Stacker crane

Abstract

A stacker crane, comprising: a traveling device, which comprises a traveling box (100), a friction transmission mechanism (200) mounted in the traveling box (100), and a horizontal locating assembly (101) used for locating a traveling position, wherein the friction transmission mechanism (200) comprises a friction driving wheel (201) matching a friction rail (901), and a traveling power mechanism (202); a lifting / lowering device, which comprises a lifting / lowering frame (300) mounted at the top of the traveling box (100), a mechanical arm carrying assembly (400) mounted on the lifting / lowering frame (300), a lifting / lowering transmission assembly used for driving the mechanical arm carrying assembly (400) to lift / lower, a lifting power mechanism, and a vertical locating assembly (401) used for locating a lifting / lowering position of the mechanical arm carrying assembly (400); and a control device (600), which is used for controlling, on the basis of the traveling position fed back by the horizontal locating assembly (101), the traveling power mechanism (202) to drive the traveling device to run to a target traveling position, and is further used for controlling, on the basis of the lifting / lowering position fed back by the vertical locating assembly (401), the lifting power mechanism (501) to drive the mechanical arm carrying assembly (400) to run to a target lifting / lowering position. The stacker crane can realize accurate locating of the stacker crane in a traveling direction and a lifting direction.

Description

A stacker Technical Field

[0001] The embodiments of the present application relate to the field of logistics and warehousing technology, and in particular to a stacker. Background Art

[0002] With the increasing demand for semiconductors, traditional, inefficient manual handling and storage methods are no longer able to meet the growing demand for semiconductor products, driving the continuous optimization of semiconductor transportation and storage equipment. In this environment, automated high-bay warehouses (AHWs) have emerged. AHWs utilize high-rise shelves to store items, with computer-controlled aisle stackers automatically controlling the loading and unloading of items. Aisle stackers, a specialized crane developed with the advent of AHWs and often referred to as stackers, are the most important lifting and transportation equipment in AHWs.

[0003] The stacker crane runs along the track in the aisle of the automated warehouse, and uses its liftable loading components to store items at the aisle entrance into the designated cargo compartment of the three-dimensional shelf, or take out items from the designated cargo compartment and transport them to the aisle entrance to complete the storage and retrieval operations of the items.

[0004] In this process, how to achieve accurate positioning of the stacker in the walking direction and the lifting direction, so as to realize accurate storage and retrieval operations, is a problem to be solved urgently in this application.

[0005] Summary of the Invention

[0006] An embodiment of the present application provides a stacker crane, comprising a traveling device, a lifting device, and a control device. The traveling device comprises a traveling box, a friction transmission mechanism installed in the traveling box, and a horizontal positioning assembly installed on the traveling box and used to locate the traveling position of the traveling device, wherein the friction transmission mechanism comprises a friction drive wheel that passes through the traveling box and frictionally engages with a friction track on the ground, and a traveling power mechanism for driving the friction drive wheel to rotate. The lifting device comprises a lifting frame installed on the top of the traveling box, a robotic arm loading assembly installed on the lifting frame, a lifting transmission assembly for driving the robotic arm loading assembly to move up and down along the lifting frame, a lifting power mechanism for driving the lifting transmission assembly, and a vertical positioning assembly for locating the lifting position of the robotic arm loading assembly. The control device is used to control the traveling power mechanism to drive the traveling device to a target traveling position based on the traveling position fed back by the horizontal positioning assembly. The control device is also used to control the lifting power mechanism to drive the robotic arm loading assembly to a target lifting position based on the lifting position fed back by the vertical positioning assembly.

[0007] In some embodiments, a horizontally mounted barcode mounting plate is provided along the travel path of the stacker crane, and a plurality of travel position barcodes are provided on the barcode mounting plate to indicate the travel position. The horizontal positioning assembly includes a first barcode scanner mounted on the travel box, the first barcode scanner being configured to scan the travel position barcodes and transmit the scanned results to the control device.

[0008] In some embodiments, the lifting device further includes a plurality of lifting position barcodes for indicating the lifting position. The vertical positioning assembly includes a second barcode scanner mounted on the robotic arm carrying assembly, the second barcode scanner being used to scan the lifting position barcodes and transmit the scan results to the control device.

[0009] In some embodiments, the travel device further comprises: a travel deceleration sensor assembly and / or a travel limit sensor assembly located on the travel box. The travel deceleration sensor assembly is configured to trigger the control device to perform a corresponding horizontal deceleration operation upon sensing that the stacker has reached a corresponding horizontal deceleration position. The travel limit sensor assembly is configured to trigger the control device to perform a corresponding horizontal limit operation upon sensing that the stacker has reached a corresponding horizontal limit position.

[0010] In some embodiments, the horizontal deceleration operation includes: detecting whether the walking speed of the stacker is less than a corresponding walking speed threshold; if not, controlling the walking power mechanism to decelerate and giving an alarm.

[0011] In some embodiments, the walking deceleration sensor assembly includes a primary walking deceleration sensor and a secondary walking deceleration sensor. The primary walking deceleration sensor is used to trigger the control device to detect whether the walking speed of the walking device is less than the first walking speed threshold when sensing that the stacker is walking to the first horizontal deceleration position. If not, the walking power mechanism is controlled to decelerate and alarm. The secondary walking deceleration sensor is used to trigger the control device to detect whether the walking speed of the walking device is less than the second walking speed threshold when sensing that the stacker is walking to the second horizontal deceleration position. If not, the walking power mechanism is controlled to decelerate and alarm. Wherein, along the walking direction of the stacker, the stacker first reaches the first horizontal deceleration position and then reaches the second horizontal deceleration position, and the first walking speed threshold is greater than the second walking speed threshold.

[0012] In some embodiments, the lifting device further includes: at least one of an upper limit sensor assembly, an upper deceleration sensor assembly, a lower deceleration sensor assembly, and a lower limit sensor assembly, which are arranged along the lifting direction of the robotic arm loading assembly. The upper limit sensor assembly is used to trigger the control device to perform a corresponding rising limit operation when sensing that the robotic arm loading assembly has risen to a corresponding upper limit position. The upper deceleration sensor assembly is used to trigger the control device to perform a corresponding rising deceleration operation when sensing that the robotic arm loading assembly has risen to a corresponding upper deceleration position. The lower deceleration sensor assembly is used to trigger the control device to perform a corresponding descending deceleration operation when sensing that the robotic arm loading assembly has descended to a corresponding lower deceleration position. The lower limit sensor assembly is used to trigger the control device to perform a corresponding descending limit operation when sensing that the robotic arm loading assembly has descended to a corresponding lower limit position. Wherein, the upper limit position, the upper deceleration position, the lower deceleration position, and the lower limit position are arranged in sequence from top to bottom.

[0013] In some embodiments, a ceiling rail is provided above the travel path of the stacker, and an upper guide wheel assembly is provided on the top of the lifting frame and is in sliding engagement with the ceiling rail.

[0014] In some embodiments, the stacker further includes: a power supply assembly disposed on one side of the traveling box, a power supply assembly electrically connected to the power supply assembly, and an energy storage assembly electrically connected to the power supply assembly and the power supply assembly. Part of the electrical energy captured by the power supply assembly is supplied to the power supply assembly, and the remaining part is stored in the energy storage assembly. The power supply assembly is used to power the stacker.

[0015] In some embodiments, the lifting transmission assembly includes: a drive pulley disposed on the side of the travel box and connected to the lifting power mechanism; a driven pulley disposed at the top of the lifting frame and connected to the drive pulley via a synchronous belt; and a vertical guide rail disposed along the height direction of the lifting frame. The robotic arm loading assembly is fixedly connected to the synchronous belt and slidably engages with the vertical guide rail, allowing it to be raised and lowered along the vertical guide rail under the drive of the synchronous belt.

[0016] In some embodiments, the side of the traveling box is further provided with an adjusting wheel abutting against one side of the synchronous belt, and the adjusting wheel can rotate along with the rotation of the synchronous belt.

[0017] In some embodiments, the traveling device further comprises a driving wheel support seat for supporting the friction driving wheel. One end of the driving wheel support seat is rotatably fixed in the traveling box. The other end of the driving wheel support seat is fixed in the traveling box via an elastic component disposed above the driving wheel support seat.

[0018] In some embodiments, the elastic assembly includes an elastic element and an elastic force adjustment mechanism. The bottom end of the elastic element is connected to the top surface of the other end of the drive wheel support. The elastic force adjustment mechanism is connected to the top end of the elastic element and is used to adjust the elastic force generated by the elastic element.

[0019] In some embodiments, a limit plate is provided in the travel box, and the limit plate is laterally arranged above the elastic element. The elastic force adjustment mechanism includes a fixing piece threadedly engaged with the limit plate, and the bottom end of the fixing piece is connected to the top end of the elastic element.

[0020] In some embodiments, the elastic component further includes a ruler mounted on the top surface of the limiting plate.

[0021] In some embodiments, a plurality of sliders are installed at the bottom of the traveling box, and the sliders are slidably engaged with the guide rails on the ground.

[0022] In some embodiments, a light transmitter is provided along the stacker's travel path, and a light receiver is provided on the stacker. When the light receiver receives a light signal emitted by the light transmitter, a trigger control device controls the operation of the travel power mechanism based on the travel position determined by the horizontal positioning assembly and the lifting power mechanism based on the lifting position determined by the vertical positioning assembly, based on access task data transmitted from the host computer. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] FIG1 is a schematic diagram of the three-dimensional structure of a stacker in an embodiment of the present application.

[0024] FIG2 is an enlarged schematic diagram of area A in FIG1 .

[0025] FIG3 is an enlarged schematic diagram of area B in FIG1 .

[0026] FIG4 is a rear view of the stacker in the embodiment of the present application.

[0027] FIG5 is a schematic diagram of the installation of a multi-stage speed reducer in an embodiment of the present application.

[0028] FIG6 is a side view of the stacker in the embodiment of the present application.

[0029] FIG7 is a schematic diagram of a partial three-dimensional structure of a lifting frame of a stacker in an embodiment of the present application.

[0030] FIG8A is a schematic diagram of the three-dimensional structure of the traveling device of the stacker in an embodiment of the present application.

[0031] FIG8B is a schematic diagram of the lifting drive structure of the traveling device of the stacker in an embodiment of the present application.

[0032] FIG9 is a schematic diagram of the internal structure of the traveling device of the stacker in an embodiment of the present application.

[0033] FIG10 is a top cross-sectional view of the traveling device of the stacker in the embodiment of the present application.

[0034] FIG11 is a diagram showing the working principle of the first-stage deceleration according to an embodiment of the present application.

[0035] FIG12 is a diagram showing the working principle of the two-stage deceleration according to an embodiment of the present application.

[0036] FIG13 is a diagram showing the working principle of three-stage deceleration in an embodiment of the present application.

[0037] FIG14 is a flowchart of the working process of the stacker in an embodiment of the present application.

[0038] FIG15 is a schematic structural diagram of a traveling box in a stacker according to an embodiment of the present application from one viewing angle.

[0039] FIG16 is a schematic diagram of the partial structure of the traveling box in the stacker according to an embodiment of the present application from another perspective.

[0040] FIG17 is a side view of the traveling box in the stacker according to the embodiment of the present application.

[0041] FIG18 is a schematic diagram of the installation of the traveling box and the stacker column in the stacker according to an embodiment of the present application.

[0042] Figure 19 is a schematic diagram of the internal structure of the walking mechanism in an embodiment of the present application.

[0043] FIG20 is a schematic diagram of the three-dimensional structure of the traveling device for the stacker in an embodiment of the present application.

[0044] FIG21 is a side sectional view of a traveling device for a stacker in an embodiment of the present application.

[0045] FIG22 is a diagram showing the stress state of a portion of the structure of the traveling device for a stacker according to an embodiment of the present application.

[0046] FIG23 is a perspective view of the lifting box and the stacker in an embodiment of the present application.

[0047] FIG24 is a three-dimensional diagram of a cable plug-in port and a position monitoring device according to an embodiment of the present application.

[0048] Figure 25 is a three-dimensional view of the lifting box in an embodiment of the present application.

[0049] Figure 26 is a three-dimensional view of the cable of the lifting box in the embodiment of the present application after being connected to the cable plug interface.

[0050] Figure 27 is a three-dimensional view of the box frame and guide slider part in an embodiment of the present application.

[0051] Figure 28 is a three-dimensional view of the connecting plate and the transmission belt part in an embodiment of the present application.

[0052] Figure 29 is an enlarged view of A in Figure 28 in the embodiment of the present application.

[0053] Figure 30 is a schematic structural diagram of the tensioning device in an embodiment of the present application.

[0054] Figure 31 is an enlarged schematic diagram of B in Figure 30 in the embodiment of the present application.

[0055] Figure 32 is an enlarged schematic diagram of C in Figure 30 in an embodiment of the present application.

[0056] Figure 33 is a three-dimensional diagram of the cable plug-in port and the interface bracket in an embodiment of the present application. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solutions and advantages of this application more clear, the present application is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0058] The terms used herein are for the purpose of describing specific embodiments only and are not intended to limit this application. As used in this application and the appended claims, the singular forms "a," "an," "the," and "the" are intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0059] An embodiment of the present application provides a stacker, as shown in Figures 1 to 10. The stacker mainly includes a traveling device, a lifting device, and a control device.

[0060] As shown in Figure 1, the walking device includes a walking box 100, a friction transmission mechanism 200 installed in the walking box 100, and a horizontal positioning assembly 101 installed on the walking box 100 (see Figure 4). The horizontal positioning assembly 101 is used to locate the real-time walking position of the walking device. Among them, the walking box 100 provides a force-bearing support surface for the friction transmission mechanism 200; the friction transmission mechanism 200 provides the walking power source of the stacker. As shown in Figures 8 to 10, the friction transmission mechanism 200 includes a friction drive wheel 201 that passes through the bottom plate of the walking box 100 and frictionally cooperates with the friction track 901 on the ground, and a walking power mechanism 202 (see Figure 10) that is connected to the friction drive wheel 201 and is used to drive the friction drive wheel 201 to rotate. In some embodiments, the walking power mechanism 202 is implemented by a servo reduction motor, which has the characteristics of accurate operation positioning and timely acceleration and deceleration response, further improving the walking positioning accuracy of the stacker.

