Rail apparatus for three-dimensional warehouse stacker and stacker system

Abstract

Embodiments of the present application provide a rail apparatus for a three-dimensional warehouse stacker, applied to the technical field of semiconductor handling devices. The rail apparatus comprises a sky rail and a ground rail. The sky rail is hoisted on the upper part of a roadway in a three-dimensional warehouse, is movably connected to the top of a stacker, and is used for guiding the horizontal movement of the stacker in the air. The ground rail is parallel to the sky rail and mounted at the bottom of the roadway in the three-dimensional warehouse, the ground rail comprises guide rails and a locomotion rail, the locomotion rail is arranged in parallel between the two guide rails, the guide rails are used for guiding the horizontal movement of the stacker on the ground, and the locomotion rail is a traveling rail used for the horizontal movement of the stacker. The horizontal movement of the stacker is supported and guided by the ground rail and the sky rail of a new structure, thereby ensuring the stable and high-precision operation of the stacker.

Description

Track device and stacker system for vertical warehouse stacker Technical Field

[0001] The present application relates to the technical field of semiconductor handling equipment, and in particular to a track device and a stacker system for a vertical warehouse stacker. Background Art

[0002] With the widespread application of integrated circuits in daily life, the rapid development of the three-dimensional warehousing industry, the diversification of cargo storage forms, and the increasing number of cargo storage structures, the gradual increase in the height of three-dimensional warehousing and the weight of cargo, the requirements for the carrying capacity, performance and efficiency of stacking cranes in storing and retrieving cargo have also increased accordingly.

[0003] Currently, in AMHS (Automatic Material Handling System) factory workshops, a single track is generally set at the bottom of the high-bay warehouse, and a rack is set on the track to cooperate with the stacker base gear to form a drive mechanism to drive the stacker. However, this track structure will cause the stacker handling equipment to reduce its operating accuracy, become unstable during operation, and generate dust due to wear of the rack and gear. In addition, the reliability, safety, and flexibility of the stacker running on this track for a long time are low, which affects the stacker's storage and retrieval efficiency.

[0004] Summary of the Invention

[0005] The embodiments of this specification provide a track device for a stacker crane in a vertical warehouse, comprising: an overhead rail hoisted on the upper part of a lane in the vertical warehouse, wherein the overhead rail is movably connected to the top of the stacker crane and is used to guide the horizontal movement of the stacker crane in the air; a ground rail arranged parallel to the overhead rail and installed at the bottom of the lane in the vertical warehouse, wherein the ground rail includes two guide rails and a walking rail, the walking rail being arranged parallel between the two guide rails, the two guide rails being used for ground guidance of the stacker crane for horizontal movement, and the walking rail being used as a travel rail for the stacker crane for horizontal movement.

[0006] Optionally, the guide rail includes a first fixed plate and a first rail including a slide, wherein the first fixed plate is fixedly installed at the bottom of the tunnel, the first rail is fixedly installed on the first fixed plate, and the slide of the first rail is connected to the stacker.

[0007] Optionally, the guide rail also includes a first limiting device, the first limiting device includes a first anti-collision block and a first buffer block, wherein the first anti-collision block is fixedly mounted on the first fixed plate, the first buffer block is mounted on the first anti-collision block, and the first buffer block buffers the inertia of the collision through elastic deformation when the stacker collides with the first limiting device.

[0008] Optionally, the vertical warehouse stacker track device further includes a plurality of first adjustment gaskets, wherein the first adjustment gaskets fill the gap between the first fixed plate and the mounting plate in the lane, so as to maintain a preset distance and alignment between the first fixed plate and the mounting plate in the lane.

[0009] Optionally, a plurality of first positioning elements are provided on the first fixing plate at preset intervals, and the first positioning elements are used for positioning the stacker when the stacker is in horizontal operation to prevent the movement displacement from exceeding a first preset threshold;

[0010] And / or, the guide rail also includes a plurality of second positioning elements, wherein the plurality of second positioning elements are arranged on the first fixed plate at preset intervals, and the second positioning elements are used to locate the installation position when the first fixed plate is installed to the bottom of the tunnel to prevent the error in installing the first fixed plate from exceeding a second preset threshold.

[0011] Optionally, the first fixing plate is provided with a plurality of first waist-shaped countersunk holes, wherein the first waist-shaped countersunk holes are used to fix the first fixing plate to the bottom of the tunnel and to adjust the position of the first fixing plate during installation;

[0012] And / or, the first rail is provided with a plurality of second waist-shaped countersunk holes, wherein the second waist-shaped countersunk holes are used to fix the first rail to the first fixing plate by fastening screws, and to adjust the relative position between the first rail and the first fixing plate during installation.

[0013] Optionally, the travel track includes a second fixed plate and a support plate installed on the second fixed plate, the second fixed plate is fixedly installed at the bottom of the tunnel, and the support plate supports the horizontal movement of the stacker base.

[0014] Optionally, the walking track further includes a profile arranged between the second fixing plate and the support plate, wherein the hardness of the profile is less than the hardness of the second fixing plate and / or the support plate.

[0015] Optionally, the walking track further includes a contact layer provided on the support plate, the contact layer being in contact with the walking wheels of the stacker to support the horizontal movement of the stacker base.

[0016] Optionally, a first groove is provided on the upper surface of the second fixing plate, a second groove is provided on the lower surface of the support plate, and a third groove is provided on the upper surface of the support plate, wherein the profile is embedded in the first groove and the second groove respectively, and the contact layer is embedded in the third groove.

[0017] Optionally, the profile is provided with a mounting groove for accommodating nuts that runs through the length direction of the profile, wherein in the cross section of the mounting groove, the opening width of the mounting groove is smaller than the width of the bottom of the groove. After the profile is respectively embedded in the first groove and the second groove, the nuts in the mounting groove are connected to the bolts passing through the support plate or the second fixed plate, thereby fastening the profile to the second fixed plate or the support plate respectively.

[0018] Optionally, the profile is provided with a first through hole penetrating along the length direction of the profile, and the first through hole is located in a central area of ​​the cross section of the profile.

[0019] Optionally, the profile is further provided with a plurality of second through holes which penetrate along the length direction of the profile and have a diameter smaller than the diameter of the first through hole. The plurality of second through holes are distributed around the first through hole, and the plurality of second through holes and the first through holes are spaced apart along the width direction of the profile.

[0020] Optionally, the width of the third groove is greater than that of the second groove, and the width of the third groove is slightly greater than that of the contact layer, and the support plate is provided with notches at intervals on both sides of the third groove so that the contact layer can be taken and placed through the notches and the position of the contact layer can be adjusted.

[0021] Optionally, the second fixed plate, profile, support plate and contact layer are each a structure assembled by splicing multiple sections, wherein the splicing parts of the second fixed plate, the splicing parts of the profile, the splicing parts of the support plate and the splicing parts of the contact layer are staggered with each other.

[0022] Optionally, the contact layer is spliced ​​at a beveled surface splicing structure, and the angle formed between the beveled surface and the traveling direction is an acute angle, and the acute angle is an angle of 10°-80°;

[0023] And / or, the contact layer is a plate material with low surface roughness and a surface suitable for the polyurethane running wheels to run on.

[0024] Optionally, the contact layer is provided with a plurality of third waist-shaped countersunk holes, wherein the contact layer is fixed to the support plate by screws through the third waist-shaped holes, and the third waist-shaped countersunk holes are also used to adjust the relative position between the contact layer and the support plate on the horizontal plane during screw fixation;

[0025] And / or, the second fixed plate is provided with several fourth waist-shaped countersunk holes, wherein the second fixed plate is fixed to the bottom of the tunnel by screws through the fourth waist-shaped holes, and the fourth waist-shaped countersunk holes are also used to adjust the relative position between the second fixed plate and the guide rail on the horizontal plane during screw fixing.

[0026] Optionally, the third waist-shaped countersunk hole is provided at both side edges of the contact layer, and the fourth waist-shaped countersunk hole is provided at both side edges of the second fixing plate;

[0027] Among them, the width of the contact layer is not less than the sum of the axial width of the walking wheel and the width of the third waist-shaped countersunk hole; the width of the support layer is not less than the sum of the width of the contact layer and the width of the reserved structure; the width of the profile is not less than the axial width of the walking wheel; the width of the second fixed plate is not less than the sum of the width of the support plate and the width of the fourth waist-shaped countersunk hole.

[0028] Optionally, the width of the contact layer is not less than the sum of the width of the profile and the width of the third waist-shaped countersunk hole.

[0029] Optionally, the vertical warehouse stacker crane track device further includes a plurality of second adjustment gaskets, wherein the second adjustment gaskets fill the gap between the second fixed plate of the walking track and the mounting plate in the lane, thereby maintaining a preset distance and alignment between the walking track and the mounting portion.

[0030] Optionally, the overhead rail includes a single track formed by splicing multiple guide rails end to end, and the guide wheel assemblies of the stacker are distributed on both sides of the single track. The guide wheels of the guide wheel assembly are movably connected to the sides of the single track to prevent the stacker from tilting to one side.

[0031] Optionally, a second limiting device is provided at both ends of the single track, wherein the second limiting device includes a second anti-collision block and a second buffer block, wherein the second anti-collision block is fixedly mounted on the guide track, and the second buffer block is mounted on the second anti-collision block, and the second buffer block elastically deforms to buffer the inertia of the collision when the stacker collides with the second limiting device.

[0032] Optionally, the vertical warehouse stacker track device further includes a barcode device, wherein the barcode device includes a barcode and a barcode reader, the barcode is arranged on the ground rail, and the barcode reader is arranged on the running mechanism of the stacker.

