Automatic stereoscopic warehouse

Abstract

The invention relates to the technical field of three-dimensional warehouses, in particular to an automatic three-dimensional warehouse which comprises a warehouse frame and a sliding rail and further comprises a transverse moving seat, a transverse moving mechanism, a first lifting mechanism and a second lifting mechanism, the transverse moving seat is connected to the sliding rail in a sliding mode, and driving frames are installed at the two ends of the transverse moving seat and used for driving the transverse moving seat to slide on the sliding rail; the vertical moving seat is mounted on the transverse moving seat, and the side part of the vertical moving seat is connected with a bracket in a sliding manner; and the sectional type moving arm comprises a fixed frame which is fixedly connected to the bracket. By arranging the sectional type moving arms, the supporting area is increased, the cantilever beam effect is avoided, the cargo transportation stability is improved, deflection deformation is not prone to being generated under the long-stroke and heavy-load working conditions, and the tail end positioning precision is improved while the enough stroke is guaranteed; the first driving shaft and the gear tooth plate are mounted through the fixing frame, driving force is transmitted to the first moving arm through the gear tooth plate structure, and higher positioning precision and impact resistance are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of stereoscopic warehouses, and in particular to an automated stereoscopic warehouse. Background Art

[0002] An automated stereoscopic warehouse is a new concept in logistics warehousing, which is used to realize the rationalization of high-rise warehouses, automated storage and retrieval, and simple operation. In existing automated stereoscopic warehouses, a stacker generally travels through the aisles between the shelves to realize the automated stacking and sorting of goods. In traditional stackers, goods placed on the fork arms are usually transported by liftable fork arms. The fork arm structure is fixed, making it difficult to place the goods inside the shelves, increasing the difficulty of stacking goods. It is necessary to push the goods placed near the shelves to move them inside the shelves, or use other methods to move the goods inside the shelves, which is rather troublesome.

[0003] In the prior art, a retractable single-section fork arm is used to transport the goods placed on the fork arm. In this way, in traditional single-section cantilever fork arms, when carrying goods, due to the cantilever beam effect, flexural deformation is likely to occur under long-stroke and heavy-load working conditions, reducing the end positioning accuracy and affecting the stability of goods transportation; when using a hydraulic or pneumatic telescopic arm, in this way, its positioning accuracy and anti-impact ability are poor, which is not conducive to improving the efficiency of stacking goods. Summary of the Invention

[0004] The purpose of the present invention is to solve the shortcomings of traditional single-section cantilever fork arms in the prior art, that is, when carrying goods, due to the cantilever beam effect, flexural deformation is likely to occur under long-stroke and heavy-load working conditions, reducing the end positioning accuracy and affecting the stability of goods transportation, and to propose an automated stereoscopic warehouse.

[0005] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0006] An automated stereoscopic warehouse, including a warehouse rack and a slide rail, further comprising:

[0007] A transverse movement seat, the transverse movement seat is slidably connected to the slide rail, and driving frames are installed at both ends of the transverse movement seat, and the driving frames are used to drive the transverse movement seat to slide on the slide rail;

[0008] A vertical movement seat, the vertical movement seat is installed on the transverse movement seat, and a bracket is slidably connected to the side of the vertical movement seat;

[0009] Segmented moving arm, the segmented moving arm includes a fixed frame fixedly connected to the bracket, a first moving arm is slidably connected to the fixed frame, a second moving arm is slidably connected to the first moving arm, a first driving shaft and a second driving shaft are rotatably connected to the fixed frame, a gear chain structure is connected between the first driving shaft and the second driving shaft, and a gear rack structure is connected between the first driving shaft and the first moving arm and between the second driving shaft and the second moving arm. A driving motor is installed on the bracket, and the output end of the driving motor is fixedly connected to one of the first driving shafts. A transmission rod is connected between the two first driving shafts.

[0010] Preferably, it further includes baffles arranged at both ends of the slide rail; the warehouse rack includes a shelf, an adjustable base is installed at the bottom of the shelf, and a plurality of carrier racks are slidably installed on the shelf.