[0061] As shown in Figure 1, the lifting device includes a lifting frame 300 installed on the top of the traveling box 100, a robotic arm loading assembly 400 installed on the lifting frame 300 for carrying articles, a lifting transmission assembly for driving the robotic arm loading assembly 400 to move up and down along the lifting frame 300, a lifting power mechanism 501 for driving the lifting transmission assembly to operate, and a vertical positioning assembly 401 for locating the real-time lifting position of the robotic arm loading assembly 400. Driven by the lifting power mechanism 501 and the lifting transmission assembly, the robotic arm loading assembly 400 can be lifted and lowered along the lifting frame 300 to store articles in designated cargo compartments of the three-dimensional shelf or to take articles out of designated cargo compartments. In some embodiments, the lifting power mechanism 501 is implemented using a servo reduction motor to improve the lifting and positioning accuracy of the stacker.

[0062] In some embodiments, the control device 600 is used to control the travel power mechanism 202 to drive the travel device to the desired target travel position based on the travel position feedback from the horizontal positioning assembly 101; and to control the lifting power mechanism 501 to drive the manipulator arm carrying assembly 400 to the desired target lifting position based on the lifting position feedback from the vertical positioning assembly 401. In this way, with the assistance of the horizontal positioning assembly 101 and the vertical positioning assembly 401, the control device 600 can accurately determine in real time whether the stacker has reached its travel position (i.e., whether the travel device has reached its target travel position) or has reached its lifting position (i.e., whether the manipulator arm carrying assembly 400 has reached its target lifting position), and accordingly control the travel power mechanism 202 and the lifting power mechanism 501 in real time, thereby achieving precise positioning of the stacker in the travel direction (i.e., the longitudinal direction X direction of the stacker) and the lifting direction (i.e., the vertical direction, i.e., the height direction Z direction of the stacker), thereby improving the accuracy of the stacker's access operations.

[0063] In one conceivable embodiment, as shown in FIG4 , a barcode mounting plate 701 is horizontally mounted along the stacker's travel path via a barcode plate mounting bracket 7011. The barcode mounting plate 701 is provided with a plurality of travel position barcodes (which may be either one-dimensional or two-dimensional barcodes) for indicating the current travel position. Furthermore, the horizontal positioning assembly 101 includes a first barcode scanner mounted on the travel box 100. The first barcode scanner is configured to scan the travel position barcodes and transmit the scan results to the control device 600, thereby enabling the control device 600 to parse the scan results of the first barcode scanner to determine the current travel position of the stacker.

[0064] In one embodiment, the lifting frame 300 is further provided with a plurality of vertically arranged lifting position barcodes (which can be either one-dimensional or two-dimensional barcodes) for indicating the current lifting position. Based on this, the vertical positioning assembly 401 includes a second barcode scanner mounted on the robotic arm carrier assembly 400. This second barcode scanner is used to scan the lifting position barcodes and transmit the scan results to the control device 600, so that the control device 600 can interpret the scan results of the second barcode scanner to determine the current lifting position of the robotic arm carrier assembly 400.

[0065] It can be seen that the positioning of the stacker provided in the embodiment of the present application in the walking direction and the lifting direction can be achieved through barcode recognition and positioning, which has the characteristics of reliability and high recognition efficiency.

[0066] Furthermore, in some embodiments, to ensure the safety of the stacker during operation and to prevent it from exceeding its limit position and causing a collision, corresponding deceleration sensor assemblies and / or limit sensor assemblies are provided in the horizontal direction (i.e., the direction in which the stacker is traveling) and the vertical direction (i.e., the height direction of the stacker). This is described in detail below:

[0067] In the horizontal direction (X direction), since the stacker operates in a narrow and closed tunnel at both ends, the horizontal travel is long. In order to complete the efficient storage and retrieval task, the stacker's operating speed will also be relatively high. However, a high operating speed will lead to the problem of not stopping in time and thus colliding with the closed parts at both ends of the tunnel. In order to ensure the safety of the stacker in the horizontal direction, a travel deceleration sensor assembly and / or a travel limit sensor assembly are installed on the travel box 100. Among them, the travel deceleration sensor assembly is used to trigger the control device 600 to perform a corresponding horizontal deceleration operation when sensing that the stacker has traveled to a corresponding horizontal deceleration position. The horizontal deceleration operation includes: detecting whether the stacker's travel speed is less than the corresponding travel speed threshold. If not, controlling the travel power mechanism 202 to decelerate and alarm; the travel limit sensor assembly is used to trigger the control device 600 to perform a corresponding horizontal limit operation when sensing that the stacker has traveled to a corresponding horizontal limit position. The horizontal limit operation includes: disconnecting the power source of the entire stacker and alarming.

[0068] In the embodiments shown in Figures 4, 5, and 8, the travel deceleration sensor assembly includes a primary travel deceleration sensor 102 and a secondary travel deceleration sensor 103. The travel limit sensor assembly also includes a travel limit sensor 104, which can also serve as a third-stage travel deceleration sensor. The primary travel deceleration sensor 102 is configured to, upon sensing that the stacker crane has reached a first horizontal deceleration position, trigger the control device 600 to detect whether the travel speed of the travel device is less than a first travel speed threshold. If not, the control device 600 controls the travel power mechanism 202 to decelerate (e.g., by cutting off the power source of the travel power mechanism 202) and issues an alarm. The secondary travel deceleration sensor 103 is configured to, upon sensing that the stacker crane has reached a second horizontal deceleration position, trigger the control device 600 to detect whether the travel speed of the travel device is less than a second travel speed threshold. If not, the control device 600 controls the travel power mechanism 202 to decelerate (e.g., by cutting off the power source of the travel power mechanism 202) and issues an alarm. The three-stage travel deceleration sensor (i.e., travel limit sensor 104) is designed to directly trigger the control device 600 to cut off the power supply to the entire stacker and issue an alarm when it senses that the stacker has reached the third horizontal deceleration position (i.e., the horizontal limit position), without any speed determination. It should be understood that along the stacker's travel direction, the stacker will first reach the first horizontal deceleration position, then the second horizontal deceleration position, and finally the third horizontal deceleration position, and the first travel speed threshold must be greater than the second travel speed threshold.

[0069] In the embodiments shown in Figures 4 and 5 , a first-stage deceleration plate 7012 is provided at the first horizontal deceleration position, a second-stage deceleration plate 7013 is provided at the second horizontal deceleration position, and a third-stage deceleration plate 7014 is provided at the third horizontal deceleration position. As shown in Figure 5 , each stage of deceleration plate can be mounted on a barcode plate mounting bracket 7011. In some embodiments, the first, second, and third-stage travel deceleration sensors 102-104 are all implemented using slot-shaped photoelectric sensors, which can be defined as first-stage, second-stage, and third-stage slot-shaped photoelectric sensors, respectively. These sensors are mounted on the same sensor bracket 105 and aligned vertically. When the stacker runs to the first horizontal deceleration position, the first-stage deceleration plate 7012 will enter the slot of the first-stage slot-shaped photoelectric sensor. Similarly, when the stacker runs to the second horizontal deceleration position, the second-stage deceleration plate 7013 will enter the slot of the second-stage slot-shaped photoelectric sensor. When the stacker runs to the third horizontal deceleration position, the third-stage deceleration plate 7014 will enter the slot of the third-stage slot-shaped photoelectric sensor. When each slot-shaped photoelectric sensor detects that a deceleration plate has entered its slot, it will output a corresponding trigger signal to the control device 600.

[0070] In addition, since both ends of the aisle where the stacker crane runs are closed, first- to third-stage deceleration plates 7012 to 7014 are respectively arranged on both sides of the aisle. Correspondingly, first- to third-stage walking deceleration sensors 102 to 104 are provided at positions adjacent to the front end of the walking box 100, and first- to third-stage walking deceleration sensors 102 to 104 are also provided at positions adjacent to the rear end of the walking box 100. When the stacker crane executes a task and runs to either end of the aisle, the corresponding first- to third-stage walking deceleration sensors 102 to 104 provided on the stacker crane can sequentially detect the corresponding first- to third-stage deceleration plates 7012 to 7014, thus ensuring that the stacker crane can stop safely.

[0071] As shown in FIGS. 11 to 13, through the aforementioned first- to third-stage walking deceleration sensors 102 to 104 and first- to third-stage deceleration plates 7012 to 7014, the following first- to third-stage deceleration operations can be achieved:

[0072] When the first-stage walking deceleration sensor 102 of the stacker crane runs past the first-stage deceleration plate 7012, the first-stage walking deceleration sensor 102 will detect the first-stage deceleration plate 7012 and upload a trigger signal to the control device 600; then the control device 600 obtains the current running speed V of the stacker crane and determines whether the current running speed V is less than the first walking speed threshold V1 (such as V1 = 1 m / s). When V < V1, the stacker crane can achieve controllable normal braking and continue to run normally; when V > V1, the power source of the walking power mechanism 202 is cut off and an alarm is generated to achieve rapid deceleration. After the stacker crane stops safely, the software control part of the control device 600 then runs the stacker crane to the origin position.

[0073] When the second-stage walking deceleration sensor 103 of the stacker crane runs past the second-stage deceleration plate 7013, the second-stage walking deceleration sensor 103 will detect the second-stage deceleration plate 7013 and upload a trigger signal to the control device 600; then the control device 600 obtains the current running speed V of the stacker crane and determines whether the current running speed V is less than the second walking speed threshold V2 (such as V2 = 0.5 m / s). When V < V2, the stacker crane can achieve controllable normal braking and continue to run normally; when V > V2, the power source of the walking power mechanism 202 is cut off and an alarm is generated to achieve rapid deceleration. After the stacker crane stops safely, the software control part of the control device 600 then runs the stacker crane to the origin position.

[0074] When the third-stage walking deceleration sensor 104 of the stacker crane runs past the third-stage deceleration plate 7014, the third-stage walking deceleration sensor 104 will detect the third-stage deceleration plate 7014 and upload a trigger signal to the control device 600; then the control device 600 forcibly cuts off all power sources of the stacker crane and gives an alarm, and at the same time detects whether the stacker crane has any abnormalities. An alarm is given to remind the operator to intervene manually, and the alarm is解除 after manual intervention and adjustment.

[0075] In the vertical direction (Z direction), when the robotic arm loading assembly 400 is lifted and lowered in the vertical direction under the action of the synchronous belt 503, in order to ensure the safety of the wafers and other items being carried, and to prevent the wafers from being damaged due to over-running and colliding with the top overhead rail 702 or the bottom walking box 100, the upper and lower ends of the lifting frame 300 are provided with: an upper limit sensor assembly 303, an upper deceleration sensor assembly 304, a lower deceleration sensor assembly 305, and / or a lower limit sensor assembly 306.

[0076] The upper limit sensor assembly 303 is located at the upper limit position and is used to trigger the control device 600 to perform the corresponding rising limit operation when it senses that the robotic arm loading assembly 400 has risen to the corresponding upper limit position. The upper deceleration sensor assembly 304 is located at the upper deceleration position and is used to trigger the control device 600 to perform the corresponding rising deceleration operation when it senses that the robotic arm loading assembly 400 has risen to the corresponding upper deceleration position. The lower deceleration sensor assembly 305 is located at the lower deceleration position and is used to trigger the control device 600 to perform the corresponding descending deceleration operation when it senses that the robotic arm loading assembly 400 has descended to the corresponding lower deceleration position. The lower limit sensor assembly 306 is located at the lower speed limit position and is used to trigger the control device 600 to perform the corresponding descending limit operation when it senses that the robotic arm loading assembly 400 has descended to the corresponding lower limit position. It should be understood that the upper limit position, upper deceleration position, lower deceleration position, and lower limit position are arranged in order from top to bottom.

[0077] Specifically, the ascending / descending deceleration operation includes detecting whether the ascending / descending speed of the robot arm loading assembly 400 is less than the corresponding ascending / descending speed threshold. If not, indicating a collision risk, the lifting power mechanism 501 is controlled to decelerate (for example, by cutting off the power source of the lifting power mechanism 501 to quickly decelerate) and issue an alarm. The ascending / descending limit operation includes disconnecting the power source of the entire stacker.

[0078] In some embodiments, the upper / lower deceleration sensor assemblies 304 / 305 and the upper / lower limit sensor assemblies 303 / 306 can also be implemented using slot-shaped photoelectric sensors. Accordingly, the robotic arm carrier assembly 400 is provided with a trigger plate 401 that rises and falls with the robotic arm carrier assembly 400. When the trigger plate 401 enters the slot of the corresponding slot-shaped photoelectric sensor, the corresponding slot-shaped photoelectric sensor will sense that the robotic arm carrier assembly 400 has risen or fallen to the corresponding upper / lower deceleration position or upper / lower limit position.

[0079] The above multiple deceleration and limit protection can ensure the safe and reliable operation of the stacker.

[0080] Referring again to FIG. 1 , a ceiling rail 702 is provided above the stacker's travel path; an upper guide wheel assembly 703 is provided on the top of the lifting frame 300, which slides in cooperation with the ceiling rail 702. The stacker can slide along the ceiling rail 702 via the guide wheels in the upper guide wheel assembly 703. In the embodiment of the present application, the upper guide wheel assembly 703 serves as a guide assembly for the upper portion of the stacker. The distance between the upper guide wheel and the ceiling rail 702 can be adjusted via the upper guide wheel adjustment screw 7031. When the guide wheel surface is in close contact with the side of the ceiling rail 702, the ceiling rail 702 can support the upper portion of the stacker and, to a certain extent, play an anti-tilting (suppressing tilt) and guiding role relative to the stacker as a whole (guiding the stacker to run in the direction of the extension of the ceiling rail).