[0033] An embodiment of the present application also provides a stacker system, including a track device and a stacker as described above. The stacker includes a traveling box, a support seat, and traveling wheels arranged on the support seat. One end of the support seat is rotatably hinged to the traveling box, and the other end of the support seat is connected to the traveling box through an elastic component, and the elastic component produces elastic deformation at least in the vertical direction, and at least part of the support seat is located in the traveling box. Each of the two guide rails includes a first fixed plate and a first rail including a slide, wherein the first fixed plate is fixedly mounted on the bottom of the tunnel, the first rail is fixedly mounted on the first fixed plate, and the slide of the first rail is connected to the bottom of the traveling box. The traveling rail includes a second fixed plate fixedly mounted on the bottom of the tunnel, and at least one layer located on the second fixed plate, wherein the layer with elastic characteristics and the elastic component in the at least one layer simultaneously or independently absorb or suppress the vibration transmitted by the traveling wheel.

[0034] Compared with the prior art, the at least one technical solution adopted in the embodiments of this specification can achieve the following beneficial effects:

[0035] By using both overhead rails and floor rails in the vertical warehouse to guide the stacker crane, and using guide rails and walking rails to form floor rails for the stacker crane to move horizontally, since both the overhead rails and floor rails can use dust-free high-precision linear guides, a high-precision, reliable and stable track structure can be provided for the stacker crane in the vertical warehouse, which is beneficial to improving the positioning accuracy of the stacker crane, and thus helping to improve the stacker crane's operating speed, cargo picking and placing accuracy and long-term operating reliability.

[0036] In addition, in addition to providing a high-precision track structure, the track structure that combines the ceiling rail with the ground rail facilitates the processing, manufacturing, installation and debugging of components such as the ceiling rail and the ground rail.

[0037] In addition, even when the stored goods are high and heavy, the ground rail structure can still ensure that the stacker crane can complete operations such as movement, grabbing and placing workpieces smoothly, accurately and quickly during operation, thereby improving the deployment flexibility of the stacker crane in the vertical warehouse.

[0038] In addition, in the vertical warehouse, the bottom of the stacker crane allows the running wheels to fluctuate in a small range in the vertical direction by using elastic components, and the running wheels travel on a running track composed of a multi-layer structure with an elastic layer, so that the vibration of the stacker crane when running along the running track is absorbed or suppressed. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0040] FIG1 is a schematic diagram of a three-dimensional structure of a stacker crane in which a ceiling rail and a floor rail together provide a track in an embodiment of the present application;

[0041] FIG2 is a schematic diagram of the front view of the structure in which the overhead rail and the ground rail together provide a track for the stacker in an embodiment of the present application;

[0042] FIG3 is a schematic diagram of a left side view of the structure of the overhead rail and the ground rail that together provide a track for the stacker in an embodiment of the present application;

[0043] FIG4 is a schematic diagram of the three-dimensional structure of the ground rail in an embodiment of the present application;

[0044] FIG5 is a schematic diagram of a top view of the floor rail in an embodiment of the present application;

[0045] FIG6 is a schematic diagram of the structure of a local ground rail in an embodiment of the present application;

[0046] FIG7A is a schematic structural diagram of a floor rail provided with a limiting device at one end in an embodiment of the present application;

[0047] FIG7B is a schematic perspective view of a four-layer structure of a walking track in an embodiment of the present application;

[0048] FIG7C is a schematic diagram of an end view of a four-layer structure of a walking track in an embodiment of the present application;

[0049] FIG7D is a schematic diagram of a conventional splicing surface;

[0050] FIG7E is a schematic diagram of the structure of beveled surface splicing in an embodiment of the present application;

[0051] FIG7F is a schematic structural diagram of a cross section of a profile in an embodiment of the present application;

[0052] FIG8 is a schematic structural diagram of a limit device provided at one end of a guide rail in a floor rail according to an embodiment of the present application;

[0053] FIG9 is a schematic diagram of a three-dimensional structure of a ceiling rail in an embodiment of the present application;

[0054] FIG10 is a schematic diagram of a top view of the structure of the ceiling rail in an embodiment of the present application;

[0055] FIG11 is a schematic structural diagram of a limit device provided at one end of the ceiling rail in an embodiment of the present application;

[0056] FIG12 is a schematic structural diagram of the installation of the ceiling rail in an embodiment of the present application;

[0057] FIG13 is a schematic structural diagram of an installation adjustment gasket in an embodiment of the present application;

[0058] FIG14 is a schematic structural diagram of an adjustment gasket in an embodiment of the present application;

[0059] FIG15 is a schematic structural diagram of a positioning element installed on a track in an embodiment of the present application;

[0060] FIG16 is a schematic structural diagram of a track fastening installation in an embodiment of the present application;

[0061] 17 is a schematic diagram of the three-dimensional structure of the traveling box of the stacker in an embodiment of the present application;

[0062] 18 is a schematic diagram of the internal structure of the traveling box of the stacker in the embodiment of the present application;

[0063] 19 is a top sectional view of the traveling box of the stacker in an embodiment of the present application;

[0064] FIG20 is a side view of the stacker in the embodiment of the present application. DETAILED DESCRIPTION

[0065] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0066] The following describes the embodiments of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, in the absence of conflict, the features in the following embodiments and embodiments can be combined with each other. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative work are within the scope of protection of this application.

[0067] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on this application, it should be understood by those skilled in the art that an aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number and aspect described herein can be used to implement an apparatus and / or practice a method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement this apparatus and / or practice this method.

[0068] It should also be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application. The illustrations only show components related to the present application and are not drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component can be changed at will, and the component layout type may also be more complicated.

[0069] Additionally, in the following description, specific details are provided to provide a thorough understanding of the examples, however, one skilled in the art will appreciate that the examples can be practiced without these specific details.

[0070] Stacker cranes are becoming increasingly popular in automated warehouses. Their primary modules include a loading platform, travel drive, column assembly, crossbeam assembly, lift drive, overhead rail, and floor rail assembly. These rails play an essential role in the operation of the stacker crane. Furthermore, the design, processing, manufacturing, installation, and commissioning of the drive and guide mechanisms within these systems can directly impact the quality of the stacker crane's subsequent operation.

[0071] By adopting a new structure of overhead rails and ground rails, a new track device is formed together, providing a new track mechanism for the stacker crane of the semiconductor factory's three-dimensional storage warehouse (stocker, vertical warehouse).

[0072] Referring to Figures 1 to 15 , the present application provides a vertical warehouse stacker crane track assembly, which may include: a ceiling rail 1 and a floor rail 2. The ceiling rail 1 is hoisted above the vertical warehouse's laneway and movably connected to the top of the stacker crane 5. The ceiling rail 1 is used to provide aerial guidance for the horizontal movement of the stacker crane 5. The floor rail 2 is arranged parallel to the ceiling rail 1 and installed at the bottom of the vertical warehouse's laneway.

[0073] Among them, the ground rail 2 includes a guide rail 21 and a walking rail 22, and the walking rail 22 is arranged in parallel between the two guide rails 21. The guide rail 21 guides the base of the stacker 5 on the ground during horizontal movement, and the walking rail 22 supports the base of the stacker 5 during horizontal movement.

[0074] During implementation, the overhead rail 1 and the ground rail 2 can be made of high-precision dust-free rails, which is beneficial to ensuring high precision of the horizontal movement of the stacker 5.

[0075] It should be noted that the stacker can be a mechanism including a lifting mechanism, a cargo platform and a fork device, etc., which is not limited here. In addition, the main frame of the stacker can be a frame mechanism formed by multiple columns, which is not specifically limited.

[0076] In addition, the moving process of the stacker is illustrated as follows: the ground rail 2 provides high-precision and stable support for the stacker 5 through the guide rail 21 and the walking rail 22, and the ground rail 2 and the ceiling rail 1 jointly guide the horizontal movement of the stacker 5. Then, when the walking wheels in the base of the stacker 5 run on the walking rail 22, the stacker 5 not only obtains the good support performance of the ground rail 1, but also can obtain stable guidance from the ceiling rail 1 and the ground rail 2. Therefore, the stacker 5 can operate stably during work and avoid the stacker from tipping over.

[0077] In some embodiments, such as the aforementioned example, the stacker crane is deployed in the aisle of the vertical warehouse, and a ground rail is used to support the horizontal movement of the stacker crane, wherein the guide rail 21 supports and guides the stacker crane 5 .

[0078] As shown in Figure 4, the walking wheel 201 in the stacker base passes through the bottom plate of the stacker 5 and frictionally cooperates with the walking track 22 on the ground. The wheel surface of the walking wheel 201 adopts a high-friction wheel surface (the range of the friction coefficient μ is, for example, 0.3≤μ≤0.45), and can be made of high-elastic wear-resistant rubber to increase the friction coefficient between the wheel surface and the walking track 22, facilitate rapid response of acceleration and deceleration, and can extend the service life, reduce dust generation, and reduce noise. The walking track 22 that cooperates with the walking wheel 201 can be made of aluminum alloy track to ensure that the track has good flatness, which can minimize the wear of the walking wheel 201 during operation and reduce the environmental dust generated during operation.

[0079] Furthermore, the stacker's bottom is equipped with a slide groove that engages with the guide rail 21. The guide rail 21, through its engagement with the slide 214, provides both ground pressure and tension for the entire stacker. Specifically, when the running wheels 201 are insufficient to support the weight of the entire stacker, the guide rail 21 provides tension to prevent the running wheels 201 from further downward adjustment. In other words, when the running wheels 201 only bear part of the stacker's weight, the remaining weight is supported by the guide rail 21, thereby ensuring the overall stability of the stacker.