[0011] Preferably, the slide rail has an I-shaped structure. The top side thereof forms an arc-shaped thickened area protruding inward by narrowing the lateral width and increasing the longitudinal thickness. This arc-shaped thickened area constitutes the thickened arc top. The driving end of the driving frame includes a driving wheel and two side driving wheels. The driving wheel abuts against the top of the thickened arc top, and the side driving wheels abut against the side of the I-shaped structure of the slide rail.

[0012] Preferably, a hoisting assembly is installed on the vertical moving seat, and the output end of the hoisting assembly is fixedly connected to a bracket, and the bracket is slidably connected to the vertical moving seat.

[0013] Preferably, the hoisting assembly includes a winch installed on the vertical moving seat. The winch and the bracket are distributed on both sides of the vertical moving seat. A steel cable is wound around the output end of the winch. A fixed pulley is rotatably connected to the top of the vertical moving seat. One end of the steel cable away from the winch bypasses the top of the fixed pulley and is fixedly connected to a hook, and the bracket is hoisted on the hook.

[0014] Preferably, the gear rack structure includes a driving gear and a transmission rack. The driving gears are coaxially and fixedly connected to the first driving shaft and the second driving shaft. The second moving arm is laterally hollowed out, and the second driving shaft passes through the hollow part of the second moving arm with a gap. Two transmission racks are fixedly connected to the inner tops of the first moving arm and the second moving arm respectively. The top of the driving gear meshes with the corresponding transmission rack. The transmission rack fixedly connected to the first moving arm is the first rack, and the transmission rack fixedly connected to the second moving arm is the second rack.

[0015] Preferably, the gear chain structure includes a transmission chain and transmission gears. Two transmission gears are coaxially and fixedly connected to one ends of the first driving shaft and the second driving shaft respectively, and the same transmission chain meshes with adjacent two transmission gears.

[0016] Preferably, a protective cover is fixedly connected to the side of the fixed frame. The gear-chain structure and part of the first drive shaft and the second drive shaft are all located inside the protective cover. A through hole for the first drive shaft to pass through is provided in the protective cover between the two fixed frames.

[0017] Preferably, the transmission rod is a universal shaft. The fixed end of the universal shaft is fixedly connected to the first drive shaft. A reinforcement plate is fixedly connected to the top of the second moving arm. A tray is placed on the tops of the two reinforcement plates.

[0018] Preferably, grooves are provided at the tops of the fixed frame and the first moving arm. A pulley plate is fixedly connected inside the grooves. A plurality of first rollers are rotatably connected to the top of the pulley plate. The first rollers abut against the bottoms of the first moving arm and the second moving arm. Side chutes are communicated with both sides of the groove on the first moving arm. A plurality of second rollers are rotatably connected to both sides of the second moving arm. The second rollers abut against the inner sides of the side chutes on the same side.

[0019] Compared with the prior art, the advantages of the present invention are as follows:

[0020] 1. By setting the segmented moving arm, compared with the traditional single-segment cantilever fork arm, while ensuring sufficient stroke, the supporting area is increased, the cantilever beam effect is avoided, the stability of cargo transportation is improved, it is not easy to generate flexural deformation under long-stroke and heavy-load working conditions, and the end positioning accuracy is improved; by the fixed frame to bear the installation of the first drive shaft, the second drive shaft, the gear-tooth plate structure and the gear-chain structure, and the driving force is transmitted to the first moving arm through the gear-tooth plate structure. Compared with the traditional hydraulic or pneumatic telescopic arm, the driving equipment is no longer set between the arms, which has higher positioning accuracy and anti-impact ability, and improves the efficiency of stacking goods.