[0081] In one practicable manner, as shown in Figures 4 and 6, the stacker may further include: a power supply component 801 provided on one side of the walking box 100; a power supply component 802 (such as an electric control cabinet) electrically connected to the power supply component 801; and an energy storage component 803 (such as a capacitor) electrically connected to the power supply component 801 and the power supply component 802 respectively; wherein a portion of the electric energy obtained by the power supply component 801 is supplied to the power supply component 802, and the other portion is stored in the energy storage component 803, and the power supply component 802 is used to power the stacker. In some embodiments, the power supply component 801 is a wireless power supply component 801, and the wireless power supply component 801 has a wireless power supply receiving end 8011. The wireless power supply receiving end 8011 can obtain AC power in a wireless manner, thereby meeting the Class 100 dust-free requirements and having a longer lifespan than the wired power supply method provided in the drag chain. The wireless power supply component 801 is supported by a wireless power supply bracket 8012, and the bracket 8012 can be made of stainless steel welding, with excellent strength and simple installation.

[0082] In one embodiment, as shown in FIG1 , the lifting frame 300 includes a set of main columns 301 and a set of secondary columns 302 arranged opposite each other along the length direction (i.e., the X direction) of the stacker. The set of main columns 301 includes two main columns 301 arranged opposite each other along the width direction (i.e., the Y direction) of the stacker, and the set of secondary columns 302 includes two secondary columns 302 arranged opposite each other along the width direction of the stacker. All four columns 301 and 302 are installed between the traveling box 100 and the overhead rail 702. The main columns 301 support and guide the robotic arm loading assembly 400. The secondary columns 302 are equipped with the aforementioned lifting position barcode, upper limit sensor assembly 303, upper deceleration sensor assembly 304, lower deceleration sensor assembly 305, and lower limit sensor assembly 306. The secondary columns 302 can share the pressure on the main columns 301, reducing the overall stress on the stacker columns.

[0083] In some embodiments, as shown in Figures 1, 6, and 7, the lifting transmission assembly includes: a driving pulley 502 disposed on the side of the traveling box 100 and connected to the lifting power mechanism 501; a driven pulley 504 disposed at the top of the lifting frame 300 and connected to the driving pulley 502 via a synchronous belt 503; and a vertical guide rail 505 disposed vertically along the main column 301 of the lifting frame 300. The driving pulley 502, the driven pulley 504, and the synchronous belt 503 constitute a belt drive structure. The robotic arm loading assembly 400 is fixedly connected to the synchronous belt 503 and slidably engages with the vertical guide rail 505, so that it is lifted and lowered along the vertical guide rail 505 under the drive of the synchronous belt 503. To ensure the stable operation of the robotic arm loading assembly 400, a belt drive structure is provided on the sides of the two main columns 301. The two belt drive structures operate synchronously to synchronously drive the robotic arm loading assembly 400 to lift and lower.

[0084] In the embodiment shown in Figures 1 and 6, the driven pulley 504 is disposed on the top of the lifting frame 300 via a pulley mounting assembly 704 mounted on the top of the two main columns 301. The pulley mounting assembly 704 not only supports the driven pulley 504 but also defines the spacing between the two main columns 301. Furthermore, in the vertical direction, the pulley mounting assembly 704 is disposed between the main columns 301 and the upper guide wheel assembly 703, and also serves to connect the main columns 301 and the upper guide wheel assembly 703.

[0085] As shown in Figures 8A and 8B, a conversion mechanism 5011 is provided in the walking box 100, and a lifting power mechanism 501 is also provided on the walking box 100. The output shaft of the lifting power mechanism 501 is transmission-connected to the input shaft of the conversion mechanism 5011. The conversion mechanism 5011 (such as a reducer) has two output shafts 5012, and the two output shafts 5012 are respectively connected to the driving pulleys 502 located on both sides of the walking box 100. The two output shafts 5012 rotate the driving pulley shaft 5012, and the driving pulley shaft 5012 then rotates the driving pulley 502.

[0086] In some embodiments, as shown in Figure 7, the exterior wiring layout utilizes cable troughs, all located within the stacker. The upper half of one of the auxiliary columns 302 is provided with a cable trough to protect the wiring, while the lower half houses a tank chain. Cables that move with the robotic arm carrier assembly 400 are routed to the tank chain 3022 via a cable connector 3021.

[0087] As shown above, the drive, guide, positioning, deceleration, limiter, and cable components are separated and arranged on the primary and secondary columns. This achieves a highly integrated multi-functional layout while also effectively controlling the width of the stacker crane. Specifically, if these multiple functional components were placed on a single column of the stacker crane, the width of the column would need to be expanded, and additional material would be required to meet the required strength. Furthermore, as shown in Figure 1, a ladder 3023 can be installed on the secondary column 302 to facilitate maintenance.

[0088] In some embodiments, referring again to FIG. 6 , an adjusting wheel 506 is further provided on the side of the traveling box 100 to abut against the synchronous belt 503 (specifically, abutting from the outside to the inside of the synchronous belt 503). The adjusting wheel 506 can rotate with the rotation of the synchronous belt 503. The adjusting wheel 506 not only tensions the synchronous belt 503 but also adjusts the direction of the synchronous belt 503 so that the synchronous belt 503 runs within the range of the main column 301.

[0089] In some embodiments, as shown in FIG10 , the friction drive wheel 201 specifically includes a rotating shaft 2011, a hub 2012, and a wheel surface 2013. The rotating shaft 2011 and hub 2012 of the friction drive wheel 201 can be made of materials such as stainless steel, carbon steel, and aluminum alloy. Stainless steel enhances rust and stain resistance, while aluminum alloy reduces the overall weight of the friction drive wheel 201. The wheel surface 2013 of the friction drive wheel 201 has a high-friction surface (with a friction coefficient μ ranging from, for example, 0.3 ≤ μ ≤ 0.45) and can be made of highly elastomer, wear-resistant rubber to increase the friction coefficient between the wheel surface 2013 and the friction track 901 (see FIG4 ), facilitating rapid acceleration and deceleration response, extending service life, and reducing dust generation and noise. The friction track 901 that cooperates with the friction driving wheel 201 can be made of aluminum alloy track to ensure that the track has good flatness, which can minimize the wear of the friction driving wheel 201 during operation and reduce the environmental dust generated during operation.

[0090] In the embodiment shown in Figures 8-10, the driving wheel 201 is supported in the traveling box 100 by a driving wheel support seat 203. One end of the driving wheel support seat 203 is rotatably fixed in the traveling box 100, and the other end of the driving wheel support seat 203 is fixed in the traveling box 100 via an elastic component 204 vertically arranged above the driving wheel support seat 203, thereby forming a lever structure. The downward pressure exerted by the elastic component 204 can cause the friction driving wheel 201 to travel on the friction track 901, and the elastic component 204 can achieve vibration reduction.

[0091] Specifically, a fixed seat 205 is provided on the side wall of the travel box 100 along the width direction. One end of the drive wheel support seat 203 is rotatably connected to the fixed seat 205 via a connecting shaft 206, allowing the friction drive wheel 201 to swing around the connecting shaft 206 and the fixed seat 205. As shown in Figure 10, the rotation axis 2011 of the friction drive wheel 201 is configured to be coaxially connected to the output shaft of the travel power mechanism 202. When the output shaft of the motor 202 rotates, the rotation axis 2011 of the friction drive wheel 201 rotates synchronously, thereby driving the friction drive wheel 201 to roll forward along the friction track 901. In some embodiments, the connecting shaft 206 is configured to be parallel to the rotation axis 2011 of the friction drive wheel 201. Therefore, when the friction track 901 is uneven, the swinging of the drive wheel support seat 203 can cause the friction drive wheel 201 to move up and down to adapt to changes in the track running surface. In some embodiments, the fixing seat 205 is made of stainless steel and has anti-corrosion and anti-rust functions. During installation, the fixing seat 205 is fixed to the side wall of the traveling box 100 by screws.

[0092] In the embodiment shown in Figures 8-10, the elastic assembly 204 is used to generate a stable and controllable pressure between the friction drive wheel 201 and the friction track 901. It primarily comprises an elastic element and an elastic force adjustment mechanism. The elastic element is vertically arranged, with its bottom end connected to the top surface of the other end of the drive wheel support 203. The elastic force adjustment mechanism is connected to the top of the elastic element and is used to adjust the elastic force generated by the elastic element. By using the elastic force adjustment mechanism to adjust the elastic force of the elastic element, the pressure applied to the other end of the drive wheel support 203 can be adjusted, and thus the pressure exerted by the friction drive wheel 201 on the friction track 901 can be adjusted to meet different usage requirements.

[0093] Referring specifically to Figure 9 , the travel box 100 is equipped with a stop plate 118, which is positioned horizontally above the elastic element. The elastic force adjustment mechanism includes a vertically disposed fixing member 2041 that is threadedly engaged with the stop plate 118. The bottom end of the fixing member 2041 is connected to the top end of the elastic element. The stop plate 118 absorbs the reaction force exerted by the elastic element on the fixing member 2041, providing resistance to bending and preventing relative movement of the fixing member 2041. In some embodiments, the fixing member 2041 utilizes a standard fine-thread screw, which is simple to manufacture and can withstand high pressure without loosening.

[0094] Referring again to FIG. 9 , the elastic element comprises an elastic element body 2042, a first clip 2043 engaging with the top of the elastic element body 2042, and a second clip 2044 engaging with the bottom of the elastic element body 2042. The first clip 2043 is fixedly connected to the bottom end of the fixing member 2041 in the elastic force adjustment mechanism, while the second clip 2044 is fixedly connected to the other end of the drive wheel support 203 via bolts. The elastic element body 2042 can be constructed using a high-strength spring to ensure stable pressure applied to the friction drive wheel 201. The first clip 2043 and the second clip 2044 serve as position-limiting support mechanisms at both ends of the elastic element, preventing the elastic element body 2042 from dislodging when compressed. It should be understood that the elastic element body 2042 is not limited to a high-strength spring and can also be constructed using any other suitable elastomer, such as elastic rubber, without any specific limitation.

[0095] In some embodiments, as shown in FIG9 , the elastic assembly 204 further includes a scale 2045 vertically mounted on the top surface of the limiting plate 118. The scale 2045 is disposed adjacent to and parallel to the fixing member 2041. When the fixing member 2041 is adjusted up or down, the scale 2045 can reflect the adjustment amount in real time, facilitating accurate application of the required pressure to the friction drive wheel 201.

[0096] In some embodiments, the driving wheel support seat 203 is used to provide an installation space for the friction driving wheel 201. As shown in Figure 10, it includes an integrally formed first connecting part 2031, a first mounting plate part 2032, a second mounting plate part 2033, and a second connecting part 2034. The first mounting plate part 2032 and the second mounting plate part 2033 are located at both ends of the first connecting part 2031 and are symmetrically arranged along the width direction of the walking box, so that the friction driving wheel 201 is fixed in the space surrounded by the first connecting part 2031, the first mounting plate part 2032, the second mounting plate part 2033, and the second connecting part 2034, and the rotation axis 2011 of the friction driving wheel 201 is orthogonal to the first and second mounting plate parts 2032 and 2033.

[0097] The housing of the travel power mechanism 202 is fixedly connected to the side of the first mounting plate portion 2032 away from the second mounting plate portion 2033 via screws. The first mounting plate portion 2032 and the second mounting plate portion 2033 each have coaxial through-holes. The output shaft of the travel power mechanism 202 passes through the through-hole of the first mounting plate portion 2032 and connects to one end of the rotating shaft 2011 of the friction drive wheel 201. The other end of the rotating shaft 2011 of the friction drive wheel 201 extends through the through-hole of the second mounting plate portion 2033. The drive wheel support 203 ensures more stable operation of the friction drive wheel 201.

[0098] Referring again to Figure 10 , one end of the drive wheel support 203 includes a first mounting plate portion 2032 and one end of a second mounting plate portion 2033, each of which is rotatably connected to the connecting shaft 206. In some embodiments, there are two elastic components 204, with a first connecting portion 2031 disposed transversely. The other ends of the first mounting plate portion 2032 and the second mounting plate portion 2033 are connected via the first connecting portion 2031. This allows the first connecting portion 2031, serving as the other end of the drive wheel support 203, to connect to the two elastic components 204, thereby adjusting the pressure applied to the friction drive wheel 201 through the respective elastic components 204. It should be understood that to ensure stable operation of the friction drive wheel, the pressure applied to the friction drive wheel 201 by the two elastic components 204 should be consistent.

[0099] In some embodiments, as shown in FIG10 , the fixed seat 205 has a protrusion facing the friction drive wheel 201. The second connecting portion 2034 is a plate-shaped structure, which is vertically disposed adjacent to the ends of the first and second mounting plate portions 2032, 2033 near the connecting shaft 206 (i.e., the second connecting portion 2034 connects the first and second mounting plate portions 2032, 2033, is disposed near the connecting shaft 206, and extends along the height direction of the stacker). The second connecting portion 2034, the first and second mounting plate portions 2032, 2033 form a receiving space capable of accommodating the protrusion of the fixed seat 205. Within the receiving space, the protrusion of the fixed seat 205 is clamped between the first and second mounting plate portions 2032, 2033. The connecting shaft 206, which passes through the three, enables the first and second mounting plate portions 2032, 2033, and the fixed seat 205 to be rotatably connected together.

[0100] In some embodiments, as shown in FIG10 , a bearing 207 is further disposed within the through hole of the second mounting plate portion 2033 and is sleeved onto the rotating shaft 2011 of the friction drive wheel 201. The bearing 207 serves as a supporting and rotatable component for the rotating shaft 2011. Furthermore, a bearing cap 208 is disposed on a side of the second mounting plate portion 2033 away from the first mounting plate portion 2032. The bearing cap 208 includes a sleeve portion that is axially engaged between the bearing 207 and the second mounting plate 2033. The bearing cap 208 not only limits the bearing 207 but also provides dust protection.

