45, improving the stability of the lifting plate 21 during retrieval. The inclined fork ends facilitate the insertion of the forks into the pallet, enhancing the ease of picking up goods.

[0033] Reference Figure 1 and Figure 4 A connecting plate 212 is fixedly connected to the top of the lifting plate 21. Two connecting plates 212 are located on both sides of the moving plate 45. A connecting rod 213 is fixedly connected to the side of the two connecting plates 212 that are close to each other. Connecting holes for the connecting rod 213 to pass through are opened on both sides of the moving plate 45. The connecting rod 213 passes through the corresponding connecting holes and is slidably connected to the moving plate 45. When the fork 46 inserts into the pallet, the weight of the goods on the pallet exerts gravity on the fork 46. The increased gravity on the nut seat 43 under the fork 46 may damage the ball screw 41. The connecting rod 213 increases the connection degree of the moving plate 45, disperses the gravity of the goods on the pallet, reduces the gravity exerted by the goods on the nut seat 43, and improves the stability of the moving plate 45 in grasping the goods.

[0034] Reference Figure 1 A ground rail 5 is installed at the bottom of the lower crossbeam 12, and a horizontal rack 51 is installed on the ground rail 5. A moving motor 52 is installed on the lower crossbeam 12, and a moving gear 53 is coaxially fixedly connected to the output shaft of the moving motor 52. The moving gear 53 meshes with the horizontal rack 51. When the frame 1 needs to move, the moving motor 52 is started, the output shaft of the moving motor 52 rotates, and the moving gear 53 rotates. The movement of the frame 1 is achieved by the moving gear 53 meshing with the horizontal rack 51 on the ground rail 5, thereby improving the positioning accuracy of the frame 1 and enhancing the stability of the lifting plate 21.

[0035] The implementation principle of a rack and pinion stacker in this application embodiment is as follows: When the stacker needs to retrieve goods, the lifting motor 22 is started, the output shaft of the lifting motor 22 rotates, the lifting gear 23 rotates, and the lifting gear 23 meshes with the rigid rack 131 to drive the lifting plate 21 to rise and fall. The ratchet 33 rotates on the screw. After the goods are lifted to the required height, the lifting motor 22 stops, the cylinder 31 is started, the piston rod of the cylinder 31 extends, the moving rod 34 begins to move, and the sliding column 341 on the moving rod 34 moves in the sliding groove 322, driving the pawl 32. The rotation begins, the pawl 32 locks the ratchet 33, the drive motor 42 is started, the output shaft of the drive motor 42 rotates, the ball screw 41 rotates, the screw nut 43 moves horizontally on the ball screw, the moving plate 45 moves horizontally, and the forks 46 extend horizontally into the pallet to pick up the goods. The drive motor 42 rotates in the opposite direction, the output shaft of the drive motor 42 rotates, the ball screw 41 rotates, the screw nut 43 moves horizontally in the opposite direction, the moving plate 45 moves horizontally, and the forks 46 disengage from the pallet, realizing the placement of the pallet and the goods on the pallet.

[0036] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A rack and pinion stacker, comprising a frame (1), the frame (1) comprising an upper crossbeam (11), a lower crossbeam (12) and a column (13), the column (13) being vertically arranged and fixedly connected at both ends to the upper crossbeam (11) and the lower crossbeam (12), a rigid rack (131) being fixedly arranged on one side of the column (13), a lifting assembly (2) being arranged between the upper crossbeam (11) and the lower crossbeam (12), the lifting assembly (2) comprising a lifting plate (21) and a lifting motor (22), the lifting motor (22) being located on the lifting plate (21), the output shaft of the lifting motor (22) being coaxially fixedly connected to a lifting gear (23), the lifting gear (23) meshing with the rigid rack (131).

2. The rack and pinion stacker according to claim 1, characterized in that: A lifting screw (35) is fixedly installed between the upper crossbeam (11) and the lower crossbeam (12). A ratchet (33) is rotatably connected to the lifting plate (21). The lifting plate (21) has a connection port for the lifting screw (35) to pass through. The lifting screw (35) passes through the ratchet (33) and is threadedly connected to the ratchet (33).

3. A rack and pinion stacker according to claim 2, characterized in that: The lifting plate (21) is provided with a locking assembly (3) for controlling the rotation of the ratchet (33). The locking assembly (3) includes a pawl (32) and a cylinder (31). The pawl (32) is rotatably connected to the lifting plate (21) at the center of the side near the lifting plate (21). One end of the pawl (32) is inclined, and the inclination angle of the pawl (32) matches that of the ratchet (33). The cylinder (31) is located on the lifting plate (21) and is fixedly connected to the lifting plate (21). The piston of the cylinder (31) A movable rod (34) is fixedly provided at the end of the rod. A connecting groove (321) is provided at one end of the pawl (32) near the movable rod (34). The end of the movable rod (34) away from the cylinder (31) is located in the connecting groove (321). Sliding columns (341) are fixedly provided on both sides of the movable rod (34). Sliding slots (322) communicating with the connecting groove (321) are provided on both sides of the pawl (32). The sliding column (341) is located in the sliding slot (322) and is movably connected to the pawl (32).

4. A rack and pinion stacker according to claim 3, characterized in that: A horizontal traveling component (4) is provided between the lifting component (2) and the locking component (3). The horizontal traveling component (4) includes a ball screw (41) and a drive motor (42). A groove (211) is provided on the lifting plate (21). The ball screw (41) and the drive motor (42) are both located in the groove (211). The output shaft of the drive motor (42) is coaxially fixedly connected to one end of the ball screw (41). A nut seat (43) is provided in the groove (211). The ball screw (41) passes through the nut seat (43) and is threadedly connected to the nut seat (43). A connecting block (44) is fixedly provided on the nut seat (43). A moving plate (45) is provided on the connecting block (44). A fork (46) is fixedly provided on the moving plate (45).

5. A rack and pinion stacker according to claim 4, characterized in that: The forks (46) are tilted at the end away from the moving plate (45).

6. A rack and pinion stacker according to claim 4, characterized in that: The top of the lifting plate (21) is fixedly connected to a connecting plate (212). The two connecting plates (212) are located on both sides of the moving plate (45). A connecting rod (213) is fixedly connected to the side of the two connecting plates (212) that are close to each other. A connecting hole is provided on both sides of the moving plate (45) for the connecting rod (213) to pass through. The connecting rod (213) passes through the corresponding connecting hole and slides in connection with the moving plate (45).

7. A rack and pinion stacker according to claim 1, characterized in that: The column (13) is provided with a guide rail (132) on the side near the lifting plate (21), and the lifting plate (21) is provided with a slider (214) that matches the guide rail (132) at the end near the column (13). The slider (214) is located inside the guide rail (132) and is slidably connected to the guide rail (132).

8. A rack and pinion stacker according to claim 1, characterized in that: The bottom of the lower crossbeam (12) is provided with a ground rail (5), and a horizontal rack (51) is provided on the ground rail (5). A moving motor (52) is installed on the lower crossbeam (12), and a moving gear (53) is coaxially fixedly connected to the output shaft of the moving motor (52). The moving gear (53) meshes with the horizontal rack (51).

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