[0021] 2. By setting the pulley plate, a rotatable supporting effect is formed on both the first moving arm and the second moving arm, which is beneficial to reducing the friction force during their movement and enhancing the stability during movement; at the same time, the load of the second moving arm is transmitted to the first moving arm through the pulley plate, the first rollers and the side chutes and the second rollers, forming a multi-point supporting structure, converting the concentrated bending moment of the traditional cantilever into a distributed bending moment, reducing the distortion of the arm body caused by eccentric load, and improving the overall stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is an overall axonometric view of an automated storage and retrieval system proposed by the present invention.

[0023] Figure 2 It is a schematic diagram of the adjustable base and shelf structure of an automated storage and retrieval system proposed by the present invention.

[0024] Figure 3 It is a schematic diagram of the transverse movement seat and vertical movement seat structure of an automated storage and retrieval system proposed by the present invention.

[0025] Figure 4 This is a schematic diagram of the driving wheel and side driving wheel structures of an automated stereoscopic warehouse proposed by the present invention.

[0026] Figure 5 This is a schematic diagram of the hook and bracket structures of an automated stereoscopic warehouse proposed by the present invention.

[0027] Figure 6 This is a schematic diagram of the fixed frame and pulley plate structures of an automated stereoscopic warehouse proposed by the present invention.

[0028] Figure 7 This is a schematic diagram of the first moving arm and second moving arm structures of an automated stereoscopic warehouse proposed by the present invention.

[0029] In the figure: 1 adjustable base, 2 storage rack, 3 baffle, 4 driving frame, 5 driving wheel, 6 side driving wheel, 7 traversing seat, 8 slide rail, 9 thickened arc top, 10 vertical movement seat, 11 fixed pulley, 12 winch, 13 hook, 14 bracket, 15 driving motor, 16 first driving shaft, 17 transmission rod, 18 fixed frame, 19 pulley plate, 20 first moving arm, 21 first toothed plate, 22 side chute, 23 transmission chain, 24 transmission gear, 25 second driving shaft, 26 second moving arm, 27 second toothed plate, 28 reinforcement plate, 29 protective cover. Detailed implementation manners

[0030] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments.

[0031] Refer to Figures 1-4 , an automated stereoscopic warehouse, including a storage rack and a slide rail 8, and further including:

[0032] The storage rack includes a storage rack 2, an adjustable base 1 is installed at the bottom of the storage rack 2, and a plurality of carrier racks are slidably installed on the storage rack 2.

[0033] The height of the storage rack 2 can be adjusted through the adjustable base 1, and then by adjusting the distance between adjacent carrier racks, it is convenient to adapt to goods of different sizes.

[0034] A traversing seat 7, the traversing seat 7 is slidably connected to the slide rail 8, and driving frames 4 are installed at both ends of the traversing seat 7, and the driving frames 4 are used to drive the traversing seat 7 to slide on the slide rail 8.

[0035] The sliding rail 8 has an I-shaped structure. Its top forms an arc-shaped thickened area that bulges inward by narrowing the lateral width and increasing the longitudinal thickness. This arc-shaped thickened area constitutes the thickened arc top 9. The driving end of the driving frame 4 includes a driving wheel 5 and two side driving wheels 6. The driving wheel 5 abuts against the top of the thickened arc top 9, and the side driving wheels 6 abut against the side of the I-shaped structure of the sliding rail 8.

[0036] The top of the I-shaped sliding rail 8 becomes narrower and thicker, and has a certain arc in the cross-section, serving as the thickened arc top 9 and contacting the driving wheel 5, while the side contacts the horizontal side driving wheels 6. The gradient cross-section design of the thickened arc top 9 above the sliding rail 8 can optimize the stress distribution and reduce local stress concentration, especially suitable for bearing dynamic loads in the vertical direction. The contact between the side driving wheels 6 and the side of the sliding rail 8 forms passive guidance, which can suppress lateral offset even during high acceleration or emergency braking, reducing the wear risk at the edge of the sliding rail 8.

[0037] It also includes baffles 3 provided at both ends of the sliding rail 8. The baffles 3 limit the movement of the driving frame 4, and distance sensors in the prior art can be installed to feedback and limit the movement of the driving frame 4 to prevent it from disengaging from the sliding rail 8.