[0101] In some embodiments, as shown in Figure 10 , a retaining ring 209 is sleeved around the rotating shaft 2011 of the friction drive wheel 201. This retaining ring 209 abuts the end of the bearing 207 away from the bearing cap 208. This retaining ring 209 serves as a stopper for the outer ring of the bearing 207, preventing axial movement of the bearing 207 and facilitating disassembly. Furthermore, a tensioning sleeve 210 is interposed between the rotating shaft 2011 of the friction drive wheel 201 and the hub 2012 of the friction drive wheel 201. This tensioning sleeve 210 is used to securely lock the hub 2012 of the friction drive wheel 201 to the rotating shaft 2011, providing high torque transmission output and a self-aligning function.

[0102] In some embodiments, as shown in Figure 10, an oil-free bushing 211 is provided between the connecting shaft 206 and the fixed seat 205. The bushing 211 serves as an intermediate component for the relative rotation between the connecting shaft 206 and the fixed seat 205. It has the characteristics of high wear resistance and high pressure bearing capacity. Its wear condition can be detected and replaced during use.

[0103] In some embodiments, as shown in Figures 1 and 4 , the bottom of the traveling box 100 is further equipped with multiple sliders 106 , each of which slidably engages with a guide rail 902 on the ground. Specifically, the bottom of the traveling box 100 is arranged with two rows of sliders 106 , arranged side by side along the width of the traveling box 100 on opposite sides of the friction drive wheel 201. Each slider 106 extends parallel to the travel direction of the friction drive wheel 201, allowing the sliders 106 and the friction drive wheel 201 to move simultaneously along the travel direction of the traveling device. In some embodiments, the guide rail 902 utilizes a low-friction ball guide to withstand the pressure of the entire stacker.

[0104] Referring again to Figure 4 , the bottom of the slider 106 is provided with a slot that engages with the guide rail 902. By engaging with the slider 106, the guide rail 902 provides both ground pressure and tension for the entire stacker. Specifically, when the pressure from the friction drive wheel 201 exceeds the weight of the entire stacker, the guide rail 902 provides tension to prevent the friction drive wheel 201 from further downward adjustment. When the pressure from the friction drive wheel 201 is less than the overall weight of the stacker, the remaining weight of the stacker is supported by the guide rail 902, thereby ensuring overall stability.

[0105] In other words, the guide rail 902 is engaged with the slider 106. When the stacker starts and stops, due to the inertia of the stacker, the sliders 106 at the front and rear ends of the bottom of the walking box 106 along the travel direction are respectively subjected to a pair of opposite forces provided by the guide rail 902, namely a pair of upward supporting forces and downward pulling forces, which prevent the stacker from tilting or swinging on the plane formed by the X-axis-Z-axis relative to the vertical direction; when the stacker is running, since the stacker has a certain height in the Z direction, when the stacker tends to tilt, two groups of sliders 106 engaged with the guide rail 902 are provided to provide a pair of opposite forces, namely another pair of upward supporting forces and downward pulling forces, which prevent the stacker from swinging toward the sides of the friction rail 901 on the plane formed by the Y-axis-Z-axis relative to the vertical direction during operation. During normal operation, the friction wheel 201 will apply an appropriate amount of downward pressure to the friction track 901 (generating the friction required for normal movement). At this time, the friction track 901 will share part of the gravity generated by the stacker's own weight, thereby reducing the upward support force provided by the guide track 902 relative to the stacker, and provide a limiting force to correct the running direction of the stacker (bottom slider) when the stacker is about to deviate from the preset path during movement.

[0106] In some embodiments, a light emitting terminal (not shown) is further provided on the walking path of the stacker, and a light receiving terminal 107 (see FIG3 ) is provided on the stacker, and the light receiving terminal 107 is fixed to a light receiving terminal fixing frame 1071. As shown in FIG14 , when the light receiving terminal 107 receives the optical signal emitted by the light emitting terminal, it triggers the control device 600 to generate control instructions such as displacement and speed based on the access task data sent by the host computer, so as to control the operation of the walking power mechanism 202 and the lifting power mechanism 501 through the control instructions, thereby driving the stacker to walk in the horizontal direction and the robot arm loading assembly 400 to rise and fall in the vertical direction, so that the robot arm loading assembly 400 of the stacker can reach the designated cargo compartment to deposit / retrieve items. Among them, whether walking in the horizontal direction or lifting in the vertical direction, the operating position needs to be monitored in real time through the horizontal positioning component 101 and the vertical positioning component 401. The control device 600 will judge whether there is a deviation or error in the current position based on the monitoring data fed back in real time by the two, and then determine whether position adjustment is required, so as to ensure the accuracy of the stacker's access operation.

[0107] When installing the stacker, the specific installation process is as follows:

[0108] (1) After installing the guide rail 902, adjust and install the friction rail 901 so that the flatness error with the guide rail 902 does not exceed 0.1 mm. The installation should enable the friction drive wheel 201 at the bottom of the stacker to run reliably along the friction rail 901, with continuous friction power and stable friction force.

[0109] (2) The traveling box 100 is fixed to the guide rail 902 with bolts. Specifically, the traveling box 100 is fixed to the slider 106 with bolts, the slider 106 is clamped on the guide rail 902, and the slider 106 is slidably installed or slidably fixed to the guide rail 902.

[0110] (3) Fix the barcode mounting plate 701 on the barcode mounting plate bracket 7011, and adjust the upper and lower positions of the barcode mounting plate 701 so that the barcode set on it can be recognized by the first barcode scanner on the walking box 100; then, fix the speed reducers of various levels on the barcode mounting plate 701, and adjust the speed reducers so that they can run in the slots of the slot-type photoelectric sensors; then fix the wireless power supply assembly on the wireless power supply bracket 8012, and adjust it left and right through the wireless power supply bracket so that the distance between it and the wireless power supply receiving terminal 8011 on the walking box 100 is appropriate; then install the optical receiving terminal 107 on the lifting frame 300 so that it can cooperate with the optical communication of the optical transmitting terminal.

[0111] (4) The main column 301 and the auxiliary column 302 are mounted on the traveling box 100 by means of bolts and fixed so as to be perpendicular to the mounting surface of the traveling box 100 .

[0112] (5) Install the pulley mounting assembly 704 on the main column 301 , and install the upper guide wheel assembly 703 on the pulley mounting assembly 704 and the auxiliary column 302 .

[0113] (6) Install the robotic arm loading assembly 400, power supply assembly 802, synchronous belt 503, energy storage assembly 803, power supply assembly 801, etc. on the main column 301 and the auxiliary column 302 respectively.

[0114] (7) Install the overhead rail 702 on the lifting frame 300 and adjust the upper guide wheel adjustment screw 7031 so that the upper guide wheel assembly 703 can run along the overhead rail 702. Specifically, the overhead rail 702 is installed on the top of the warehouse and cooperates with the top of the lifting frame (the top of the stacker), that is, the upper guide wheel assembly 703 is connected to the overhead rail 702 in a rolling or sliding manner.

[0115] It should be noted that the specific descriptions of the stacker and the traveling device in the embodiments provided in FIG. 1 to FIG. 14 are also applicable to the following embodiments, and reference may be made to the aforementioned corresponding descriptions for details.

[0116] The traveling mechanisms at the bottom of existing stacker cranes mostly use steel wheels, running on light rail tracks. This results in slow response times, high noise levels, and abrasion and dust generation. Furthermore, to achieve the required speed and acceleration, the steel wheels and light rails require point or line contact. This, combined with the forces of gravity and speed, generates significant abrasion and dust generation.

[0117] In addition, in order to save warehouse space, the aisle width is usually set very small (generally within 600mm), and the occupied area of ​​the stacker crane is mainly determined by the area of ​​the walking box at its bottom, so the structural compactness of the stacker crane walking box is required to be high.

[0118] The embodiment of the present application further provides a traveling box, which is located at the bottom of the stacker and is used to drive the entire stacker to travel and provide power for the lifting device of the stacker.

[0119] As shown in Figures 6, 8, and 15 to 19, the traveling box specifically includes a bottom plate 1010 and a box body mounted on the top surface of the bottom plate 1010. The bottom surface of the bottom plate 1010 is used to mount a plurality of sliders 106 extending along the length direction of the box body of the traveling box. The length direction of the box body of the traveling box is the traveling direction of the stacker crane (i.e., the X direction), and the width direction of the box body of the traveling box is orthogonal to the length direction in the horizontal plane (i.e., the Y direction).

[0120] Specifically, the base plate 1010 serves as the primary load-bearing plate and positioning reference plate, supporting the entire stacker structure on its top surface. Referring to Figure 8 , the bottom surface of the base plate 1010 is provided with two rows of sliders 106 disposed opposite each other along the width of the box. These sliders 106 are configured to slidably engage with two rows of linear guide rails (not shown) on the ground, thereby supporting the entire stacker structure through the guide rails.

[0121] Referring again to Figures 6, 8, 15 to 19, in an embodiment of the present application, the box body of the walking box includes a first box area and a second box area that are arranged adjacent to each other along the length direction of the box body. Among them, the first box area is used to install a walking mechanism that drives the stacker to walk, and the walking mechanism includes a friction drive wheel 201 that passes through the bottom plate 1010 and cooperates with the friction track (not shown) on the ground, and a walking motor (not shown) connected to the friction drive wheel 201. Under the action of the walking motor, the friction drive wheel 201 drives the entire stacker to walk in the lanes of the warehouse. The walking motor can be a servo motor, so that the stacker can be accurately positioned during the walking process. The wheel surface of the friction drive wheel 201 adopts a high-friction wheel surface and can be made of high-elastic wear-resistant rubber to increase the friction coefficient between the wheel surface and the friction track, facilitate rapid response of acceleration and deceleration, and can extend the service life, reduce dust generation, and reduce noise.

[0122] The second box area is used to install the lifting motor 501, and the two outer sides of the second box area along the width direction of the box body of the walking box are respectively used to install the driving pulleys 502 connected to the lifting motor 501. The driving pulleys 502 are used to drive the lifting belt 503 of the stacker (see Figure 6) to move, thereby driving the loading component of the material to rise or fall.

[0123] In some embodiments, the first box area includes: a first vertical plate 1030 and a second vertical plate 1060 that are relatively parallelly arranged along the length direction of the box body of the walking box, and a third vertical plate 109 that is vertically connected between the first vertical plate 1030 and the second vertical plate 1060. A first accommodation space for accommodating the walking mechanism is formed between the third vertical plate 109 and the first vertical plate 1030 and the second vertical plate 1060, and a first top plate 110 is horizontally arranged at the top end of the first accommodation space. The first vertical plate 1030, the second vertical plate 1060, and the third vertical plate 109 together form a support beam of the box body of the walking box, providing vertical support and positioning for the entire box body. The first top plate 110 is used to support the column 212 (see FIG. 18) of the stacker.

[0124] In addition, the first box area further includes a fourth vertical plate 1040 whose one end is vertically connected to the first vertical plate 1030, and a sixth vertical plate 1070 whose one end is perpendicular to the second vertical plate 1060. Among them, the other end of the fourth vertical plate 1040 is arranged opposite to the other end of the fifth vertical plate 108, and a gap is formed in the length direction of the box body of the walking box for the walking motor to pass through the gap and be connected to the friction drive wheel 208 (201). The fourth vertical plate 1040, the fifth vertical plate 108, and the sixth vertical plate 1070 can enhance the stability of the entire box body. And the fifth vertical plate 108 and the sixth vertical plate 1070 are respectively arranged on different sides of the second vertical plate 1060.

[0125] In some embodiments, the first top plate 110 can be in a shape of a Chinese character 'hui' with a hollow middle. One end of the first top plate 110 is installed on the side wall of the first vertical plate 1030 and covers the tops of the second vertical plate 1060, the third vertical plate 109, the fourth vertical plate 1040, the fifth vertical plate 108, and the sixth vertical plate 1070. In some embodiments, the first top plate 110 includes a top plate main body 1101 and a third connecting plate 1050 that is detachably connected to the top plate main body 1101, and the position of the third connecting plate corresponds to the position of the gap. As specifically shown in FIGS. 15 and 18, the top plate main body 1101 covers the tops of the second vertical plate 1060, the third vertical plate 109, the fourth vertical plate 1040, the fifth vertical plate 108, and the sixth vertical plate 1070. In order to facilitate the installation of the parts in the first box area, a notch is provided on the top plate main body 1101, and the notch corresponds to the position of the gap between the fourth vertical plate 1040 and the fifth vertical plate 108. In order to enhance the stability of the first top plate 110, a detachable third connecting plate 1050 is added at the notch to connect the two ends of the top plate main body 1101 into one body. In some embodiments, the top plate main body 1101 is integrally formed.

[0126] In some embodiments, in addition to the friction drive wheel 208 (201) and the travel motor for driving the friction drive wheel 208 (201) to rotate, the walking mechanism may also include: a driving wheel support seat 203 for supporting the friction drive wheel 208 (201) and an elastic component 213 (which may be a high-strength spring or other elastic elements such as elastic rubber), one end of the driving wheel support seat 203 is installed on the second vertical plate 1060 (specifically installed on the fixed seat 214 on one side of the second vertical plate 1060) through a transversely arranged rotating shaft 216, and the bottom end of the elastic component 213 is fixed to the other end of the driving wheel support seat 203. On this basis, the first box area also includes: an elastic component support plate 118 connected horizontally and vertically between the third vertical plate 109 and the fourth vertical plate 1040, and the elastic component support plate 118 is used to install an adjustable fixing member 215 (2041 in Figure 8) so that the bottom end of the fixing member 215 (2041) passes through the elastic component support plate 118 and is fixed to the top of the elastic component 213. In some embodiments, the fixing member 215 (2041) can be an adjusting screw. During operation, by rotating the adjusting fixing member 215 (2041) to move the fixing member 215 (2041) downward, the elastic component 213 will be compressed. After the elastic component 213 is compressed, the pressure will be transmitted to the drive wheel support seat 203, and then transmitted to the friction drive wheel 208 (201), so that the friction drive wheel 208 (201) rolls on the friction track on the ground under the torque of the walking motor and the pressure of the elastic component 213. By adjusting the depth of the downward movement of the fixing member 215 (2041), the friction force between the friction driving wheel 208 (201) and the friction track can also be adjusted to meet the needs of different application scenarios.