[0080] In other words, the guide rail 21 is engaged with the stacker base through the slide. When the stacker starts and stops, due to the inertia of the stacker, the slides at the front and rear ends of the bottom of the traveling box along the traveling direction are respectively subjected to a pair of opposite forces provided by the guide rail 21, 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 Y-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 slides engaged with the guide rail 21 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 to the sides of the traveling rail 22 on the plane formed by the X-axis-Z-axis relative to the vertical direction during operation. During normal operation, the running wheels will apply an appropriate amount of downward pressure on the running rail 22 (generating the friction required for normal movement). At this time, the guide rail 21 will share part of the gravity generated by the weight of the stacker itself, thereby reducing the upward support force provided by the running rail 22 relative to the stacker, and provide a limiting force to correct the running direction of the stacker (bottom slide) when the stacker is about to deviate from the preset path during movement.

[0081] As shown in Figures 17 to 19, the running wheel 201 is supported by a support base 203 within the running box 100 (i.e., the base). One end of the support base 203 is rotatably fixed within the running box 100, while the other end of the support base 203 is fixed to the running box 100 via an elastic component 204 vertically disposed above the support base 203, thereby forming a lever structure. The downward pressure exerted by the elastic component 204 enables the running wheel 201 to run on the running track 22, and the elastic component 204 achieves vibration reduction. The vertical direction refers to the direction extending along the height of the running box.

[0082] Specifically, a fixed seat 205 is provided on the side wall of the traveling box 100, and one end of the support seat 203 is rotatably connected to the fixed seat 205 via a connecting shaft 206, so that the traveling wheel 201 can swing around the connecting shaft 206 and the fixed seat 205. As shown in Figure 19, the rotating shaft 2011 of the traveling wheel 201 is configured to be coaxially connected to the output shaft of the drive motor 202. When the output shaft of the drive motor 202 rotates, the rotating shaft 2011 of the traveling wheel 201 rotates synchronously, thereby driving the traveling wheel 201 to roll forward along the traveling track 22. In some embodiments, the connecting shaft 206 is configured to be parallel to the rotating shaft 2011 of the traveling wheel 201. Thus, when the traveling track 22 is uneven, the swinging of the support seat 203 can enable the traveling wheel 201 to move up and down to adapt to changes in the track running surface. In some embodiments, the fixed seat 205 is made of stainless steel and has anti-corrosion and anti-rust functions. During installation, the fixed seat 205 is fixed to the side wall of the traveling box 100 by screws.

[0083] In the embodiment shown in Figure 17, the elastic component 204 is used to generate stable and controllable pressure between the running wheel 201 and the running track 22. It mainly includes an elastic element and an elastic force adjustment mechanism. The elastic element is arranged vertically, and the bottom end of the elastic element is connected to the top surface of the other end of the support base 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 support base 203 can be adjusted, and the pressure of the running wheel 201 on the running track 22 can be adjusted to meet different usage requirements.

[0084] Referring to Figure 17, a limit plate 118 is provided within the travel box 100. The limit plate 118 is disposed 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 relative movement of the fixing member 2041. In some embodiments, the fixing member 2041 uses a standard fine-thread screw, which is simple to process and can withstand high pressure without being easily loosened. The transverse direction refers to the direction extending along the width of the travel box.

[0085] Referring to Figure 18 , the elastic element comprises an elastic element body 2042, a first clip 2043 that engages with the top of the elastic element body 2042, and a second clip 2044 that engages 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 support base 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 and second clips 2043 and 2044 serve as position-limiting supports 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.

[0086] In some embodiments, as shown in FIG18 , 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 travel wheel 201.

[0087] In some embodiments, the support seat 203 is used to provide an installation space for the walking wheel 201, as shown in Figure 19, which 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 walking wheel 201 is fixed in the space enclosed 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 walking wheel 201 is orthogonal to the first and second mounting plate parts 2032 and 2033.

[0088] 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 is connected to one end of the rotating shaft 2011 of the travel wheel 201. The other end of the rotating shaft 2011 of the travel wheel 201 extends through the through-hole of the second mounting plate portion 2033. The support base 203 ensures more stable operation of the travel wheel 201.

[0089] In some embodiments, there are two elastic components 204, and the first connecting portion 2031 is disposed horizontally. 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, so that the first connecting portion 2031, serving as the other end of the support base 203, is connected to the two elastic components 204, so that the pressure applied to the running wheel 201 can be adjusted by the corresponding elastic component 204. It should be understood that in order to ensure stable operation of the running wheel, the pressure applied to the running wheel 201 by the two elastic components 204 should be consistent.

[0090] In some embodiments, as shown in FIG19 , the travel 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 travel wheel 201 can be made of materials such as stainless steel, carbon steel, and aluminum alloy. Stainless steel can enhance the rust and stain resistance, while aluminum alloy can reduce the overall weight of the travel wheel 201.

[0091] In some embodiments, as shown in FIG19 , 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.

[0092] In some embodiments, as shown in Figure 19, a retaining ring 209 is sleeved on 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 interposed between the rotating shaft 2011 of the drive wheel 201 and the hub 2012 of the drive wheel 201. This tensioning sleeve 210 is used to securely lock the hub 2012 of the drive wheel 201 to the rotating shaft 2011, providing high torque transmission output and a self-aligning function.

[0093] In some embodiments, as shown in Figure 19, an oil-free bushing 2110 is provided between the connecting shaft 206 and the fixed seat 205. The bushing 2110 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.

[0094] In some embodiments, as shown in FIG4 , a plurality of slides 214 are mounted on the bottom of the traveling box 100. Each slide 214 slidably engages with a guide track 21 on the ground. Specifically, two rows of slides 214 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 traveling wheels 201. Each slide 214 extends parallel to the traveling direction of the traveling wheels 201, thereby enabling the slides 214 and the traveling wheels 201 to move simultaneously along the traveling direction of the traveling device.

[0095] Referring to Figures 1 to 8, the guide rail 21 includes a first fixed plate 212 and a first rail 213 including a slide 214, wherein the first fixed plate 212 serves as a base plate, provides a guide and fixed foundation, and is fixedly installed at the bottom of the tunnel, the first rail 213 is fixedly installed on the first fixed plate 212, and the slide of the first rail 212 is connected to the base of the stacker 5.

[0096] By using a fixed plate and a guide rail to form the main body of the guide track, the design, processing, manufacturing, installation and debugging of the guide device can be facilitated, and the error and precision control of each component can also be easily implemented. For example, by processing or installing and adjusting the guide rail and / or the fixed plate, a high-precision guide track can be achieved, thereby improving the quality of normal operation of the stacker on the ground rail.

[0097] In some embodiments, by using adjustment pieces, the installation accuracy of the guide rail can be further improved, and the actual installation and debugging of the rail can be facilitated.

[0098] 13 and 14 , the vertical warehouse stacker crane track device further includes a plurality of first adjustment gaskets 3 , wherein the first adjustment gaskets 3 fill the gap between the first fixing plate 212 and the mounting plate (not shown in the figures) in the lane.

[0099] The adjustment gasket can be set to a "mountain" shape or other shapes, so that the gasket can be easily stuffed into the gap during installation to complete installation and debugging.

[0100] The use of adjustment gaskets not only facilitates installation and debugging, but also ensures that the preset distance and alignment between the first fixed plate and the mounting plate in the lane are maintained, thereby ensuring the installation accuracy of the first rail and the first fixed plate and meeting the high-precision requirements of the stacker.

[0101] In some embodiments, when the stacker's traveling mechanism moves to the extreme positions at both ends of the track, it may be affected by the inertia of movement and cause unexpected situations, such as running off the track. Therefore, in order to ensure safe and smooth operation, limit members and shock-absorbing buffer members can be added to the track ends. The stacker's traveling mechanism includes a traveling box, traveling wheels, etc.

[0102] In one example, referring to Figures 1 to 8 , the guide rail 21 further includes a first position-limiting device 211, which includes a first anti-collision block 2111 and a first buffer block 2112, wherein the first anti-collision block 2111 is fixedly mounted on the first fixed plate 212, and the first buffer block 2112 is mounted on the first anti-collision block 2111. When the base of the stacker 5 collides with the first position-limiting device 211, the first buffer block 2112 can buffer the inertia of the collision through elastic deformation. It should be noted that the part where the stacker collides with the first buffer block can be the base of the stacker or other parts, without limitation.

[0103] Therefore, by installing the limit device corresponding to the extreme position at the front end of the travel direction of the stacker drive device, when the walking mechanism works to the left and right extreme positions, mechanical limits are installed at the front and rear ends of the ground rail. When the stacker walking mechanism is out of control in speed, it can complete the buffering by colliding with the mechanical limit, avoiding rushing out of the storage equipment body, thereby achieving the purpose of protecting the stacker and the equipment.

[0104] In addition, when the stacker crane travel mechanism runs to the vicinity of the left limit position, or when the stacker crane travel mechanism is in the left maintenance position, the stacker crane base (or the mechanism on the stacker crane base that is in direct contact with the anti-collision block) first squeezes the buffer block on the limit device, and the buffer block produces elastic deformation. The elastic deformation of the buffer block prevents the travel mechanism from being lifted up by inertia and detaching from the track body during sudden braking, thereby improving the safety of the stacker crane travel mechanism.

[0105] In some embodiments, to meet the high-precision operation requirements of the stacker, corresponding positioning elements may be provided on the track, thereby achieving high-precision positioning of the track, the traveling mechanism, etc. through the positioning elements.