[0038] The vertical moving seat 10 is slidably installed on the horizontal moving seat 7, and the side of the vertical moving seat 10 is slidably connected to a bracket 14.

[0039] A hoisting assembly is installed on the vertical moving seat 10. The output end of the hoisting assembly is fixedly connected to a bracket 14, and the bracket 14 is slidably connected to the vertical moving seat 10.

[0040] The hoisting assembly includes a winch 12 installed on the vertical moving seat 10. The winch 12 and the bracket 14 are distributed on both sides of the vertical moving seat 10. The output end of the winch 12 is wound with a steel cable. A fixed pulley 11 is rotatably connected to the top of the vertical moving seat 10. One end of the steel cable away from the winch 12 bypasses the top of the fixed pulley 11 and is fixedly connected to a hook 13. The bracket 14 is hoisted on the hook 13.

[0041] Refer to Figures 5-7 , the segmented moving arm. The segmented moving arm includes a fixed frame 18 fixedly connected to the bracket 14. A first moving arm 20 is slidably connected to the fixed frame 18, and a second moving arm 26 is slidably connected to the first moving arm 20. A first driving shaft 16 and a second driving shaft 25 are rotatably connected to the fixed frame 18. A gear-chain structure is connected between the first driving shaft 16 and the second driving shaft 25. Gear-rack structures are connected between the first driving shaft 16 and the first moving arm 20, and between the second driving shaft 25 and the second moving arm 26. A driving motor 15 is installed on the bracket 14, and the output end of the driving motor 15 is fixedly connected to one of the first driving shafts 16. A transmission rod 17 is connected between the two first driving shafts 16.

[0042] The gear tooth plate structure includes a driving gear and a transmission tooth plate. The driving gear is coaxially and fixedly connected to the first driving shaft 16 and the second driving shaft 25. The second moving arm 26 is laterally hollowed out, and the second driving shaft 25 passes through the hollow part of the second moving arm 26 with a gap. Two transmission tooth plates are fixedly connected to the inner tops of the first moving arm 20 and the second moving arm 26 respectively. The top of the driving gear meshes with the corresponding transmission tooth plate. The transmission tooth plate fixedly connected to the first moving arm 20 is the first tooth plate 21, and the transmission tooth plate fixedly connected to the second moving arm 26 is the second tooth plate 27.

[0043] The driving force is transmitted through the driving gear and the transmission tooth plate, which has higher precision and rigidity, and can be modularly designed, facilitating replacement and upgrade, and reducing the later maintenance cost.

[0044] The gear chain structure includes a transmission chain 23 and transmission gears 24. Two transmission gears 24 are coaxially and fixedly connected to one ends of the first driving shaft 16 and the second driving shaft 25 respectively, and the same transmission chain 23 meshes with adjacent two transmission gears 24.

[0045] Multiple transmission gears 24 can be provided. Except for the transmission gears 24 arranged on the first driving shaft 16 and the second driving shaft 25 which are rotatably connected to the driving frame 18, the same transmission chain 23 meshes with adjacent two transmission gears 24, which is convenient for adjusting the distribution mode of the gear chain structure.

[0046] By adjusting the transmission ratio of the gear chain structure, the moving distance of the second moving arm 26 relative to the first moving arm 20 can be controlled. When the moving distance of the second moving arm 26 is greater than that of the first moving arm 20, the second moving arm 26 partially extends out of the first moving arm 20 to form a double-segment elongation, increasing the stroke and facilitating placing the goods on the carrier in a deeper position. When the moving distances of the two are equal or the moving distance of the second moving arm 26 is less than that of the first moving arm 20, it is equivalent to the existing single-segment telescopic arm.

[0047] A protective cover 29 is fixedly connected to the side of the fixed frame 18. The gear chain structure and part of the first driving shaft 16 and the second driving shaft 25 are all located inside the protective cover 29. A through hole for the first driving shaft 16 to pass through is opened on the protective cover 29 between the two fixed frames 18.