[0127] In some embodiments, as shown in FIG15 , the first box area further includes a diagonal plate 115 , one end of which is fixed to the first top plate 110 , and the other end is fixed to the first vertical plate 1030 to enhance the stability of the traveling box.

[0128] In some embodiments, as shown in FIG8 , one side of the first top plate 110 is also used to install a barcode reader assembly 101 for scanning the positioning barcode on the stacker's travel path to identify the stacker's current location information.

[0129] In some embodiments, as shown in Figures 8 and 15, one side of the second vertical plate 1060 is also used to install a deceleration trigger component 2060. The deceleration trigger component 2060 is, for example, a slot-shaped photoelectric sensor, which is used to trigger the friction drive wheel 208 (201) to decelerate when a preset deceleration condition is sensed to ensure the safe operation of the stacker.

[0130] In some embodiments, as shown in Figures 8 and 15 , the outer side of the third vertical plate 109 also provides support for a power supply assembly 801 mounted on the base plate 1010. In some embodiments, the power supply assembly 801 can be a wireless power supply assembly that meets Class 100 dust-free requirements and has a longer lifespan than a drag chain power supply. The support of the wireless power supply assembly can be welded stainless steel, providing excellent strength and simple installation.

[0131] In some embodiments, as shown in Figures 6, 8, and 15 to 19, the second box area includes a seventh vertical plate 1020 and an eighth vertical plate 112 that are relatively parallel and arranged along the width direction of the box body of the traveling box, and a second top plate 117 covering the tops of the seventh vertical plate 1020 and the eighth vertical plate 112. The second top plate 117 is used to support the columns of the stacker, and a recess is formed on the second top plate 117 for the lifting motor 501 to pass through; a second accommodating space for accommodating the lifting motor 501 is formed between the seventh vertical plate 1020 and the eighth vertical plate 112, and the seventh vertical plate 1020 and the eighth vertical plate 112 are used to support the lifting motor 501, and the outer surfaces of the seventh vertical plate 1020 and the eighth vertical plate 112 are used to symmetrically mount the drive pulley 502.

[0132] Specifically, the lifting motor 501 has two oppositely arranged bearings, and the seventh vertical plate 1020 and the eighth vertical plate 112 are respectively provided with coaxial bearing mounting holes 1121 for installing corresponding bearings. The installation position of the driving pulley 502 on the outer surface of the seventh vertical plate 1020 and the eighth vertical plate 112 corresponds to the position of the bearing mounting hole 1121. Therefore, the coaxiality of the two bearing mounting holes is the key to the smooth lifting action of the stacker.

[0133] In some embodiments, the outer surfaces of the seventh vertical plate 1020 and the eighth vertical plate 112 are symmetrically provided with reinforcement plates 116 located obliquely above the drive pulley 502. The reinforcement plates are used to mount an adjustment wheel 506 that acts on the lifting belt 503. The adjustment wheel 506 not only tensions the lifting belt 503 but also adjusts the direction of the belt on the drive pulley 502. Under the action of the adjustment wheel, the belt runs inside the column, as shown in Figure 6.

[0134] In the embodiment of the present application, the various components of the traveling box, such as the bottom plate, vertical plates, and top plate, can be assembled in a spliced ​​manner, avoiding significant mold costs and providing adjustable installation. The top surface of the bottom plate 1010 requires positioning holes and connection holes to facilitate the precise positioning and installation of the vertical plates. Furthermore, each vertical plate itself requires positioning holes and connection holes to ensure perpendicularity between the vertical plates and the bottom plate 1010.

[0135] In an embodiment of the present application, a conversion mechanism 5011 is provided in the second box area, and the lifting motor 501 is connected to the conversion mechanism 5011 through the recess on the second top plate 117. The conversion mechanism 5011 (such as a reducer) has two output shafts 5012, and the two output shafts 5012 are respectively connected to the drive pulleys 502 located on both sides of the second box area. The two output shafts 5012 rotate the drive pulley shaft 5012, and the drive pulley shaft 5012 then rotates the drive pulley 502.

[0136] An embodiment of the present application further provides a stacker, as shown in FIG6 , which includes the aforementioned traveling box and a stacking body disposed on top of the traveling box.

[0137] In the embodiments of the present application, the stacker crane travel box has a compact and reasonable structural layout, and can accommodate the travel mechanism, drive pulley, and lifting motor in a very small space, making the stacker crane suitable for narrow lanes. In addition, the travel box is used to install friction drive wheels that cooperate with the friction rails, replacing the traditional steel wheels that cooperate with the light rails, thereby meeting the high response speed requirements of the stacker crane and reducing noise. At the same time, since the friction drive wheels are in surface contact when traveling on the friction rails, they can reduce wear and tear compared to point contact and line contact, thereby reducing dust generation, and are suitable for dust-free environments with high cleanliness requirements. At the same time, the slider at the bottom of the base plate cooperates with the guide rails on the ground to withstand the pressure of the entire stacker crane.

[0138] It should be noted that the specific descriptions of the stacker and the walking device in the embodiments provided in Figures 1 to 14, and the specific descriptions of the walking box in the embodiments provided in Figures 6, 8 and 15 to 19 are also applicable to the following embodiments, and please refer to the above corresponding descriptions for details.

[0139] The walking mechanism at the bottom of the existing stacker mostly adopts belt drive, gear rack drive or steel wheel drive. In semiconductor production and manufacturing, the stacker used has a complex structure, heavy load-carrying weight, long running stroke, limited installation space, and high running precision requirements. When belt drive is used, the belt is an elastic body that is prone to aging or breaking and requires frequent maintenance and inspection; when gear rack drive is used, tooth surface wear is prone to dust pollution in the production environment, and the gear rack drive has a large running noise; when steel wheel drive is used, its response speed is slow and the running noise is large. Based on the above, the embodiment of the present application also provides a driving wheel friction transmission mechanism for a stacker, which can meet the high response speed requirements of the walking device for acceleration and deceleration, low running noise, easy maintenance, and less wear and dust, and is suitable for dust-free production environments with high cleanliness requirements.

[0140] Specifically, an embodiment of the present application also provides a walking device for a stacker, as shown in Figures 9, 10, 20 and 21, the device includes a walking box 100 arranged at the bottom of the stacker (not shown) and a friction transmission mechanism installed in the walking box 100, and the walking box 100 provides a force support surface for the friction transmission mechanism.

[0141] In some embodiments, a friction transmission mechanism provides the stacker's travel power source and primarily includes a drive wheel 201, a drive motor 202, and a drive wheel support 203. The drive wheel 201 passes through the bottom plate of the travel box 100 and frictionally engages with a friction track 901 (see FIG21 ) on the ground. The drive motor 202 is connected to the drive wheel 201 and is used to drive the drive wheel 201 to rotate. The drive wheel support 203 is used to support the drive wheel 201. The drive motor 202 can be a reduction motor, which offers advantages such as accurate positioning and timely acceleration and deceleration response.

[0142] In some embodiments, as shown in FIG10 , the driving wheel 201 specifically includes a rotating shaft 2011, a hub 2012, and a wheel surface 2013. The rotating shaft 2011 and the hub 2012 of the driving wheel 201 can be made of materials such as stainless steel, carbon steel, and aluminum alloy. Stainless steel can enhance rust and stain resistance, while aluminum alloy can reduce the overall weight of the driving wheel 201. The wheel surface 2013 of the driving wheel 201 has a high-friction surface (a friction coefficient of 0.3 ≤ μ ≤ 0.45 can be selected) and can be made of highly elastomer wear-resistant rubber to increase the friction coefficient between the wheel surface 2013 and the friction track 901, thereby facilitating rapid acceleration and deceleration response and enabling. In addition, in the prior art, when the steel wheel and the light rail are matched, in order to achieve the required speed and acceleration, there is point contact or line contact between the steel wheel and the light rail. Under the dual effects of gravity and speed, more wear and dust will be generated. However, when the driving wheel 201 of the present application travels on the friction track 901, the two are in surface contact, and the driving wheel 201 uses a high-friction wheel surface, which can reduce the generation of wear and dust and is suitable for dust-free environments with high cleanliness requirements.

[0143] In some embodiments, the friction track 901 that cooperates with the driving wheel 201 can be made of an aluminum alloy track to ensure that the track has good flatness, which can minimize the wear of the driving wheel 201 during operation and reduce the environmental dust generated during operation.

[0144] In the embodiments shown in Figures 9, 10, 20, and 21, one end of the driving wheel support seat 203 (i.e., end A in Figure 20) is rotatably fixed within the traveling box 100, and the other end of the driving wheel support seat 203 (i.e., end B in Figure 20) is fixed within the traveling box 100 via an elastic component 204 vertically disposed above the driving wheel support seat 203, thereby forming a lever structure. The downward pressure exerted by the elastic component 204 enables the driving wheel 201 to travel on the friction track 901, and vibration reduction is achieved due to the action of the elastic component 204. The vertical direction is a direction extending along the height of the traveling box, such as the Z-axis direction shown in Figure 20.

[0145] Specifically, a fixed seat 205 is provided on the side wall of the traveling box 100 along the width direction. One end of the driving wheel support seat 203 is rotatably connected to the fixed seat 205 via a connecting shaft 206, so that the driving wheel 201 can swing around the connecting shaft 206 and the fixed seat 205. As shown in FIG10 , the rotating shaft 2011 of the driving wheel 201 is configured to be coaxially connected to the output shaft of the driving motor 202. When the output shaft of the driving motor 202 rotates, the rotating shaft 2011 of the driving wheel 201 rotates synchronously, thereby driving the driving wheel 201 to roll forward along the friction track 902. In some embodiments, the connecting shaft 206 is configured to be parallel to the rotating shaft 2011 of the driving wheel 201. Therefore, when the friction track 901 is uneven, the swinging of the driving wheel support seat 203 can cause the driving wheel 201 to move up and down to adapt to changes in the track running surface. In some embodiments, the fixing seat 205 is made of stainless steel and has anti-corrosion and anti-rust functions. During installation, the fixing seat 205 is fixed to the side wall of the traveling box 100 by screws.

[0146] In the embodiments shown in Figures 9, 10, 20, and 21, the elastic assembly 204 is used to generate a stable and controllable pressure between the drive wheel 201 and the friction track 901. The elastic assembly 204 primarily comprises an elastic element and an elastic force adjustment mechanism. The elastic element is vertically arranged, with its bottom end connected to the top surface of the other end of the drive wheel support 203. The elastic force adjustment mechanism is connected to the top of the elastic element and is used to adjust the elastic force generated by the elastic element. By using the elastic force adjustment mechanism to adjust the elastic force of the elastic element, the pressure applied to the other end of the drive wheel support 203 can be adjusted, thereby adjusting the pressure exerted by the drive wheel 201 on the friction track 901 to meet different usage requirements.

[0147] 9 , a limit plate 118 is provided in the travel box 100, and the limit plate 118 is arranged transversely above the elastic element; the elastic force adjustment mechanism includes a fixing member 2041 threadedly engaged with the limit plate 118, and the bottom end of the fixing member 2041 is connected to the top end of the elastic element. The limit plate 118 is used to bear the reaction force of the elastic element on the fixing member 2041, and has the function of resisting bending and preventing the fixing member 2041 from moving relative to each other. In some embodiments, the fixing member 2041 adopts a standard fine-thread screw, which is simple to process and can withstand high pressure without being easily loosened. The transverse direction is the direction extending along the width of the travel box, such as the Y-axis direction shown in FIG20 .

[0148] Referring again to FIG. 9 , the elastic element comprises an elastic element body 2042, a first clip 2043 engaging with the top of the elastic element body 2042, and a second clip 2044 engaging with the bottom of the elastic element body 2042. The first clip 2043 is fixedly connected to the bottom end of the fixing member 2041 in the elastic force adjustment mechanism, while the second clip 2044 is fixedly connected to the other end of the drive wheel support 203 via bolts. The elastic element body 2042 can be constructed using a high-strength spring to ensure stable pressure applied to the drive wheel 201. The first clip 2043 and the second clip 2044 serve as limiting support mechanisms at both ends of the elastic element, preventing the elastic element body 2042 from dislodging when compressed. It should be understood that the elastic element body 2042 is not limited to a high-strength spring and can also be constructed using any other suitable elastomer, such as elastic rubber, without any specific limitation.

[0149] In some embodiments, as shown in FIG9 , the elastic assembly 204 further includes a scale 2045 vertically mounted on the top surface of the limiting plate 118. The scale 2045 is disposed adjacent to and parallel to the fixing member 2041. When the fixing member 2041 is adjusted up or down, the scale 2045 can reflect the adjustment amount in real time, facilitating accurate application of the required pressure to the driving wheel 201.

[0150] In some embodiments, the driving wheel support seat 203 is used to provide an installation space for the driving wheel 201. As shown in Figure 10, it includes an integrally formed connecting portion, a first mounting plate portion 2032 and a second mounting plate portion 2033. The first mounting plate portion 2032 and the second mounting plate portion 2033 are connected by a connecting portion and are symmetrically arranged along the longitudinal direction (wherein the longitudinal direction is the width direction of the walking box, such as the Y-axis direction as shown in Figure 20) so that the driving wheel 201 is fixed between the first mounting plate portion 2032 and the second mounting plate portion 2033, and the rotating axis 2011 of the driving wheel 201 is orthogonal to the first and second mounting plate portions 2032 and 2033. The housing of the drive motor 202 is fixedly connected to the side of the first mounting plate portion 2032 away from the second mounting plate portion 2033 via screws. The first mounting plate portion 2032 and the second mounting plate portion 2033 each have coaxial through-holes. The output shaft of the drive motor 202 passes through the through-hole of the first mounting plate portion 2032 and is connected to one end of the rotating shaft 2011 of the drive wheel 201. The other end of the rotating shaft 2011 of the drive wheel 201 extends through the through-hole of the second mounting plate portion 2033. The drive wheel support 203 ensures more stable operation of the drive wheel 201.