[0106] In some examples, referring to Figures 15 and 8, the guide rail 21 also includes a plurality of first positioning elements 4, wherein the plurality of first positioning elements 4 are arranged on the first fixed plate 212 at preset intervals, and the first positioning elements 4 are used for positioning when the stacker 5 is operating in the horizontal direction, so that the movement displacement can be prevented from exceeding the first preset threshold through the first positioning elements.

[0107] In practice, corresponding positioning elements may be provided at specific positions where the stacker stops, so that when the stacker moves to the specific positions, the stacker can achieve high-precision positioning through the positioning elements.

[0108] In some examples, the guide rail 21 may also include a plurality of second positioning elements, wherein the plurality of second positioning elements may also be arranged on the first fixed plate 212 at preset intervals, and the second positioning elements are used to locate the installation position when the first fixed plate 212 is installed to the bottom of the tunnel, thereby preventing the error in installing the first fixed plate from exceeding a second preset threshold.

[0109] During implementation, the guide rails 21 located on both sides can be installed on one side first, and the positioning function provided by the second positioning element can be used during installation to complete high-precision installation operations; and when installing the guide rail 21 on the other side, the positioning capability of the second positioning element can be used to further ensure the installation accuracy of the guide rail.

[0110] Among them, when the second positioning element is used to improve the installation position accuracy of the guide rail 21, the second positioning element can cooperate with the installation equipment, or it can be the cooperation between the second positioning elements on the guide rails 21 on both sides. For example, when installing the first guide rail, the second positioning element on the rail cooperates with the high-precision external installation equipment, and when installing the second guide rail, the second positioning elements of the two guide rails can cooperate with each other to achieve a very high alignment accuracy between the two guide rails.

[0111] In some examples, the first positioning element can be designed as a positioning pin, serving as a high-precision positioning component to position the stacker when it reaches a specific location, thereby preventing the stacker from inaccurately affecting its operating accuracy. It should be noted that the first positioning element can also be designed as other positioning devices capable of achieving positioning, such as a sensor device, which will not be elaborated on here.

[0112] In some examples, the second positioning element can be designed in the form of a sensing device, such as a light sensing component, as a high-precision positioning component, so that during the installation of the guide rail, high-precision positioning can be used to ensure high-precision installation results. For example, if the rail has large installation errors, the installation accuracy of the rail will be affected, thereby affecting the high-precision operation of the stacker.

[0113] In some examples, the first positioning element and the second positioning element in the above examples may be the same positioning element, that is, the same positioning element can simultaneously provide the independent positioning functions of the first positioning element and the second positioning element.

[0114] In some embodiments, the traveling track can also adopt a multi-layer installation structure similar to the guide track. Specifically, the traveling track is an important track supporting the stacker traveling wheels, and thus can adopt a multi-layer structure.

[0115] In some embodiments, the walking track adopts a two-layer structure. According to the actual production requirements for the track, the walking track is located parallel to the two guide rails and is spaced a specified distance apart from the two guide rails. First, in order to meet the above requirements, a fixed plate with a plate-like structure is connected to the bottom of the tunnel, so that the walking track first has a higher initial installation accuracy, and then a support plate is set on the fixed plate through fasteners as the second layer structure. The support plate provides direct contact support for the walking wheels in the stacker base when they move horizontally.

[0116] In some embodiments, the running track utilizes a three-layer structure. In addition to the aforementioned two-layer structure, a profile layer is added between the bottom fixed plate layer and the top support plate layer to ensure stable horizontal support for the heavy-duty stacker. Due to the significant overall gravity of the stacker and the rigid connection between the running track layers using fasteners, the running track vibrates due to resonance when the running wheels in the stacker base travel on it. The profile layer, due to its unique cross-sectional structure, provides shock absorption, enhancing the stability of the stacker during operation.

[0117] In some embodiments, the walking track adopts a four-layer structure, and the design considerations are made to the specific functionality that each layer can bring. For example, the fixed plate at the bottom layer adopts a plate-like structure as the base plate form of the entire track to provide the entire track with a higher initial precision; a second layer can be set between the first and third layers to facilitate shock absorption during travel; the fourth layer at the top layer can be a layer that is convenient for contact with the traveling wheels, and can provide a good and high-precision contact surface for the traveling wheels to improve the travel accuracy; and the third layer is used to support and facilitate the installation and adjustment of the fourth layer, ensuring that the fourth layer has a higher installation accuracy.

[0118] The design of the travel track is illustrated below with some examples.

[0119] In one example, referring to Figures 1 to 6, and Figures 7A-7E, the walking track 22 includes a second fixed plate 221, a profile 222, a support plate 223 and a contact layer 224, wherein the second fixed plate 221 is fixedly installed at the bottom of the tunnel, the profile 222 is arranged between the second fixed plate 221 and the support plate 223, and the contact layer 224 is arranged on the support plate 223.

[0120] During implementation, the second fixed plate 221 is fixed in the tunnel as a base plate, thereby providing a higher initial installation accuracy for the entire walking track; then, the profile 222 can preferably be an aluminum profile part, and then use the characteristics of aluminum to provide some shock absorption effects, and also use the light weight characteristics of aluminum. The profile 222 uses an aluminum alloy shock absorption mechanism to achieve a lightweight track design; in addition, aluminum is a formed product, which is also very convenient for procurement, processing, installation and use, etc., which facilitates production and processing; the support plate 223 provides good support for the contact layer 224, and further provides support for the contact layer 224 based on the profile 222. The contact layer 224 provides more excellent stability, precision and other characteristics; the contact layer 224 arranged on the topmost layer is used to contact the traveling wheels in the stacker base to support the horizontal movement of the stacker base, and through the structural method of being arranged on the support plate 223, it is possible to select a plate with corresponding contact characteristics according to the traveling needs of the stacker traveling wheel in the stacker application. For example, when the traveling wheel is a polyurethane traveling wheel, the contact layer 224 can use a plate with an upper surface suitable for the smooth operation of the polyurethane traveling wheel, thereby providing a high-precision, dust-free contact traveling track for the traveling wheel.

[0121] In some embodiments, as shown in FIG7C or 7F, the width of the cross section of the profile 222 is W2, and the height is H1, and the cross section of the profile 222 is set as follows: H1 < W2. The height direction of the profile 222 is referred to as the Z-axis direction in FIG7C.

[0122] In some embodiments, in order to enable the profile to achieve lightweight design and shock absorption effect, as shown in Figure 7C or 7F, a first through hole 2222 is provided on the profile 222 along the length direction of the profile. The first through hole 2222 is located in the central area of ​​the cross-sectional area of ​​the profile 222. Preferably, the axis of the first through hole is collinear with the axis of the cross section of the profile. The diameter of the first through hole 2222 is denoted as d1, and the following relationship is set: d1≤0.5*H1; wherein, the length direction of the profile 222 refers to the direction perpendicular to both the X-axis and the Z-axis in Figure 7C.

[0123] In some embodiments, in order to enable the profile to achieve lightweight design and shock absorption effect, as shown in Figure 7C or 7F, on the basis of the first through hole 2222 provided on the profile 222, a plurality of second through holes 2223 are also provided on the profile 222, and the plurality of second through holes 2223 are distributed around the first through hole 2222, and the plurality of second through holes 2223 and the first through holes 2222 are spaced apart along the width direction of the profile. The diameter of the second through hole 2223 is denoted as d2, and the following relationship is set: d2≤0.4*d1.

[0124] In some embodiments, to achieve a lightweight design and shock-absorbing effect for the profile, as shown in FIG7C or 7F , in addition to the first through-hole 2222 and the second through-hole 2223 provided on the profile 222, the profile 222 is further provided with side grooves 2224 on both sides of the cross-section of the profile 222 along the width direction of the profile. The width direction of the profile 222 is referred to as the X-axis direction shown in FIG7C . In practice, the walking track 22 is installed in the middle position of the guide track. Since the guide track guides the walking mechanism, and the walking track supports the walking mechanism during movement, this arrangement ensures that the driving part is evenly stressed during movement, ensuring the stability of the walking mechanism during travel and grasping and placement.

[0125] Some improved designs can be made for the multi-layer structure connection structure in the travel track to improve the installation convenience, precision, reliability and other production performance of the connection structure.

[0126] In one example, referring to Figures 1 to 6, and Figures 7A-7E, a first groove is provided on the upper surface of the second fixing plate 221, a second groove is provided on the lower surface of the support plate 223, and a third groove is provided on the upper surface of the support plate 223. At this time, the profile 222 can be embedded in the first groove and the second groove respectively, and the contact layer 224 is embedded in the third groove.

[0127] Therefore, by designing corresponding installation grooves, not only can the installation be facilitated, but the installation accuracy can also be improved based on the high processing accuracy of the grooves.

[0128] In one example, referring to Figures 1 to 6, and Figures 7A to 7E, a mounting groove 2221 for accommodating a nut 226 may be provided on the profile 222, wherein in the cross section of the mounting groove 2221, the opening width of the mounting groove 2221 is smaller than the width of the bottom of the groove, and one side of the bottom of the groove is set as an inclined surface and the other side is set as a horizontal surface, so that the nut 226 is first embedded into the interior of the mounting groove 2221 from the groove opening toward the horizontal plane. In some embodiments, the nut 226 is preferably a marble nut.