[0048] The internal structure is protected by the protective cover 29.

[0049] The transmission rod 17 is a universal shaft. The fixed end of the universal shaft is fixedly connected to the first driving shaft 20. When there is a certain deviation between the two first driving shafts 16, transmission can still be maintained, further improving the adaptability for transporting goods.

[0050] A reinforcement plate 28 is fixedly connected to the top of the second moving arm 26, and trays are placed on the tops of the two reinforcement plates 28.

[0051] By contacting the trays and goods through the reinforcement plate 28, it is avoided that when damage occurs due to direct contact with the trays and goods through the second toothed plate 27, its transmission ability is affected.

[0052] Grooves are formed at the tops of the fixed frame 18 and the first moving arm 20. A pulley plate 19 is fixedly connected inside the grooves. A plurality of first rollers are rotatably connected to the top of the pulley plate 19. The first rollers abut against the bottoms of the first moving arm 20 and the second moving arm 26. Side chutes 22 communicate with both sides of the groove on the first moving arm 20. A plurality of second rollers are rotatably connected to both sides of the second moving arm 26. The second rollers abut against the inner sides of the side chutes 22 on the same side.

[0053] The pulley plates 19 on the first toothed plate 21 and the fixed frame 18 are distributed on both sides of the bottom of the first moving arm 20 to avoid interference between the two.

[0054] When the present invention is used, first, according to the size and placement requirements of the goods, the height of the adjustable base 1 is adjusted, and the distance between adjacent bearing frames on the shelf 2 is adjusted to meet the requirements for placing the goods.

[0055] After adjustment, the goods are placed on the trays. At the same time, the drive frame 4, the winch 12, and the drive motor 15 are started to adjust the position of the goods.

[0056] When the drive frame 4 works, the driving active wheel 5 rolls on the thickened arc top 9 of the slide rail 8, and the driving side moving wheel 6 rolls on the side of the slide rail 8, so as to control the left - right movement of the transverse movement seat 7 on the slide rail 8. The left - right movement of the transverse movement seat 7 can control the left - right movement of the goods.

[0057] When the winch 12 works, its output end starts to wind the steel cable. The steel cable pulls the hook 13 below through the fixed pulley 11 at the top of the vertical movement seat 10, and pulls the bracket 14 through the hook 13 to control the up - down movement of the bracket 14 on the side of the vertical movement seat 10, thereby controlling the up - down movement of the goods.

[0058] After the goods are moved to the corresponding position on the shelf 2, at this time, the goods need to be placed on the bearing frame.

[0059] When the drive motor 15 works, its output end drives the first drive shaft 16 to rotate. The first drive shaft 16 drives another first drive shaft 16 to rotate through the transmission rod 17, synchronously controlling the rotation of the two first drive shafts 16.

[0060] The first drive shaft 16 rotates. Through the meshing of the drive gear with the first toothed plate 21 below the first moving arm 20, it drives the first toothed plate 21 to move back and forth, thereby driving the first moving arm 20 to move back and forth on the top of the fixed frame 18.

[0061] The first drive shaft 16 rotates, and then drives the second drive shaft 25 to rotate through the gear-chain structure composed of the transmission chain 23 and the transmission gear 24. The drive gear on the second drive shaft 25 meshes with the second toothed plate 27 at the inner top of the second moving arm 26, driving the second toothed plate 27 to move back and forth, thereby driving the second moving arm 26 to move back and forth on the top of the first moving arm 20.

[0062] Finally, it synchronously drives the first moving arm 20 and the second moving arm 26 to move back and forth. The reinforcement plates 28 on the two second moving arms 26 drive the tray to move towards the carrier, and transport the goods on the tray to the carrier.

[0063] The fixed frame 18, the first moving arm 20 and the second moving arm 26 form a segmented moving arm. Compared with the traditional single-segment cantilever fork arm, while ensuring sufficient stroke, it increases the support area, avoids the cantilever beam effect, improves the stability of goods transportation, is not easy to produce flexural deformation under long-stroke and heavy-load working conditions, and improves the end positioning accuracy.