[0151] Referring again to Figure 10 , one end of the first mounting plate portion 2032 and the second mounting plate portion 2033 are each rotatably connected to the connecting shaft 206 as one end (i.e., end A) of the drive wheel support base 203. The connecting portion includes a first connecting plate 2031 and a second connecting plate 2034. The other ends of the first mounting plate portion 2032 and the second mounting plate portion 2033 are connected via the first connecting plate 2031. The first connecting plate 2031 then serves as the other end (i.e., end B) of the drive wheel support base 203 and is connected to the elastic component 204.

[0152] In some embodiments, there are two elastic components 204, which are arranged opposite each other along the width direction of the traveling box above the first connecting plate 2031. It should be understood that in order to ensure the smooth operation of the driving wheel 201, the pressure applied to the driving wheel 201 by the two elastic components 204 should be consistent.

[0153] In some embodiments, as shown in FIG10 , the fixed seat 205 has a protrusion facing the drive wheel 201; the second connecting plate 2034 is longitudinally disposed adjacent to the first mounting plate portion 2032 and the second mounting plate portion 2032 at one end near the connecting shaft 206 (that is, the second connecting plate 2034 connects the first mounting plate portion 2032 and the second mounting plate portion 2033, is disposed at one end near the connecting shaft 206, and extends along the height direction of the stacker); and the first mounting plate portion 2032, the second mounting plate portion 2033, and the second connecting plate 2034 form a receiving space capable of accommodating the protrusion of the fixed seat 205. Within the aforementioned receiving space, the protrusion of the fixed seat 205 is clamped between the first mounting plate portion 2032 and the second mounting plate portion 2033, and the first mounting plate portion 2032, the second mounting plate portion 2033, and the fixed seat 205 are rotatably connected together via the connecting shaft 206 passing through the three.

[0154] In some embodiments, as shown in FIG10 , a bearing 207 is further disposed within the through hole of the second mounting plate portion 2033 and is sleeved on the rotating shaft 2011 of the driving wheel 201. The bearing 207 serves as a supporting and rotatable component for the rotating shaft 2011. Furthermore, a bearing cap 208 is disposed on a side of the second mounting plate portion 2033 away from the first mounting plate portion 2032. The bearing cap 208 includes a sleeve portion that is axially engaged between the bearing 207 and the second mounting plate portion 2033. The bearing cap 208 not only limits the bearing 207 but also provides dust protection.

[0155] In some embodiments, as shown in Figure 10 , a retaining ring 209 is sleeved around the rotating shaft 2011 of the drive wheel 201. This retaining ring 209 abuts the end of the bearing 207 away from the bearing cap 208. This retaining ring 209 serves as a stopper for the outer ring of the bearing 207, preventing axial movement of the bearing 207 and facilitating disassembly. Furthermore, a tensioning sleeve 210 is secured between the rotating shaft 2011 of the drive wheel 201 and the hub 2012 of the drive wheel 201. This tensioning sleeve 210 securely locks the hub 2012 of the drive wheel 201 to the rotating shaft 2011, providing high torque transmission output and a self-aligning function.

[0156] In some embodiments, as shown in Figure 10, an oil-free bushing 211 is provided between the connecting shaft 206 and the fixed seat 205. The bushing 211 serves as an intermediate component for the relative rotation between the connecting shaft 206 and the fixed seat 205. It has the characteristics of high wear resistance and high pressure bearing capacity. Its wear condition can be detected and replaced during use.

[0157] In some embodiments, as shown in FIG21 , a plurality of sliders 106 are further mounted on the bottom of the traveling box 100. Each slider 106 slidably engages with a linear guide rail 902 on the ground. Specifically, two rows of sliders 106 are arranged on the bottom of the traveling box 100, one row being arranged side by side along the width of the traveling box 100 on opposite sides of the drive wheel 201. Each slider 106 extends parallel to the travel direction of the drive wheel 201, thereby enabling the sliders 106 and the drive wheel 201 to move simultaneously along the travel direction of the traveling device.

[0158] Referring again to Figure 21 , the bottom of the slider 106 is provided with a slot that engages with the linear guide 902. By engaging with the slider 106, the linear guide 902 provides both ground pressure and tension for the entire stacker. Specifically, when the pressure from the drive wheel 201 exceeds the weight of the entire stacker, the linear guide 902 provides tension to prevent the drive wheel 201 from further downward movement. When the pressure from the drive wheel 201 is less than the overall weight of the stacker, the remaining weight of the stacker is supported by the linear guide 902, ensuring overall stability.

[0159] Referring to Figures 9, 10, and 20 to 22, when the friction transmission mechanism is in use, the fixing member 2041 is first adjusted to move downward. This downward movement of the fixing member 2041 drives the first clamping plate 2043 downward, which compresses the elastic element body 2042. The elastic element body 2042, under pressure, transmits a pressure F to the second clamping plate 2044 below. This pressure is then transmitted via the second clamping plate 2044 to the drive wheel support 203, which in turn transmits the pressure to the drive wheel 201 via the drive wheel support 203. The drive wheel 201 rolls on the friction track 901 under the torque of the drive motor 202 and the pressure of the drive wheel support 203. The downward pressure exerted by the fixing member 2041 can be reflected by the reading on the scale 2045.

[0160] In some embodiments, as shown in FIG22 , when the driving wheel support seat 203 transmits the pressure F to the driving wheel 201, the distance between the rotation axis 2011 of the driving wheel 201 and the friction track 901 is reduced from H1 to H2, and the difference between H1 and H2 is the amount of compression of the wheel surface 2013 of the driving wheel 201 caused by the pressure F; the distance from the rotation axis 2011 of the driving wheel 201 to a specific point on the top surface of the other end of the driving wheel support seat 203 is L1, and the specific point is in the Z-axis direction. The elastic element body 2042 is projected onto the center point of the circular area on the top surface of the other end of the driving wheel support seat 203; the distance from the rotating axis 2011 of the driving wheel 201 to the connecting shaft 206 is L2; ​​when the pressure F is transmitted to the driving wheel support seat 203, the distance between the specific point on the top surface of the other end of the driving wheel support seat 203 and the friction track 901 is reduced by H3; then, when the pressure F is generated by adjusting the fixing member 2041, (H1-H2) / H3=L2 / (L1+L2). In an embodiment of the present application, the walking device adopts a friction transmission mechanism to replace the transmission mechanism of the traditional light rail steel wheel, and the wheel surface 2013 of the driving wheel 201 in the friction transmission mechanism adopts a high-friction wheel surface, thereby meeting the high response speed requirements of the stacker, reducing noise, and reducing dust generation, and is suitable for dust-free environments with high cleanliness requirements. At the same time, the slider 106 at the bottom of the walking box 100 cooperates with the linear guide rail 902 on the ground, so as to withstand the pressure of the stacker located thereon, and when the stacker is light, it can apply pulling force to the walking box 100 to keep the stacker stable.

[0161] In addition, embodiments of the present application further provide a stacker comprising the aforementioned traveling device and a stacking body mounted on top of a traveling box. The inclusion of the traveling device allows the stacker to meet the high response speed requirements of the stacker while reducing noise. Furthermore, since the drive wheels are in surface contact when traveling on the friction track and utilize a high-friction wheel surface, wear and dust generation is reduced, making the stacker suitable for dust-free environments requiring high cleanliness.

[0162] It should be noted that the specific descriptions of the stacker and the traveling device in the embodiments provided in FIG. 1 to FIG. 14 are also applicable to the following embodiments, and reference may be made to the aforementioned corresponding descriptions for details.

[0163] In a semiconductor fab (Fab), the number of wafer boxes is extremely large. The storage and transportation of wafer boxes is a very important link. The wafer box storage warehouse equipment is the key equipment to solve this problem. The core of the wafer box storage warehouse equipment is the high-speed and high-precision stacker device inside the equipment.

[0164] The existing stacker device has the following problems: the positioning accuracy is insufficient due to the high running speed, or the running speed is slow due to the lack of positioning accuracy.

[0165] As a key device for storing and transporting wafer boxes, a stacker for a wafer box storage vertical warehouse equipment has a problem of mismatch between its operating speed and positioning accuracy and difficulty in quickly repairing and maintaining cables. In this specification, an embodiment of the present invention proposes a lifting box mechanism for a semiconductor storage vertical warehouse equipment stacker. As shown in Figures 23 and 24, the stacker includes a column support and a transmission mechanism. The column support includes a main column 301 and a secondary column 302 fixed relative to the main column 301. The secondary column 302 and the main column 301 are arranged parallel to each other in the vertical direction. The transmission mechanism drives the lifting box mechanism to perform lifting movement in the vertical direction (the vertical direction is defined as the Z-axis direction); the lifting box mechanism includes a lifting box 1 slidably supported on the column support, and a position monitoring device 6 for real-time acquisition of the current height position of the lifting box 1. The lifting box 1 is used to carry a robot, and the robot is used to clamp the wafer box; the entire lifting box 1 is driven to perform lifting movement by the transmission mechanism to control the operating speed of the lifting box 1, and the current position information of the lifting box 1 is monitored in real time by the provided position monitoring device 6 to ensure the operating accuracy of the lifting box 1. The position monitoring device 6 obtains the real-time position of the lifting box 1 and can then adjust the current height position of the lifting box 1 through the transmission mechanism.

[0166] Specifically, as shown in Figure 24, the position monitoring device 6 includes a position monitoring module 601 arranged at the side end of the lifting box 1 and a position reading module 602 arranged on the secondary column 302 or the main column 301. The position monitoring module 601 faces the position reading module 602 for reading the position information of the position reading module 601 in real time.

[0167] This application aims at the process in which the lifting box 1 is transporting the wafer box. Due to the large stroke, the lifting position accuracy deviation of the lifting box 1 may occur. When the deviation is large, there is a risk of collision and falling of the wafer box. Therefore, a position monitoring module 601 and a position reading module 602 are set to provide real-time feedback on the current position of the lifting box 1, thereby ensuring the operation accuracy and operation speed of the lifting box 1 (that is, its operation accuracy is taken into account without reducing the operation speed of the lifting box 1).

[0168] In some preferred embodiments, as shown in Figures 23 and 24, the column bracket is square-shaped and includes two auxiliary columns 302 and two main columns 301 arranged in pairs. The four columns are correspondingly located at the four corners of the column bracket; the four columns are connected by the upper and lower ends to form a square-shaped column bracket. The columns are not blocked from each other, the structure is simple and intuitive, the current status of the lifting box 1 can be visually checked by the naked eye, and it is also convenient for the operator to disassemble and replace the lifting box 1. As shown in Figure 24, the auxiliary columns 302 include a first auxiliary column and a second auxiliary column arranged opposite each other.

[0169] Because the lifting box portion of the stacker has a long movement stroke, the cables connected to the stacker main box are always in a state of synchronous movement during the lifting box's lifting process. The cables are an important factor in causing problems, and when cable problems occur, maintenance time is often very long. Furthermore, in some embodiments, a cable plug-in port 8 is provided on the column bracket, and the lifting box 1 is connected to a cable 3010; wherein, one end of the cable 3010 rises or falls synchronously with the lifting box 1, and the other end of the cable 3010 is configured with a cable plug-in structure. The cable plug-in structure of the cable 3010 can be detachably plugged into the cable plug-in port 8, and the cable plug-in structure can be set as an electrical plug structure that plugs and cooperates with the cable plug-in port 8. In order to solve the problems that the cable part of the lifting box needs to move up and down frequently during operation, the internal core wires of the frequently moving electrical cables are prone to breakage, and the maintenance time is long, the present application configures a cable plug-in structure on the lifting box 1 for realizing rapid electrical assembly and disassembly of the lifting box 1, which is used to realize rapid connection or disconnection of the electrical structure of the lifting box 1 and the stacker 2; the plug-in structure of the cable plug interface 8 can shorten the maintenance time and has high practicality (in emergency fault handling, the electrical structure can be disconnected by pulling out the cable 3010, which facilitates the rapid disassembly of the entire faulty lifting box 1, thereby replacing the spare lifting box for emergency use, and then retrieving and processing the faulty lifting box 1).

[0170] In some embodiments, the cable plug-in port 8 is fixedly mounted on the first secondary column, and the cable plug-in port 8 and the cable 3010 are arranged on a side away from the transmission belt 5 to prevent the cable 3010 from interfering with the transmission belt 5; the cable 3010 is covered with a protective drag chain 3022, which can play a dust-proof role. One end of the drag chain 3022 is connected to the box body 3 of the lifting box 1 (representing the mobile end), and the other end is connected to the first secondary column of the secondary column 302 (representing the fixed end). The cable 3010 in the drag chain 3022 moves up or down with the lifting box 1. As shown in Figures 24 and 33, the cable plug-in port 8 is detachably mounted on the first secondary column through the interface bracket 8010 (in a C shape); as shown in Figure 25, the drag chain 3022 is fixed to the box body 3 and the first secondary column of the lifting box 1 respectively through the drag chain bracket.

[0171] In some preferred embodiments, the cable plug-in port 8 is preferably fixed at the middle position of the first secondary column of the secondary column 302, and one end of the cable 3010 rises or falls synchronously with the lifting box 1. The advantage of setting it in the middle position is that it is convenient to save the overall configuration length of the cable 3010 and the drag chain 3022, thereby reducing costs.

[0172] In some preferred embodiments, the position monitoring module 601 is a barcode scanner, and the position reading module 602 is a barcode tape vertically distributed on the second secondary column. The barcode tape can be a one-dimensional code or a two-dimensional code. In this embodiment, it is preferably a two-dimensional code; as shown in Figure 24, the scanning range of the barcode scanner is facing the barcode tape; during the up and down lifting process of the lifting box 1, the barcode tape is scanned by the barcode scanner to determine the real-time position information of the lifting box 1, so that when the lifting box 1 moves up and down and causes a position deviation, it can be discovered and corrected in time.