[0129] Therefore, through the mounting groove 2221 provided on the profile 222, when the profile 222 is respectively embedded in the first groove and the second groove in the aforementioned example, the nut 226 in the mounting groove 2221 is connected to the bolt (not shown in the figure) passing through the support plate 223 or the second fixing plate 221, thereby fastening and fixing the profile 222 to the second fixing plate 221 or the support plate 223. Specifically, due to the provision of the mounting groove 2221, the mounting groove 2221 can be utilized to very conveniently insert the nut 226 during installation. The bolt passes through the countersunk holes on the second fixing plate 221 and the support plate 223 and cooperates with the nut 226, thereby achieving a fastened and fixed installation between the second fixing plate 221 and the profile 222, and a fastened and fixed installation between the profile 222 and the support plate 223.

[0130] In some embodiments, referring to FIG7C , the profile 222 is respectively embedded in the first groove and the second groove, and the first groove and the second groove respectively clamp the upper end and the lower end of the profile 222. When the profile 222 is subjected to the force applied by the upper traveling wheel 225, it can ensure that the profile 222 will not slide relative to the second fixed plate 221 or the support plate 223 along the X direction.

[0131] In some preferred embodiments, as shown in FIG7C , when the traveling wheel 225 is located above a certain cross section of the profile 222 , the center line L of the traveling wheel 225 in the Z direction is collinear with the center line L of a certain cross section of the profile 225 in the Z direction, and the walking track 22 is in an optimal support state relative to the traveling wheel 225 .

[0132] In one example, as shown in FIG7C , the design of each mounting groove is further optimized. Specifically, in the aforementioned example, the width of the third groove is greater than the width of the second groove. This not only maintains the support structure characteristics of the support plate 223, but also, after the profile 222 is inserted into the second groove, utilizes the shock-absorbing effect of the profile 222 to further improve the stability of the support plate 223.

[0133] During implementation, the width of the third groove on the support plate 223 can be set to be slightly larger than the width of the contact layer 224, so as to facilitate the contact layer 224 to be placed in the third groove of the support plate 223. Moreover, after the contact layer 224 is placed in the third groove, a certain gap can be left in the length direction, so that the gap can be conveniently used to make fine adjustments to the contact layer 224 during installation, which is conducive to improving the installation accuracy.

[0134] Further, referring to Figures 1-6 and Figure 7A, the support plate 223 can be provided with notches 2231 at intervals on both sides in the length direction of the third groove, so that the contact layer 224 can be taken in and placed through the notches 2231, which is also conducive to fine-tuning the position of the contact layer 224 during installation.

[0135] In one example, for longer tracks, each layer of the structure can be designed as a spliced ​​structure, in which the joints of two adjacent layers are staggered to avoid excessive deformation of the joints after being subjected to stress, which may affect the accuracy of the entire track.

[0136] 5 and 7A-7E , each layer structure including the second fixed plate 221, the profile 222, the support plate 223 and the contact layer 224 can be assembled from multiple sections, that is, the second fixed plate 221 can be assembled into a longer fixed plate structure by connecting multiple sections end to end, and the other layers also use the end-to-end splicing structure.

[0137] Furthermore, because the travel track 22 is an important track supporting the stacker's travel wheels, the joints of the various layers of the structure can be staggered. For example, the joints of the second fixed plate 221 and the profile 222 are staggered, the joints of the profile 222 and the support plate 223 are staggered, and the joints of the support plate 223 and the contact layer 224 are staggered. The following staggering arrangement can even be used: the joints of the second fixed plate 221 are staggered with the joints of the profile 222, the joints of the support plate 223, and the joints of the contact layer 224, etc., and the other layers can be staggered with the second fixed plate 221. The types of staggering are not listed one by one.

[0138] By adopting a splicing structure for the fixed structure of each layer, it is not only convenient for installation, but also conducive to subsequent maintenance. It can also make micro-adjustments to the installation of each layer in the width direction, length direction, etc., to improve the installation accuracy.

[0139] In one example, in a traditional solution as shown in FIG7D , the joint is usually a right-angled surface joint perpendicular to the direction of travel. Although this is beneficial to the processing of the plate, in the stacker application, the traveling wheel 225 is likely to produce a large stress impact on the joint of the right-angled surface, and in long-term operation, the gap at the right-angled surface joint may become larger and larger, so that when the traveling wheel 225 passes through the gap, a small amount of debris, noise, etc. may be generated, which may have some impact on the long-term operation of the stacker on the ground rail.

[0140] Therefore, considering that the contact layer 224 needs to be in direct contact with the traveling wheel 225, a special improved design is made for the splicing portion of the contact layer 224, that is, a beveled surface is used for splicing.

[0141] Referring to Figure 7E , compared with the right-angle surface splicing method of Figure 7D , the oblique joint 2241 obtained by the oblique section splicing has only a part of the contact area at the oblique joint 2241 that is subjected to the force applied by the traveling wheel 225. Therefore, it is possible to better maintain the tight splicing characteristics of the cross section, which is more conducive to the movement of the traveling wheel 225, is not prone to generating debris, noise, etc., is also very conducive to long-term operation, ensures the long-term track accuracy, and improves the safety and reliability of long-term operation.

[0142] In a preferred embodiment, the joint of the contact layer 224 is a bevel joint structure, and the angle between the bevel and the traveling direction is an acute angle, and the value of the acute angle is preferably in the range of 10°-80°.

[0143] Furthermore, the angle value of the acute angle can be preferably 45°, which is very beneficial for production and processing, and is also very beneficial for flexible installation during installation, and is also convenient for replacement during maintenance.

[0144] In some embodiments, the angle value of the acute angle can be preferably 25°-35°, such as 25°, 30°, 35°; or preferably 40°-50°, such as 40°, 42°, 44°, 45°, 46°, 47°, 48°, 50°; or preferably 55°-65°, such as 55°, 58°, 60°, 62°, 65°; it is very beneficial for production and processing, and is also very beneficial for flexible installation during installation, and is also convenient for replacement during maintenance.

[0145] In some embodiments, adjustment shims may also be used to improve the accuracy of the traveling track, further ensuring that the error between the traveling track and the guide track can reach a precision level of 0.1 mm, thereby meeting the high-precision movement requirements of the stacker.

[0146] Specifically, the vertical warehouse stacker crane track device also includes a plurality of second adjustment gaskets, wherein the second adjustment gaskets fill the gap between the running track and the mounting plate in the lane, so as to maintain a preset distance and alignment between the running track and the mounting portion.

[0147] During implementation, the second adjustment gasket can refer to the example content related to the first adjustment gasket in the aforementioned example, and will not be further explained.

[0148] It should be noted that the function of the adjustment pad is to adjust the flatness of the entire track (such as the aforementioned guide track, walking track, etc.). In addition, in the running wheel mechanism of the stacker, when the running wheel itself has a certain elasticity, there is no need to add an adjustment pad in the walking track.

[0149] In some embodiments, since the stacker requires a high-precision track, the walking track and the guide track in the ground rail can both be in the form of a high-precision dust-free linear guide rail, and the track can be a long track composed of multiple tracks spliced ​​end to end.

[0150] Specifically, the track adopts a segmented structure, and the two units are connected by bolts using positioning parts. This not only facilitates installation, commissioning and maintenance, but also improves the accuracy of each section of the track when the floor rail is fixed inside the equipment. Therefore, during the operation of the stacker, the relative vibration between the floor rail and the equipment can be reduced to avoid noise.

[0151] In some examples, the surface of the travel track can be suitable for the smooth operation of the polyurethane travel wheel, thereby further improving the accuracy of the travel drive, and each track can be fixed with a pressure block bolt.

[0152] Referring to FIG16 , the first rail 213 of the guide rail is secured using a first fastener 26, the first fixing plate 212 of the guide rail is secured using a second fastener 28, the second fixing plate 221 of the travel rail is secured using a third fastener 29, and the contact layer 224 is secured using a fourth fastener 27. It should be noted that the various fasteners used for fastening can be screws or bolts of corresponding specifications as needed, without specific limitation. For example, 12.9-grade high-strength bolts or other fixing devices can be used to secure the first fixing plate 212 to the reference surface.

[0153] In one example, according to the stacker's requirements for rail accuracy, a corresponding fine-adjustment structure can be set for each ground rail, so that during installation, high-precision fine-adjustment of the installation can be achieved through the fine-adjustment structure based on the actual installation accuracy and the high-precision design target value used.

[0154] During implementation, the guide rails 21 in the ground rail are used in pairs. The linear guide rail (see the first rail 213 shown in Figure 7A) is placed on the reference plane and fixed to the reference plane using 12.9-grade high-strength bolts or other fixing devices. During the installation process, the position and direction of the guide rail are ensured to be correct, and deviation or distortion is avoided, thereby ensuring high-precision characteristics.

[0155] In addition, the accuracy of other tracks in the ground rail can be based on the positioning and precision adjustment of the guide rail installation with reference to a guide rail that has been installed as a reference part. Specifically, the installation and precision adjustment of another guide rail can be based on a guide rail that has been installed with high precision, so that the guide rail is installed with very high precision, which can ensure that the driving mechanism of the guide rail (such as a slide) can slide smoothly. In addition, the installation and adjustment of the traveling track can also be based on one or two guide rails that have been installed with high precision. Therefore, in the installation of the ground rail, the high-precision installation of one guide rail can be completed first, and then the high-precision installation of the second guide rail can be completed, and finally the traveling track can be installed with high precision between the two guide rails that have been installed.