[0064] The fixed frame 18 undertakes the installation of the first drive shaft 16, the second drive shaft 25, the gear-toothed plate structure and the gear-chain structure. The driving force is transmitted to the first moving arm 20 through the gear-toothed plate structure, and the driving force is transmitted to the second moving arm 26 through the gear-toothed plate structure and the gear-chain structure. Compared with the traditional hydraulic or pneumatic telescopic arm, the driving device is no longer set between the arms, and it has higher positioning accuracy and anti-impact ability.

[0065] The first moving arm 20 can not only be designed in segments with the second moving arm 26 to reduce the cantilever beam effect and improve stability, but also can be used as the base for the movement of the mobile end and the second moving arm 26 at the same time.

[0066] When the two segmented moving arms carry goods, when there is a deviation between the two segmented moving arms due to different center-of-gravity positions of the goods or other factors, the transmission rod 17 with adjustable angle can maintain the transmission ability by dynamically compensating for mechanical errors and load deformation, and can significantly improve the adaptability and reliability of the system.

[0067] When the first moving arm 20 and the second moving arm 26 slide, the pulley plate 19 on the fixed frame 18 forms a rotatable support effect on the first moving arm 20 through the first rollers thereon, improves the stability of the movement of the first moving arm 20, and reduces the moving friction between the two.

[0068] The pulley plate 19 at the top of the first moving arm 20 forms a rotatable supporting effect on the second moving arm 26 through the first rollers thereon. At the same time, the second rollers on the side of the second moving arm 26 rotatably abut against the side chute 22 of the first moving arm 20, providing distributed lateral support to suppress the lateral bending of the first moving arm 20 caused by torsional or eccentric loads.

[0069] The load of the second moving arm 26 is transmitted to the first moving arm 20 through the pulley plate 19, the first rollers, the side chute 22, and the second rollers, forming a multi-point support structure, converting the concentrated bending moment of the traditional cantilever into a distributed bending moment, reducing the distortion of the arm body caused by eccentric loads, and improving the overall stability.

[0070] The middle of the second moving arm 26 is hollowed out to reduce the overall weight of the second moving arm 26. The inner top of the hollowed-out part is the second toothed plate 27. Above the hollowed-out part, a reinforcement plate 28 is also installed, which is responsible for contacting the tray. The contact surface between the reinforcement plate 28 and the tray is independent of the transmission area, forming a double load channel. The second toothed plate 27 bears the dynamic transmission stress, and the reinforcement plate 28 deals with the static support pressure, significantly improving the energy efficiency ratio while maintaining the bearing capacity.

[0071] Finally, the goods can be placed on the carrier of the shelf 2.

[0072] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered within the protection scope of the present invention.

Claims

1. An automated stereoscopic warehouse, comprising a warehouse rack and a slide rail (8), characterized in that It further includes: A transverse movement base (7) which is slidably connected to a slide rail (8). Driving frames (4) are installed at both ends of the transverse movement base (7), and the driving frames (4) are used to drive the transverse movement base (7) to slide on the slide rail (8); A vertical movement base (10) which is installed on the transverse movement base (7), and a bracket (14) is slidably connected to the side of the vertical movement base (10); A segmented moving arm which includes a fixed frame (18) fixedly connected to the bracket (14). A first moving arm (20) is slidably connected to the fixed frame (18), and a second moving arm (26) is slidably connected to the first moving arm (20). A first driving shaft (16) and a second driving shaft (25) are rotatably connected to the fixed frame (18). A gear and chain structure is connected between the first driving shaft (16) and the second driving shaft (25). Gear and rack structures are connected between the first driving shaft (16) and the first moving arm (20), and between the second driving shaft (25) and the second moving arm (26). A driving motor (15) is installed on the bracket (14), and the output end of the driving motor (15) is fixedly connected to one of the first driving shafts (16). A transmission rod (17) is connected between the two first driving shafts (16).