[0173] The present application preferably sets up two auxiliary columns 302, which are mainly used for installing the drag chain 3022, the cable plug interface 8 and the position reading module 602 (QR code) respectively. The above structure is set on one auxiliary column 302 to achieve the same function. Therefore, there is no specific limitation on the number of auxiliary columns 302. Scanning code reading and quick plugging and unplugging of cables can be realized.

[0174] It should be pointed out that the column bracket is preferably in a square shape, that is, it is arranged into four columns; the cable plug interface 8 is preferably configured and installed on the first secondary column of the secondary column 302 but is not limited to being set on only a certain secondary column 302, it can also be configured on a certain main column 301; similarly, the position reading module 602 is preferably configured and installed on the second secondary column of the secondary column 302 but is not limited to being set on only a certain secondary column 302, it can also be configured on a certain main column 301.

[0175] For example, the column bracket can also be composed of two main columns 301 and one auxiliary column 302, the cable plug interface 8 is installed on the auxiliary column 302, and the drag chain 3022 and the position reading module 602 are installed on different surfaces of the auxiliary column 302.

[0176] The transmission mechanism can be a pulley drive, a gear rack drive, a screw drive or other driving methods, all of which are for the purpose of realizing the lifting and lowering movement of the box body 3 of the lifting box 1 in the vertical direction; in some embodiments, the transmission mechanism is a pulley drive, as shown in Figure 27, a fourth connecting plate 41 is provided on the side of the box body 3 of the lifting box 1 close to the main column 301, and the transmission belt 5 of the transmission mechanism is installed on the fourth connecting plate 41, and the transmission belt 5 is arranged along the vertical direction; the transmission belt 5 is open, and the two end parts of the opening of the transmission belt 5 are respectively installed on the fourth connecting plate 41 through two connecting fasteners 5010 symmetrically arranged up and down; the transmission belt 5 is used to drive the box body 3 of the lifting box 1 to perform lifting and lowering movements, and the lifting box 1 detects the current position in real time through the scanner and barcode belt of the position monitoring device 6, and adjusts the current position of the lifting box 1 by controlling the rise and fall of the transmission belt 5 to ensure the position accuracy of the lifting box 1; the transmission belt 5 can be driven to perform up and down lifting and lowering movements by the drive motor and pulley arranged on the column bracket.

[0177] When the lifting box 1 of the stacker is driven by a transmission belt 5, the transmission belt 5 may break due to aging, wear, etc. during the process of transporting the wafer box, which may cause damage to the wafer. Therefore, as shown in Figure 29, in some embodiments, the transmission belt 5 has a built-in transmission belt status monitoring element 7 for detecting whether the transmission belt 5 is in an abnormal state; the transmission belt status monitoring element 7 is configured as a metal core wire 7010 for forming an electrical circuit, and each transmission belt 5 is configured with two metal core wires 7010.

[0178] During implementation, the metal core wire 7010 and necessary connecting lines form a complete electrical circuit. Based on the operating status of the electrical circuit (e.g., by detecting changes in the circuit voltage), the continuity of the transmission belt 5 can be determined and reported in real time. When an electrical circuit anomaly occurs, the abnormality of the transmission belt 5 (e.g., a break) can be promptly detected, facilitating timely maintenance of the transmission mechanism. By providing the metal core wire 7010 to form an electrical circuit for real-time monitoring, the safety of the hoist box operation is improved, the risk of the wafer cassette colliding and falling during transport is reduced, and maintenance costs are indirectly reduced.

[0179] In some embodiments, as shown in Figures 25 to 28, the transmission belt 5 and the main column 301 are configured to be two respectively, and a sliding guide mechanism is arranged between the box body 3 of the lifting box 1 and the main column 301. The sliding guide mechanism includes a guide slider 4010 arranged on the fourth connecting plate 41 and a guide rail 505 arranged on the main column 301. At least two guide sliders 4010 distributed in the vertical direction are arranged on the fourth connecting plate 41; the guide slider 4010 slides with the guide rail 505, and the lifting box 1 is driven to slide on the guide rail 505 as a whole through the transmission belt 5.

[0180] It should be pointed out that the sliding guide mechanism is used to assist in guiding the lifting of the lifting box 1. It can be achieved by the cooperation of the slider and the slide rail, or by the sliding cooperation of the optical axis and the guide hole.

[0181] In some embodiments, as shown in Figures 30-32, both connecting fasteners 5010 include a tensioning device 9 for adjusting the tightness of the transmission belt 5 in the vertical direction (Z-axis direction); wherein the tensioning device 9 includes a toothed tensioning moving block 9010 arranged on the connecting fastener 5010, and the toothed tensioning moving block 9010 is engaged with the transmission belt 5; a tensioning bolt 9020 is rotatably installed on the fourth connecting plate 41, and the toothed tensioning moving block 9010 is driven to move up or down in the vertical direction by forward or reverse rotation of the tensioning bolt 9020, thereby adjusting the relative position of the transmission belt 5 and the fourth connecting plate 41, thereby realizing the adjustment of the tensioning force of the transmission belt 5; the tensioning bolt 9020 in this embodiment can be a hexagon socket bolt, and adjustment is achieved by a hexagon socket wrench. When it is necessary to increase the tension of the transmission belt 5, the transmission belt 5 can be pulled downward relative to the fourth connecting plate 41 by the tensioning device 9 on the connecting fastener 5010 at the upper position, and the transmission belt 5 can be pulled upward relative to the fourth connecting plate 41 by the tensioning device 9 on the connecting fastener 5010 at the lower position, thereby achieving the purpose of tightening the transmission belt 5.

[0182] Among them, a stop block 903 that is threadedly matched with the tensioning bolt 9020 is installed in the fourth connecting plate 41, and a spring 904 is installed between the toothed tensioning moving block 9010 and the stop block 903; by rotating the tensioning bolt 9020 (the tensioning bolt 9020 does not move axially), the stop block 903 is driven to move, and the stop block 903 acts axially on the toothed tensioning moving block 9010 through the spring 904, so that the toothed tensioning moving block 9010 moves up or down in the vertical direction, thereby adjusting the relative position of the transmission belt 5 and the fourth connecting plate 41, thereby achieving the purpose of adjusting the tensioning force of the transmission belt 5.

[0183] It should be pointed out that it is not limited to the relative pushing of the toothed tensioning moving block 9010 by the stop block 903 and the spring 904 to make it move. The tensioning bolt 9020 can also be directly threadedly connected to the toothed tensioning moving block 9010 to directly drive the toothed tensioning moving block 9010 to move by rotating the tensioning bolt 9020. The purpose is to achieve the adjustment of the tensioning force of the transmission belt 5; the tensioning device 9 can also adopt other structures to achieve the adjustment of the tensioning force of the transmission belt 5.

[0184] In some embodiments, the box body 3 of the lifting box 1 includes a box frame 3030, which can be used to carry a robot (the robot is used to clamp the wafer box), and the fifth connecting plate 4 is fixedly installed on one end of the box frame 3030 close to the main column 301; as shown in Figure 27, the box frame 3030 is hollow and can be used to install the electric drive part of the robot; the fifth connecting plate 4 is vertically installed on the side of the box frame 3030 close to the main column 301, and the side end face of the fifth connecting plate 4 faces the main column 301; a sealing plate 3040 is installed on the box frame 3030 to provide a protective environment for the components installed inside the lifting box, and the sealing plate 3 040 is provided with heat dissipation holes 3050, and a protective shed 3060 is installed above the box frame 3030 to protect the wafer box in the lifting box 1, providing a safe protection environment for the transportation of the wafer box, and preventing the wafer box from falling from the lifting box due to uneven force or other abnormal external forces during transportation; as shown in Figure 27, the protective shed 3060 is plate-shaped and has weight-reducing grooves distributed through it. The protective shed 3060 is installed on the box frame 3030 by four connecting rods arranged in the vertical direction, and a receiving cavity for placing the robot and the wafer box is formed between the protective shed 3060 and the box frame 3030.

[0185] Based on the same inventive concept, an embodiment of this specification also provides a semiconductor storage warehouse equipment stacker. Based on the lifting box mechanism of the semiconductor storage warehouse equipment stacker of any of the aforementioned embodiments, the stacker also includes a walking module 100 arranged at the bottom of the column bracket, and the walking module 100 slides horizontally on the external guide rail (in this embodiment, the horizontal sliding direction of the walking module 100 is the X-axis direction); a driving motor for driving the transmission belt 5 to perform lifting and lowering movements is installed at one end of the walking module 100; the movement of the stacker in the X-axis direction is realized by the walking module 100 of the stacker, and the movement of the stacker in the Z-axis direction is realized by the transmission belt 5 connected to the lifting box 1.

[0186] As shown in Figures 1 to 33, the embodiments of this specification also provide a stacker system, including a track, a traveling device and a lifting device, the track including a first track (overhead rail) arranged above the stacker's traveling path, and a second track (guide track) and a third track (friction track) arranged below the stacker's traveling path; the traveling device includes a traveling box, and the box body of the traveling box is slidably connected to the second track (guide track); the lifting device includes a lifting frame and a lifting box, and the box body of the lifting box is slidably connected to the lifting frame; one end of the lifting frame is fixedly connected to the top surface of the box body of the traveling box, and the other end is slidably connected to the first track (overhead rail); wherein, the box body of the traveling box includes a first box area and a second box area arranged adjacent to each other along the length direction of the box body, the first box area is provided with a traveling power mechanism for causing the stacker to run along the length direction of the track, and the second box area is provided with a lifting power mechanism for driving the lifting box to rise and fall in the vertical direction along the area enclosed by the lifting frame.

[0187] It is worth noting that in the embodiments provided in FIG. 1 to FIG. 14 , the embodiments provided in FIG. 8 and FIG. 15 to FIG. 19 , In the embodiments provided in Figures 8, 10, and 20 to 22, as well as the embodiments provided in Figures 23 to 33, similar elements may use different terms (for example, the walking power mechanism 202 and the driving motor 202, the limit plate 118 and the elastic component support plate 118, the linear guide rail 902 and the guide rail 902, the connecting shaft 206 and the rotating shaft 216, the column bracket and the lifting frame 300, the transmission mechanism and the lifting transmission assembly, the position detection device and the vertical positioning assembly 6, the position monitoring module and the second barcode scanner 601, the position reading module and the lifting position barcode 602, the first connecting part 2031 and the first connecting plate 2031, the second connecting part 2034 and the second connecting plate 2034, the lifting motor 501 and the lifting power mechanism 501), or similar elements may use different figure marks (for example, the friction drive wheels 201 and 208, the cable plug interface 8 and 3021), but the positions and functions are similar, and the details of each embodiment can be implemented in conjunction with each other without conflict.

[0188] Although the above describes specific embodiments of the present application, those skilled in the art will understand that these are merely illustrative and that the scope of protection of the present application is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present application, and such changes and modifications shall fall within the scope of protection of the present application.

Claims

1. A stacker, comprising: A walking device, the walking device comprising a walking box, a friction transmission mechanism installed in the walking box, and a horizontal positioning assembly installed on the walking box and used to position the walking position of the walking device, wherein the friction transmission mechanism comprises a friction driving wheel passing through the walking box and frictionally engaging with a friction track on the ground, and a walking power mechanism used to drive the friction driving wheel to rotate; A lifting device, the lifting device comprising a lifting frame installed on the top of the traveling box, a mechanical arm carrying component installed on the lifting frame, a lifting transmission component for driving the mechanical arm carrying component to lift along the lifting frame, a lifting power mechanism for driving the lifting transmission component, and a vertical positioning component for positioning the lifting position of the mechanical arm carrying component; A control device, wherein the control device is used to control the walking power mechanism to drive the walking device to a target walking position according to the walking position fed back by the horizontal positioning component, and the control device is also used to control the lifting power mechanism to drive the mechanical arm loading component to a target lifting position according to the lifting position fed back by the vertical positioning component.

2. The stacker according to claim 1, wherein: A horizontally mounted barcode installation plate is provided along the walking path of the stacker, and a plurality of walking position barcodes for indicating the walking position are provided on the barcode installation plate; The horizontal positioning assembly includes a first barcode scanner installed on the walking box, and the first barcode scanner is used to scan the walking position barcode and transmit the scanning result to the control device.

3. The stacker according to claim 1, wherein: The lifting device also includes a plurality of lifting position bar codes for indicating the lifting position; The vertical positioning assembly includes a second barcode scanner installed on the robotic arm loading assembly, and the second barcode scanner is used to scan the lifting position barcode and transmit the scanning result to the control device.

4. The stacker according to claim 1, wherein: The walking device further comprises: a walking deceleration sensor assembly and / or a walking limit sensor assembly located on the walking box; The walking deceleration sensor assembly is used to trigger the control device to perform a corresponding horizontal deceleration operation when sensing that the stacker has walked to a corresponding horizontal deceleration position; The travel limit sensor assembly is used to trigger the control device to perform a corresponding horizontal limit operation when sensing that the stacker has traveled to a corresponding horizontal limit position.

5. The stacker according to claim 4, wherein: The horizontal deceleration operation includes: detecting whether the walking speed of the stacker is less than a corresponding walking speed threshold, and if not, controlling the walking power mechanism to decelerate and alarming.

6. The stacker according to claim 5, wherein: The walking deceleration sensor assembly includes a primary walking deceleration sensor and a secondary walking deceleration sensor; The first-level walking deceleration sensor is used to trigger the control device to detect whether the walking speed of the walking device is less than the first walking speed threshold when sensing that the stacker walks to the first horizontal deceleration position. If not, the walking power mechanism is controlled to decelerate and alarm; The secondary walking deceleration sensor is used to trigger the control device to detect whether the walking speed of the walking device is less than the second walking speed threshold when sensing that the stacker walks to the second horizontal deceleration position. If not, the walking power mechanism is controlled to decelerate and alarm; Wherein, along the walking direction of the stacker, the stacker first reaches the first horizontal deceleration position and then reaches the second horizontal deceleration position, and the first walking speed threshold is greater than the second walking speed threshold.