[0156] In some examples, to meet high-precision installation requirements, a plurality of first waist-shaped countersunk holes (see the countersunk holes at the second fastener 28 shown in FIG16 ) can be provided on the first fixing plate 212, so that the first waist-shaped countersunk holes can be used to fix the first fixing plate 212 to the bottom of the tunnel, and the waist-shaped holes can be used to adjust the position of the first fixing plate during installation. It should be noted that not only can the waist-shaped holes be used to improve the installation accuracy of the guide rail used as the accuracy reference, but also when another guide rail is referenced to the already installed reference guide rail, the corresponding waist-shaped holes can be used to make micro-adjustments to the relative position of the reference rail during installation, thereby ensuring that the later installed rail has very high precision characteristics with the already installed rail.

[0157] Similarly, the first rail 213 may also be provided with a plurality of second waist-shaped countersunk holes (see the countersunk holes at the first fastener 26 shown in FIG16 ), so that the second waist-shaped countersunk holes can be used to fix the first rail 213 on the first fixing plate 212 by fastening screws (i.e., the first fastener 26), and the waist-shaped holes can be used to perform high-precision installation and fine-tuning of the relative position between the first rail 213 and the first fixing plate 212 during installation.

[0158] Similarly, the contact layer 224 may also be provided with a plurality of third waist-shaped countersunk holes (see the countersunk holes at the fourth fastener 27 shown in FIG16 ), so that the contact layer 224 can be screwed to the support plate 223 via the third waist-shaped holes, and the waist-shaped holes can be used to adjust the relative position of the contact layer 224 on the horizontal plane with the support plate 223 during screwing. After fine-tuning, the contact layer 224 and the support plate 223 have a higher alignment accuracy, thereby ensuring a very high precision between the travel track and the guide track under this high precision, and better providing high-precision and stable ground rail performance for the stacker crane to operate on the track for a long time.

[0159] Similarly, the second fixing plate 221 is provided with a plurality of fourth waist-shaped countersunk holes (see the countersunk holes at the third fastener 29 shown in Figure 16), so that the second fixing plate 221 can be fixed to the bottom of the tunnel by screws through the fourth waist-shaped holes. At the same time, the waist-shaped holes can be used to adjust the relative position between the second fixing plate 221 and the guide rail 21 on the horizontal plane during screw fixation, ensuring that the traveling rail and the guide rail have very high precision characteristics, and better providing high-precision and stable ground rail performance for the stacker to operate on the rail for a long time.

[0160] It should be noted that the waist-shaped countersunk holes used for installing the aforementioned layers can be distributed near the edges on both sides of each layer, which can not only reasonably utilize the positions near the edges of each layer to complete the countersunk hole design, but also make the width of each layer as reasonable as possible.

[0161] For example, the third waist-shaped countersunk holes (see the countersunk holes at the fourth fastener 27 shown in Figure 16) are distributed at the edge positions on both sides of the contact layer 224, so that the contact layer 224 can be fastened and fixedly connected to the support plate 223 through multiple third waist-shaped countersunk holes. In addition, in the fixed connection between the contact layer 224 and the support plate 223, the third waist-shaped countersunk holes can also be used to complete fine-tuning to achieve high-precision fixed connection.

[0162] Similarly, the fourth waist-shaped countersunk holes (see the countersunk holes at the third fastener 29 shown in Figure 16) are arranged at the edge positions on both sides of the second fixed plate 221, so that the second fixed plate 221 can be fastened in the tunnel through multiple fourth waist-shaped countersunk holes. Moreover, when the second fixed plate 221 is fixedly installed in the tunnel, the fourth waist-shaped countersunk holes can also be used to complete fine-tuning to achieve high-precision fixed installation.

[0163] In one example, the width parameters of each layer of structure in the traveling track are optimized and improved so that each layer of structure, while having good structural characteristics, can also provide better performance for the traveling track, facilitate the processing and installation of the structure, improve the accuracy of the traveling track, etc., and provide good protection for the long-term operation of the track.

[0164] 7A to 7E , and in combination with the countersunk hole design diagram of FIG16 , when the third waist-shaped countersunk hole is arranged at the edge positions on both sides of the contact layer 224 , the width of the contact layer 224 is not less than the sum of the axial width of the walking wheel 225 and the width of the third waist-shaped countersunk hole.

[0165] For example, the width of the contact layer 224 is recorded as W4, the width of the walking wheel 225 is recorded as W5, and the width of the third waist-shaped countersunk hole (usually also the size of the screw head used in the countersunk hole) is recorded as Wx1, then the following relationship can be set: W4≥W5+Wx1.

[0166] Furthermore, considering the contact influence between the traveling wheel 225 and the contact layer 224 , the width of the contact layer 224 may be slightly wider than the above relationship, such as W4 ≥ W5 + 2×Wx1, so that the traveling wheel 225 is not likely to contact the edge of the countersunk hole.

[0167] 7A to 7E , and in combination with the countersunk hole design diagram of FIG16 , the width of the support layer 223 is slightly larger than the width of the contact layer 224 , so as to reserve a corresponding structural width for the reserved structure, such as the edge structure of the third groove reserved in the aforementioned example and / or the fine-tuning adjustment gap structure and other reserved structures. In this case, the width of the support layer 223 may be no less than (i.e., greater than or equal to) or even slightly larger than the sum of the width of the contact layer 224 and the width of the reserved structure in actual design.

[0168] For example, the width of the support plate 223 is recorded as W3, and the width of the reserved structure on each side is recorded as Wx2, then the following relationship can be set: W3≥W4+2×Wx2.

[0169] Referring to Figures 7A to 7E, and combined with the countersunk hole design diagram of Figure 16, when the fourth waist-shaped countersunk hole is arranged on both sides of the second fixed plate 221 and is located at the edge positions on both sides of the second fixed plate, the width of the second fixed plate 221 is not less than the sum of the width of the support plate 223 and the width of the fourth waist-shaped countersunk hole, so as to facilitate the installation, debugging and adjustment of each layer structure of the traveling track.

[0170] For example, the width of the second fixing plate 221 is recorded as W1, and the width of the fourth waist-shaped countersunk hole (usually also the size of the screw head used in the countersunk hole) is recorded as Wx3, then the following relationship can be set: W1≥W3+2×Wx3.

[0171] 7A to 7E , and in combination with the countersunk hole design diagram of FIG16 , the width of the profile 222 is greater than the axial width of the traveling wheel 225 , thereby utilizing the profile 222 to better provide a shock-absorbing effect, which is beneficial to reducing the noise generated between the traveling wheel 225 and the contact layer 224 , and improving the stability of travel, thereby ensuring the high-precision characteristics of travel.

[0172] For example, the width of the profile 222 is recorded as W2, and the following relationship can be set: W2 ≥ W5.

[0173] Furthermore, considering the shock-absorbing effect of the stress generated after the traveling wheel 225 contacts the contact layer 224, the width of the profile 222 can be slightly wider than the above relationship, such as W2>W5+Wx1, so that the stress influence of the traveling wheel 225 on the track during movement can be further reduced through the shock-absorbing effect of the profile 222, which can improve the long-term operation stability, high precision and other characteristics of the track, and enhance the long-term operation safety and reliability of the track.

[0174] In some embodiments, the overhead rail is combined with the ground rail to guide the stacker with high precision, so the overhead rail also adopts a high-precision dust-free track.

[0175] In some examples, referring to Figures 1 to 12, the overhead rail 1 includes a single track 12 formed by splicing multiple guide rails end to end, and the guide wheel assembly 51 of the stacker is distributed on both sides of the single track 12. The guide wheels of the guide wheel assembly 51 are movably connected to the side of the single track 12. Therefore, under the mutual restriction of the single track 12 and the guide wheel assembly 51, the stacker 5 is effectively prevented from tilting to one side.

[0176] In practice, the ceiling rail can be formed by splicing parallel square tubes of the same size to form a long single track. Adjacent square tubes are fastened together by common fixing parts 13, and the square tubes are hoisted by hanging parts 14. For example, the hanging parts 14 are horizontally installed on the top of the storage equipment through a hanging beam and fixed with nuts, so that the ceiling rail is fixed to the top of the storage equipment.

[0177] In some embodiments, mechanical hard limits are designed at both ends of the square tube track to prevent the stacker from rushing out of the square tube track in the event of a loss of control.

[0178] Referring to Figures 1 to 12, a second limiting device 11 is provided at both ends of the single track of the overhead rail, wherein the second limiting device 11 includes a second anti-collision block 111 and a second buffer block 112, wherein the second anti-collision block 111 is fixedly mounted on the single track, and the second buffer block 112 is mounted on the second anti-collision block 111, and the second buffer block 112 buffers the inertia of the collision through elastic deformation when the stacker collides with the second limiting device.

[0179] It should be noted that the part where the stacker collides with the second buffer block may be the guide wheel assembly (such as the guide wheel) on the stacker, or other parts, without limitation.

[0180] In some embodiments, a barcode device can be set between the stacker and the ground rail. For example, a barcode reader is installed on the walking mechanism side of the stacker, and a barcode is installed on the ground rail (or the outside of the ground rail). During the operation of the stacker, the barcode is scanned by the barcode reader to provide real-time feedback on the current travel position of the stacker, thereby achieving high-precision walking displacement positioning and control.

[0181] By using a barcode device and scanning barcodes for identification and positioning, it has the advantages of being reliable and efficient, ensuring the accuracy of the stacker in the horizontal walking direction.