2. The automated stereoscopic warehouse according to claim 1, characterized in that It further includes baffles (3) arranged at both ends of the slide rail (8); The storage rack includes a goods shelf (2), an adjustable base (1) is installed at the bottom of the goods shelf (2), and a plurality of carrier racks are slidably installed on the goods shelf (2).

3. The automated stereoscopic warehouse according to claim 1, characterized in that, The slide rail (8) has an I-shaped structure. Its top side forms an arc-shaped thickened area protruding inward by narrowing the transverse width and increasing the longitudinal thickness. This arc-shaped thickened area constitutes a thickened arc top (9). The driving end of the driving frame (4) includes a driving wheel (5) and two side driving wheels (6). The driving wheel (5) abuts against the top of the thickened arc top (9), and the side driving wheels (6) abut against the side of the I-shaped structure of the slide rail (8).

4. The automated stereoscopic warehouse according to claim 1, characterized in that, A hoisting assembly is installed on the vertical movement base (10). The output end of the hoisting assembly is fixedly connected to the bracket (14), and the bracket (14) is slidably connected to the vertical movement base (10).

5. The automated stereoscopic warehouse according to claim 4, wherein The hoisting assembly includes a winch (12) installed on the vertical movement base (10). The winch (12) and the bracket (14) are distributed on both sides of the vertical movement base (10). A steel cable is wound around the output end of the winch (12). A fixed pulley (11) is rotatably connected to the top of the vertical movement base (10). One end of the steel cable away from the winch (12) bypasses the top of the fixed pulley (11) and is fixedly connected to a hook (13). The bracket (14) is hoisted on the hook (13).

6. The automated stereoscopic warehouse according to claim 1, characterized in that, The gear tooth plate structure includes a driving gear and a transmission tooth plate. The driving gear is coaxially and fixedly connected to the first driving shaft (16) and the second driving shaft (25). The second moving arm (26) is provided with a lateral hollow. The second driving shaft (25) passes through the hollow of the second moving arm (26) with a clearance. Two transmission tooth plates are fixedly connected to the inner tops of the first moving arm (20) and the second moving arm (26) respectively. The top of the driving gear meshes with the corresponding transmission tooth plate. The transmission tooth plate fixedly connected to the first moving arm (20) is the first tooth plate (21), and the transmission tooth plate fixedly connected to the second moving arm (26) is the second tooth plate (27).

7. The automated stereoscopic warehouse according to claim 1, characterized in that, The gear chain structure includes a transmission chain (23) and transmission gears (24). Two transmission gears (24) are coaxially and fixedly connected to one ends of the first driving shaft (16) and the second driving shaft (25) respectively. Adjacent two transmission gears (24) are meshed with the same transmission chain (23).

8. The automated stereoscopic warehouse according to claim 7, wherein A protective cover (29) is fixedly connected to the side of the fixed frame (18). The gear chain structure and part of the first driving shaft (16) and the second driving shaft (25) are all located inside the protective cover (29). A through hole for the first driving shaft (16) to pass through is opened on the protective cover (29) between the two fixed frames (18).

9. The automated stereoscopic warehouse according to claim 1, wherein The transmission rod (17) is a universal shaft. The fixed end of the universal shaft is fixedly connected to the first driving shaft (20). A reinforcement plate (28) is fixedly connected to the top of the second moving arm (26). A tray is placed on the tops of the two reinforcement plates (28).

10. The automated stereoscopic warehouse according to claim 1, characterized in that, Grooves are opened on the tops of the fixed frame (18) and the first moving arm (20). A pulley plate (19) is fixedly connected inside the grooves. A plurality of first rollers are rotatably connected to the top of the pulley plate (19). The first rollers abut against the bottoms of the first moving arm (20) and the second moving arm (26). Side chutes (22) are communicated with both sides of the groove on the first moving arm (20). A plurality of second rollers are rotatably connected to both sides of the second moving arm (26). The second rollers abut against the inner sides of the side chutes (22) on the same side.

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