7. The stacker according to claim 1, wherein: The lifting device further comprises: at least one of an upper limit sensor assembly, an upper deceleration sensor assembly, a lower deceleration sensor assembly, and a lower limit sensor assembly arranged along the lifting direction of the mechanical arm object-carrying assembly; The upper limit sensor assembly is used to trigger the control device to perform a corresponding upper limit operation when sensing that the mechanical arm object-carrying assembly rises to a corresponding upper limit position; The upper deceleration sensor assembly is used to trigger the control device to perform a corresponding ascending deceleration operation when sensing that the robotic arm object-carrying assembly has ascended to a corresponding upper deceleration position; The lower deceleration sensor assembly is used to trigger the control device to perform a corresponding descending deceleration operation when sensing that the robotic arm object-carrying assembly descends to a corresponding lower deceleration position; The lower limit sensor assembly is used to trigger the control device to perform a corresponding lower limit operation when sensing that the robotic arm object-carrying assembly has descended to a corresponding lower limit position.

8. The stacker according to claim 1, wherein: A ceiling rail is provided above the walking path of the stacker; An upper guide wheel assembly which is slidably matched with the ceiling rail is provided on the top of the lifting frame.

9. The stacker according to claim 1, wherein: The stacker also includes: A power taking component arranged on one side of the traveling box; A power supply component electrically connected to the power extraction component; An energy storage component electrically connected to the power taking component and the power supply component; Part of the electric energy obtained by the power extraction component is supplied to the power supply component, and the other part is stored in the energy storage component. The power supply component is used to supply power to the stacker.

10. The stacker according to claim 1, wherein: The lifting transmission assembly comprises: A driving pulley disposed on the side of the traveling box and connected to the lifting power mechanism; A driven pulley disposed at the top of the lifting frame and connected to the driving pulley via a synchronous belt; and A vertical guide rail arranged along the height direction of the lifting frame; Wherein, the robot arm object-carrying assembly is fixedly connected to the synchronous belt and slidingly cooperates with the vertical guide rail, so as to be lifted and lowered along the vertical guide rail under the drive of the synchronous belt.

11. The stacker according to claim 10, wherein: The side of the traveling box is also provided with an adjusting wheel abutting against one side of the synchronous belt, and the adjusting wheel can rotate along with the rotation of the synchronous belt.

12. The stacker according to claim 1, wherein: The walking device also includes a driving wheel support seat for supporting the friction driving wheel; One end of the driving wheel support seat is rotatably fixed in the travel box; The other end of the driving wheel support seat is fixed in the travel box through an elastic component arranged above the driving wheel support seat.

13. The stacker according to claim 12, wherein: The elastic component comprises: An elastic element, the bottom end of which is connected to the top surface of the other end of the driving wheel support seat; An elastic force adjusting mechanism is connected to the top end of the elastic element and is used to adjust the elastic force generated by the elastic element.

14. The stacker according to claim 13, wherein: A limit plate is provided in the travel box, and the limit plate is arranged above the elastic element; The elastic force adjustment mechanism comprises a fixing piece threadedly matched with the limiting plate, and the bottom end of the fixing piece is connected to the top end of the elastic element; The elastic component also includes a ruler installed on the top surface of the limiting plate.

15. The stacker according to claim 13, wherein: The elastic element comprises: An elastic element body; A first clamping plate engaged with the top end of the elastic element body; and A second clamping plate engaged with the bottom end of the elastic element body; Wherein, the first clamping plate is fixedly connected to the elastic force adjustment mechanism, and the second clamping plate is fixedly connected to the top surface of the other end of the driving wheel support seat.

16. The stacker according to claim 13, wherein: The driving wheel support seat includes an integrally formed first mounting plate portion, a second mounting plate portion and a connecting portion; The first mounting plate portion and the second mounting plate portion are symmetrically arranged along the width direction of the stacker and are provided with coaxial through holes. The output shaft of the driving motor passes through the through hole of the first mounting plate portion and is connected to one end of the rotating shaft of the driving wheel. The other end of the rotating shaft of the driving wheel passes through the through hole of the second mounting plate portion; One end of the first mounting plate part and the second mounting plate part are respectively rotatably connected to the connecting shaft; the connecting part includes a first connecting plate and a second connecting plate; the other ends of the first mounting plate part and the second mounting plate part are connected through the first connecting plate, and the top surface of the first connecting plate is connected to the elastic component; the second connecting plate connects the first mounting plate part and the second mounting plate part, is arranged at one end close to the connecting shaft, and extends along the height direction of the stacker.

17. The stacker according to claim 16, wherein: A bearing sleeved on the rotating shaft of the driving wheel is also provided in the through hole of the second mounting plate portion; A bearing cover is also provided on a side of the second mounting plate portion away from the first mounting plate portion. The bearing cover has a sleeve portion clamped between the bearing and the second mounting plate portion along the axial direction of the bearing.

18. The stacker according to claim 17, wherein: A retaining ring is also sleeved on the rotating shaft of the driving wheel, and the retaining ring abuts against an end of the bearing away from the bearing cover.

19. The stacker according to claim 12, wherein: A fixing seat is provided on the side wall of the traveling box, and one end of the driving wheel supporting seat is rotatably connected to the fixing seat via a connecting rotating shaft.

20. The stacker according to claim 19, wherein: The connecting shaft is arranged to be parallel to the rotation axis of the driving wheel; The rotating shaft of the driving wheel is arranged to be coaxially connected with the output shaft of the driving motor.

21. The stacker according to claim 19, wherein: An oil-free bushing is provided between the connecting shaft and the fixing seat; and / or A tensioning sleeve is clamped between the rotating shaft of the driving wheel and the hub of the driving wheel.

22. The stacker according to claim 1, wherein: A plurality of sliding blocks are also installed at the bottom of the travel box, and the sliding blocks are used for slidingly cooperating with the guide rails on the ground.

23. The stacker according to claim 1, wherein: A light transmitting end is provided on the walking path of the stacker, and a light receiving end is provided on the stacker; Among them, when the light receiving end receives the light signal emitted by the light emitting end, the control device is triggered to control the operation of the walking power mechanism based on the access task data sent by the upper computer, combined with the walking position positioned by the horizontal positioning component, and to control the operation of the lifting power mechanism in combination with the lifting position positioned by the vertical positioning component.

24. The stacker according to claim 1, wherein: The traveling box comprises a bottom plate and a box body installed on the top surface of the bottom plate; The bottom surface of the bottom plate is used to install a plurality of sliders extending along the length direction of the box body of the traveling box and cooperating with the guide rails on the ground, wherein the length direction of the box body of the traveling box is the traveling direction of the stacker, and the width direction of the box body of the traveling box is orthogonal to the length direction in the horizontal plane; The box body of the traveling box includes a first box area and a second box area which are arranged adjacent to each other along the length direction; The first box area is used to install a walking mechanism for driving the stacker to walk, and the walking mechanism includes a friction driving wheel passing through the bottom plate and cooperating with a friction track on the ground, and a walking motor connected to the friction driving wheel; The second box area is used to install a lifting motor, and the two outer sides of the second box area along the width direction of the box body of the walking box are respectively used to install driving pulleys connected to the lifting motor to drive the lifting belt of the stacker to move.

25. The stacker according to claim 24, wherein: The first box area includes: A first vertical plate and a second vertical plate are arranged relatively parallel to each other along the length direction of the box body of the traveling box; a third vertical plate vertically connected between the first vertical plate and the second vertical plate, wherein a first accommodation space for accommodating the walking mechanism is formed between the third vertical plate and the first vertical plate and the second vertical plate; and A first top plate is arranged at the top of the first accommodating space, and the first top plate is used to support a column of the stacker.

26. The stacker according to claim 25, wherein: The first box area also includes a fourth vertical plate with one end vertically connected to the first vertical plate, and a fifth vertical plate with one end vertically connected to the second vertical plate. The other ends of the fourth vertical plate and the fifth vertical plate are separated to form a gap in the length direction of the box body of the walking box, so that the walking motor can pass through the gap and be connected to the friction drive wheel.

27. The stacker according to claim 26, wherein: The first top plate is in a U-shape, one end of which is mounted on the side wall of the first vertical plate and covers the tops of the second vertical plate, the third vertical plate, the fourth vertical plate and the fifth vertical plate.

28. The stacker according to claim 27, wherein: The first top plate includes a top plate body and a third connecting plate detachably connected to the top plate body, and a position of the third connecting plate corresponds to a position of the gap.

29. The stacker according to claim 26, wherein: The walking mechanism also includes: A driving wheel support seat for supporting the friction driving wheel, one end of the driving wheel support seat being mounted on the second vertical plate via a rotating shaft; and An elastic component, the bottom end of which is fixed to the other end of the driving wheel support seat; The first box area also includes: an elastic component support plate vertically connected between the third vertical plate and the fourth vertical plate, and the elastic component support plate is used to install an adjustable fixing member so that the bottom end of the fixing member passes through the elastic component support plate and is fixed to the top end of the elastic component.

30. The stacker according to claim 25, wherein: The first box area further includes an inclined plate, one end of which is fixed to the first top plate, and the other end of which is fixed to the first vertical plate; The first box area also includes a sixth vertical board vertically connected to the second vertical board; The first top plate is also used to install a code reader assembly; One side of the second vertical plate is also used to install a deceleration trigger component; and / or The outer side surface of the third vertical plate is also used to provide support for the power extraction component installed on the bottom plate.

31. The stacker according to claim 24, wherein: The second box area includes: A seventh vertical plate and an eighth vertical plate arranged relatively parallel to each other along the width direction of the box body of the traveling box; and A second top plate covering the tops of the seventh and eighth vertical plates, the second top plate being used to support the columns of the stacker; Wherein, a second accommodation space for accommodating the lifting motor is formed between the seventh vertical plate and the eighth vertical plate, the seventh vertical plate and the eighth vertical plate are used to support the lifting motor, and the outer sides of the seventh vertical plate and the eighth vertical plate are used to symmetrically install the driving pulley; The second top plate is formed with a recess through which the lifting motor passes.

32. The stacker according to claim 31, wherein: The outer sides of the seventh and eighth vertical plates are also symmetrically provided with reinforcing plates located obliquely above the driving pulley, and the reinforcing plates are used to install the adjusting wheel abutting against one side of the lifting belt.

33. The stacker according to claim 3, wherein: The mechanical arm loading assembly includes a lifting box slidably supported on the lifting frame, the lifting frame includes a main column and a secondary column fixed relative to the main column, and the vertical positioning assembly is used to obtain the current height position of the lifting box in real time; The second barcode scanner is arranged at the side end of the lifting box, the lifting position barcode is arranged on the secondary column or the main column, and the second barcode scanner faces the lifting position barcode for reading the position information of the lifting position barcode in real time.

34. The stacker according to claim 33, wherein: The column bracket is provided with a cable plug-in port, and the lifting box is connected to a cable; wherein, one end of the cable rises or falls synchronously with the lifting box, and the other end of the cable is provided with a cable plug-in structure, and the cable plug-in structure can be detachably plugged into the cable plug-in port.

35. The stacker according to claim 34, wherein: The secondary column includes a first secondary column, and the cable plug interface is fixedly installed on the first secondary column; the cable cover is provided with a protective drag chain, one end of the drag chain is connected to the box body of the lifting box, and the other end is connected to the first secondary column of the secondary column, and the cables in the drag chain rise or fall with the lifting box.

36. The stacker according to claim 35, wherein: The secondary column also includes a second secondary column, the lifting position barcode is set on the second secondary column, and the scanning range of the second barcode scanner is directly opposite to the lifting position barcode; the second barcode scanner is used to scan the lifting position barcode to determine the real-time position information of the lifting box.

37. The stacker according to claim 33, wherein: A fourth connecting plate is provided on one side of the body of the lifting box close to the main column, and the transmission mechanism includes a transmission belt installed on the fourth connecting plate, and the transmission belt is used to drive the body of the lifting box to perform lifting and lowering movements, and the transmission belt has a built-in transmission belt state monitoring element for detecting whether the transmission belt is in an abnormal state; the transmission belt state monitoring element is configured as a metal core wire for forming an electrical circuit, and each transmission belt is configured with two of the metal core wires.

38. The stacker according to claim 37, wherein: The transmission belt and the main column are configured in two corresponding ways; the transmission belt is open, and the transmission belt is installed on the fourth connecting plate in the height direction of the stacker through two connecting fasteners respectively arranged up and down, and the connecting fastener includes a tensioning device for adjusting the tightness of the transmission belt; the tensioning device includes a toothed tensioning moving block arranged on the connecting fastener, and the toothed tensioning moving block is engaged with the transmission belt; a tensioning bolt is rotatably installed on the fourth connecting plate, and the toothed tensioning moving block is driven to move up or down in the height direction of the stacker by forward or reverse rotation of the tensioning bolt, thereby adjusting the relative position of the transmission belt and the fourth connecting plate.

39. The stacker according to claim 38, wherein: A stop block that cooperates with the thread of the tensioning bolt is installed in the fourth connecting plate, and a spring is installed between the toothed tensioning moving block and the stop block; by rotating the tensioning bolt, the stop block acts axially on the toothed tensioning moving block through the spring, so that the toothed tensioning moving block moves up or down in the height direction of the stacker.

40. The stacker according to claim 37, wherein: A sliding guide mechanism is arranged between the box body of the lifting box and the main column, and the sliding guide mechanism includes a guide slider arranged on the fourth connecting plate and a guide rail arranged on the main column; the guide slider is slidably matched with the guide rail, and the lifting box is driven to slide on the guide rail as a whole through the transmission belt.

41. The stacker according to claim 35, wherein: The cable plug-in port is detachably mounted on the first secondary column via an interface bracket, and the drag chain is respectively fixed to the box body of the lifting box and the first secondary column via a drag chain bracket.

42. A stacker according to any one of claims 37 to 41, wherein: The walking device is arranged at the bottom of the lifting frame and is used to slide back and forth on the guide rail along the length direction of the stacker; a driving motor for driving the transmission belt to perform lifting movement is installed at one end of the walking device.

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