[0182] In some embodiments, a stacker system includes the above-mentioned track device and stacker, and the stacker includes a walking box 100 (i.e., a base), a support seat 203, and a walking wheel 201 arranged on the support seat 203. One end of the support seat 203 is rotatably hinged to the walking box 100, and the other end of the support seat 203 is connected to the walking box 100 through an elastic component 204, and the elastic component 204 produces elastic deformation at least in the vertical direction. The elastic component can be vertically installed on the horizontal plane of the other end of the support seat 203, or it can be installed on the horizontal plane of the other end of the support seat 203 with a certain inclination angle relative to the vertical direction; at least part of the support seat 203 is located in the walking box 100, the support seat 203 can be completely located inside the walking box 100, or it can partially protrude from the through space and the upper surface of the walking box 100, the walking wheel 201 passes through the through space and is located on the elastic layer of the walking track 22, and the ups and downs of the walking wheel 201 in the vertical direction during operation are located in the through space.

[0183] The walking track includes a second fixed plate fixedly mounted at the bottom of the alley, and at least one layer located on the second fixed plate, wherein the layer with elastic characteristics and the elastic component in the at least one layer simultaneously or independently absorb or suppress the vibration transmitted by the walking wheel. For example, the layer of the walking track 22 in contact with the walking wheel 201 is an elastic layer. If the walking track 22 is set to two or three layers, the upper support plate 223 can be set to have certain elastic characteristics. If the walking track 22 is set to four layers, the upper contact layer 224 can be set to have certain elastic characteristics, as shown in Figures 7A to 7E and Figure 16. Among them, the elastic characteristics refer to that when the stacker is running on the walking track, at least one layer of structure on the walking track can be elastically deformed, that is, it has the characteristic of being compressible in the vertical direction.

[0184] If the track 22 is deformed due to prolonged use, assembly, or other abnormalities, i.e., if it is abnormally convex or concave in the vertical direction, the elastic component 204 and the elastic layer of the track 22 can simultaneously or independently absorb or suppress the vibration transmitted by the wheel 201. For example, when the wheel 201 is running on a certain section of the track 22 where the abnormal convex deformation occurs, the wheel 201 is lifted up by the convex section (the wheel 201 fluctuates in the through-space), and the elastic component 204 is compressed in the vertical direction. At the same time, the elastic layer is compressed downward relative to the normal state. The compression deformation of the elastic component 204 and the elastic layer jointly offsets or absorbs the change in the fluctuation of the wheel 201 relative to the normal state (the abnormal movement), thereby alleviating or eliminating the vibration generated or transmitted by the wheel 201 running on the deformed track 22. When the elastic layer of the track 22 loses its deformation capacity due to prolonged use, the elastic component 204 can independently absorb the vibration transmitted by the wheel 201 through compression deformation. When the running wheel 201 travels along a section of the track 22 where the running wheel 201 is abnormally deformed and concave, during the process of settling in the concave section, the elastic assembly 204 breaks free from the preload applied to the elastic element body 2042 of the elastic assembly 204 when the running wheel 201 was against the normal track section, and stretches and deforms, causing the running wheel to press against the track 22 and continue frictionally running on the track 22. When the elastic assembly 204 and the elastic layer absorb the displacement of the running wheel 201 simultaneously or independently, they can suppress the vibration transmitted by the running wheel 201.

[0185] In addition, when the multi-layered walking track 22 includes a support plate 223, the support plate 223 can be configured to have certain elastic characteristics, and absorb or suppress the vibration transmitted by the walking wheel simultaneously or independently with the elastic component. When the multi-layered walking track 22 includes a profile 222, and the profile 222 having multiple through holes on its cross section is embedded in the first groove and the second groove, when the walking wheel 201 runs along the walking track 22, the elastic component 204 and the profile 222 simultaneously or independently absorb or suppress the vibration transmitted by the walking wheel 201. When the multi-layered walking track 22 includes a profile 222 and a contact layer (the contact layer is an elastic layer with elastic deformation), and the profile 222 having multiple through holes on its cross section is embedded in the first groove and the second groove, when the walking wheel 201 runs along the walking track 22, the elastic component 204, the elastic layer and the profile 222 simultaneously or independently absorb or suppress the vibration transmitted by the walking wheel 201. However, the structure of the walking track is not limited to the example given here. When the walking track 22 with a multi-layer structure includes a profile 222 and a support plate 223, the profile 222 has elastic characteristics, and the support plate 223 can be set to have certain elastic characteristics or to have no elastic characteristics.

[0186] In some embodiments, as shown in Figures 17 and 18 , through holes are provided at the top and bottom of the traveling box 100 to form a through space, which is configured to allow the traveling wheels 201 to rise and fall in the vertical direction relative to the traveling box 100. The Y-axis direction is the length direction of the traveling track 22.

[0187] In some embodiments, as shown in Figures 1 and 20, the stacker crane further includes at least two sets of columns fixed to the top of the traveling box 100. The at least two sets of columns 301 and 302 extend along the Y-axis and enclose a lifting channel 303. Each set of columns includes at least two columns, with the at least two columns distributed at either end of the top of the traveling box 100 along the X-axis. A first track 213 is provided with at least two slides 214 that slidably engage with the first track 213. The at least two slides 214 are connected to either end of the bottom of the traveling box 100 along the Y-axis. The projections of the columns and the slides 214 along the Z-axis at least partially overlap. When the lifting box 400 travels in the lifting channel enclosed by the columns, the columns superimpose the downward force of the lifting box 400 and apply it to the lifting box 400 through the columns and fixed positions on the top of the lifting box 400. When the projections of the columns and slides along the Z-axis at corresponding positions at least partially overlap, deformation of the corresponding force-applying points of the columns on the traveling box 100 can be mitigated. The Y-axis direction is the length direction of the walking track, the X-axis direction is perpendicular to the Y-axis direction along the horizontal plane, and the Z-axis direction is perpendicular to the Y-axis direction along the vertical plane.

[0188] In some embodiments, as shown in Figures 17 to 20, the traveling box 100 includes a first box area 101 and a second box area 102 arranged along the Y-axis direction; the stacker also includes a lifting box 400 that moves along the lifting channel 303. Through holes are provided at the top and bottom of the first box area to form a through space; in the second box area, the traveling box has two partitions spaced apart along the X-axis direction, forming a first installation space between the two partitions, and correspondingly forming a second installation space and a third installation space concave toward the first installation space on the outside of the two partitions; a driving wheel 502 is respectively provided in the second installation space and the third installation space; and a power mechanism 501 for driving the driving wheel 502 to rotate is provided in the first installation space.

[0189] In this specification, the same or similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the embodiments described later, the description is relatively simple, and the relevant parts can be referred to the partial description of the previous embodiments.

[0190] In the description of the embodiments of this application, the technical terms "first" and "second" are used only to distinguish different objects and should not be understood as indicating or implying relative importance or implicitly indicating the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, the meaning of "plurality" is two or more (including two), unless otherwise clearly and specifically defined.

[0191] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0192] In the description of the embodiments of this application, the term "and / or" is merely a description of the association relationship between associated objects, indicating that three relationships may exist. For example, A and / or B can represent the following three situations: A exists, A and B exist at the same time, and B exists. In addition, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0193] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0194] In the description of the embodiments of the present application, unless otherwise expressly specified or limited, technical terms such as "installed," "connected," "connected," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; internal connections between two components or interactions between two components. Those skilled in the art can understand the specific meanings of the above terms in the embodiments of the present application based on specific circumstances.

[0195] In the drawings corresponding to the embodiments of the present application, the thickness and area of ​​the layers are exaggerated for better understanding and ease of description. When describing a component (such as a layer, area or plate) on another component or on the surface of another component, the component can be "directly" located on the surface of the other component, or a third component can be present between the two components. On the contrary, when describing a component on the surface of another component or when another component is formed or provided on the surface of a component, it means that there is no third component between the two components. In addition, when describing a component as being "substantially" formed on another component, it means that the component is not formed on the entire surface (or front surface) of the other component, nor is it formed on a partial edge of the entire surface.

[0196] In the description of the embodiments of the present application, when a component "includes" another component, unless otherwise specified, other components are not excluded, and other components may be further included. In addition, when a component such as a layer, region, or plate is referred to as being "on / located on" another component, it can be "directly on" the other component (i.e., located on the surface of the other component with no other components between them), or another component may be present therebetween. In addition, when a component such as a layer, region, or plate is "directly located on" another component, or when a component such as a layer, region, or plate is located on the surface of another component, it means that no other components are located therebetween.

[0197] The terms used herein in the description of the various embodiments are intended only to describe the specific embodiments and are not intended to be limiting. As used in the description of the various embodiments and the appended claims, "portions" are intended to include the plural form unless the context clearly indicates otherwise. A component includes a layer, region, or panel, among other components.

[0198] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A track device for a vertical warehouse stacker, comprising: A ceiling rail hoisted on the upper part of the lane in the vertical warehouse, wherein the ceiling rail is movably connected to the top of the stacker and is used to guide the horizontal movement of the stacker in the air; A ground rail is arranged parallel to the overhead rail and installed at the bottom of the lane in the vertical warehouse, wherein the ground rail includes two guide rails and a walking rail, the walking rail is arranged in parallel between the two guide rails, the two guide rails are used to guide the horizontal movement of the stacker on the ground, and the walking rail is used to support the horizontal movement of the stacker.

2. The track arrangement according to claim 1, wherein: Each of the two guide rails includes a first fixed plate and a first rail including a slide seat, wherein the first fixed plate is fixedly installed at the bottom of the lane, the first rail is fixedly installed on the first fixed plate, and the slide seat of the first rail is connected to the stacker.

3. The track device according to claim 2, wherein: The guide rail also includes a first limiting device, which includes a first anti-collision block and a first buffer block, wherein the first anti-collision block is fixedly mounted on the first fixed plate, and the first buffer block is mounted on the first anti-collision block, and the first buffer block is used to buffer the inertia of the collision through elastic deformation when the stacker collides with the first limiting device.

4. The track device according to claim 2, wherein: The first fixing plate is provided with a plurality of first waist-shaped countersunk holes, wherein the first waist-shaped countersunk holes are used to fix the first fixing plate to the bottom of the tunnel and to adjust the position of the first fixing plate during installation; And / or, the first rail is provided with a plurality of second waist-shaped countersunk holes, wherein the second waist-shaped countersunk holes are used to fix the first rail to the first fixing plate by fastening screws, and to adjust the relative position between the first rail and the first fixing plate during installation.

5. The track device according to claim 1, wherein: The travel track includes a second fixed plate and a support plate installed on the second fixed plate, the second fixed plate is fixedly installed at the bottom of the lane, and the support plate supports the horizontal movement of the stacker.

6. The track arrangement according to claim 5, wherein: The walking track further includes a profile disposed between the second fixing plate and the supporting plate, wherein the hardness of the profile is less than the hardness of the second fixing plate and / or the supporting plate.

7. The track arrangement according to claim 6, wherein: The travel track further comprises a contact layer arranged on the support plate, wherein the contact layer contacts the travel wheels of the stacker to support the horizontal movement of the stacker.

8. The track arrangement according to claim 7, wherein: The upper surface of the second fixing plate is provided with a first groove, the lower surface of the support plate is provided with a second groove, and the upper surface of the support plate is provided with a third groove, wherein the profile is respectively embedded in the first groove and the second groove, and the contact layer is embedded in the third groove.

9. The track arrangement according to claim 8, wherein: The profile is provided with a mounting groove for accommodating a nut which penetrates along the length direction of the profile, wherein in the cross section of the mounting groove, the opening width of the mounting groove is smaller than the width of the bottom of the groove, and after the profile is respectively embedded in the first groove and the second groove, the nut in the mounting groove is connected with the bolt passing through the support plate or the second fixing plate, so that the profile is respectively fastened to the second fixing plate or the support plate; The profile is also provided with a first through hole that penetrates along the length direction of the profile. The first through hole is located at the cross section of the profile. The central area of ​​the face; The profile is also provided with a plurality of second through holes which penetrate the profile along the length direction and have a diameter smaller than the diameter of the first through hole, wherein the plurality of second through holes are distributed around the first through hole, and the plurality of second through holes and the first through hole are distributed at intervals along the width direction of the profile.

10. The track arrangement according to claim 8, wherein: The width of the third groove is greater than that of the second groove, and the width of the third groove is slightly greater than that of the contact layer, and the support plate is provided with notches at intervals on both sides of the third groove so that the contact layer can be taken in and placed through the notches and the position of the contact layer can be adjusted.

11. The track arrangement according to claim 7, wherein: The second fixing plate, the profile, the support plate and the contact layer are each a structure formed by splicing and assembling multiple sections, wherein the splicing parts of the second fixing plate, the profile, the support plate and the contact layer are staggered in positions; The joint of the contact layer is a beveled surface joint structure, and the angle between the beveled surface and the traveling direction is an acute angle, and the acute angle is an angle of 10°-80°; And / or, the contact layer is a plate material having low surface roughness and a surface suitable for the polyurethane running wheel.

12. The track arrangement according to claim 7, wherein: The contact layer is provided with a plurality of third waist-shaped countersunk holes, wherein the contact layer is fixed to the support plate with screws through the third waist-shaped holes, and the third waist-shaped countersunk holes are also used to adjust the relative position between the contact layer and the support plate on a horizontal plane during screw fixing; And / or, the second fixing plate is provided with a plurality of fourth waist-shaped countersunk holes, wherein the second fixing plate is fixed to the bottom of the tunnel by screws of the fourth waist-shaped holes, and the fourth waist-shaped countersunk holes are also used to adjust the relative position between the second fixing plate and the guide rail on the horizontal plane during screw fixing.

13. The track arrangement according to claim 12, wherein: The third waist-shaped countersunk hole is arranged at the edge positions of both sides of the contact layer, and the fourth waist-shaped countersunk hole is arranged at the edge positions of both sides of the second fixing plate; Among them, the width of the contact layer is not less than the sum of the axial width of the running wheel and the width of the third waist-shaped countersunk hole; the width of the support layer is not less than the sum of the width of the contact layer and the width of the reserved structure; the width of the profile is not less than the axial width of the running wheel; the width of the second fixed plate is not less than the sum of the width of the support plate and the width of the fourth waist-shaped countersunk hole.

14. The track arrangement according to claim 1, wherein: The overhead rail comprises a single rail formed by splicing a plurality of guide rails end to end, the guide wheel assemblies of the stacker are distributed on both sides of the single rail, and the guide wheels of the guide wheel assemblies are movably connected to the sides of the single rail to prevent the stacker from tilting to one side; A second limiting device is provided at both ends of the monorail, wherein the second limiting device includes a second anti-collision block and a second buffer block, wherein the second anti-collision block is fixedly mounted on the monorail, and the second buffer block is mounted on the second anti-collision block, and when the stacker collides with the second limiting device, the second buffer block buffers the inertia of the collision through elastic deformation.

15. A stacker system, comprising: The track device as claimed in claim 1, and the stacker; The stacker comprises a traveling box, a support seat, and traveling wheels arranged on the support seat, wherein one end of the support seat is rotatably hinged on the traveling box, the other end of the support seat is connected to the traveling box through an elastic component, and the elastic component generates elastic deformation at least in the vertical direction, and at least a part of the support seat is located in the traveling box; Each of the two guide rails includes a first fixed plate and a first rail including a slide seat, wherein the first fixed plate is fixedly mounted on the bottom of the lane, the first rail is fixedly mounted on the first fixed plate, and the first The slide seat of the track is connected to the bottom of the travel box; The walking track includes a second fixed plate fixedly installed at the bottom of the tunnel, and at least one layer located on the second fixed plate, wherein the layer with elastic characteristics and the elastic component in the at least one layer simultaneously or independently absorb or suppress the vibration transmitted by the walking wheel.

16. The stacker system according to claim 15, wherein: Through holes are provided at the top and the bottom of the traveling box to form a through space, and the through space is configured to allow the traveling wheels to rise and fall in the vertical direction relative to the traveling box.

17. The stacker system according to claim 15, wherein: The stacker also includes at least two groups of columns, which are fixed on the top of the traveling box, and the at least two groups of columns surround a lifting channel, each group of columns includes at least two columns, and the at least two columns are distributed at both ends of the top of the traveling box in the X-axis direction; The first track is provided with at least two slides which are slidably matched with the first track; the at least two slides are connected to the two ends of the bottom of the travel box along the Y-axis direction; The projections of the columns and the slide seat corresponding to each other in the Z-axis direction at least partially overlap; The Y-axis direction is the length direction of the walking track, the X-axis direction is orthogonal to the Y-axis direction along a horizontal plane, and the Z-axis direction is orthogonal to the Y-axis direction along a vertical plane.

18. The stacker system according to claim 17, wherein: The walking box includes a first box area and a second box area arranged along the Y-axis direction; The stacker also includes a lifting box that moves along the lifting channel; The first box area is provided with a through space; In the second box area, the traveling box has two partitions spaced apart along the X-axis direction, a first installation space is formed between the two partitions, and a second installation space and a third installation space are correspondingly formed on the outer sides of the two partitions and are concave toward the first installation space; The stacker further comprises two driving wheels, which are respectively arranged in the second installation space and the third installation space; The stacker also includes a power mechanism, which is arranged in the first installation space and is used to drive the two driving wheels to rotate.

19. The stacker system according to claim 17, wherein: The guide rail also includes a first limiting device, which includes a first anti-collision block and a first buffer block, wherein the first anti-collision block is fixedly mounted on the first fixed plate, and the first buffer block is mounted on the first anti-collision block, and the first buffer block is used to buffer the inertia of the collision through elastic deformation when the stacker collides with the first limiting device.

20. The stacker system according to claim 17, wherein: The first fixing plate is provided with a plurality of first waist-shaped countersunk holes, wherein the first waist-shaped countersunk holes are used to fix the first fixing plate to the bottom of the tunnel and to adjust the position of the first fixing plate during installation; And / or, the first rail is provided with a plurality of second waist-shaped countersunk holes, wherein the second waist-shaped countersunk holes are used to fix the first rail to the first fixing plate by fastening screws, and to adjust the relative position between the first rail and the first fixing plate during installation.

21. The stacker system according to claim 15, wherein: The at least one layer includes a first support plate mounted on the second fixing plate, the first support plate supports the horizontal movement of the stacker and has elastic characteristics.

22. The stacker system according to claim 15, wherein: The at least one layer comprises a second support plate mounted on the second fixing plate and a profile disposed between the second fixing plate and the second support plate, wherein the hardness of the profile is less than the hardness of the second fixing plate and / or the second support plate; The profile has elastic characteristics.

23. The stacker system according to claim 22, wherein: The at least one layer further comprises a contact layer arranged on the second support plate, the contact layer contacts with the travel wheels of the stacker to support the horizontal movement of the stacker; and the contact layer has elastic characteristics.

24. The stacker system according to claim 22 or 23, wherein: The profile is also provided with a first through hole penetrating along the length direction of the profile, and the first through hole is located in the central area of ​​the cross section of the profile; The profile is also provided with a plurality of second through holes which penetrate the profile along the length direction and have a diameter smaller than the diameter of the first through hole, wherein the plurality of second through holes are distributed around the first through hole, and the plurality of second through holes and the first through hole are distributed at intervals along the width direction of the profile.

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