Stacking loading and unloading structure of stacking machine

Abstract

The invention discloses a stacking loading and unloading structure of a stacking machine, comprising: a main body unit comprising a machine body on which two groups of telescopic forks are arranged; the adjusting unit comprises a fixed seat fixedly installed at the telescopic end of the telescopic pallet fork, two sliding parts and a detection unit fixedly connected with the sliding parts are symmetrically arranged on the fixed seat, and the detection unit is controlled to measure the weight of goods at the two ends of the fixed seat through displacement of the two sliding parts; and the limiting assembly comprises a second air bag arranged on the fixing seat and a plurality of clamping pieces inserted into the fixing seat in a sliding mode, and the limiting assembly is used for reinforcing connection between the fixing seat and the freight plate. Through the detection unit and cooperation of the two sets of sliding parts and the detection unit, in the process that the telescopic pallet fork lifts up the freight plate, the weight distribution difference of goods on the freight plate is detected in real time, the position of the telescopic pallet fork relative to the freight plate is judged and adjusted in time, and the situation that due to the unstable gravity center, the goods slide, incline or fall off in the transportation process is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of stackers, and in particular to a stacking and loading and unloading structure of a stacker. Background Art

[0002] Stacker cranes are core equipment in automated warehousing systems, primarily used for the storage and retrieval of goods within high-bay warehouses. Operating along tracks within the aisles of the high-bay warehouse, they accurately transport goods from access platforms or transport equipment to designated locations, or remove goods from a location and transport them to a designated location. This enables automated storage and retrieval of goods, playing a key role in improving storage space utilization and cargo storage and retrieval efficiency.

[0003] However, the existing stacker loading and unloading structure has obvious deficiencies in practical applications. When goods are placed on a freight plate, the center of gravity of the goods relative to the freight plate is easily offset due to factors such as the irregular shape of the goods themselves, uneven weight distribution, or deviation in the placement position. However, current loading and unloading structures generally lack an effective real-time center of gravity detection mechanism and are unable to timely and accurately sense changes in the center of gravity of the goods during the stacker loading process. When the stacker fork rashly lifts the freight plate and transports the goods without noticing the shift in the center of gravity of the goods, during transportation, especially when the movement state changes such as starting, braking, accelerating, decelerating, or turning, the goods are prone to sliding, tilting, or even falling due to unstable center of gravity. This may not only cause damage to the goods, but may also pose a safety hazard to the stacker itself, surrounding equipment, and personnel, seriously affecting the safety and reliability of warehousing operations. Summary of the Invention

[0004] The purpose of this section is to summarize some aspects of the embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the abstract and title of this application to avoid obscuring the purpose of this section, the abstract and the title of the invention, and such simplifications or omissions should not be used to limit the scope of the present invention.

[0005] In view of the above problems in the prior art, the present invention is proposed.

[0006] Therefore, the technical problem to be solved by the present invention is that the existing stacker loading and unloading structure lacks an effective real-time center of gravity detection mechanism, which easily causes the goods to fall during transportation.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions: a stacking and loading and unloading structure of a stacker, comprising: The main unit includes a body on which two sets of telescopic forks are provided; The adjustment unit includes a fixed base fixedly mounted on the telescopic end of the telescopic fork, the fixed base symmetrically provided with two sliding parts and a detection unit fixedly connected to the sliding parts, and the detection unit is controlled by the displacement of the two sets of sliding parts to measure the weight of the cargo at both ends of the fixed base; The limiting component includes a second airbag arranged in a fixed seat and a plurality of clips slidably inserted on the fixed seat. The limiting component is used to strengthen the connection between the fixed seat and the cargo plate, and the deformation of the second airbag is controlled by the detection component to realize the adaptive clamping of the clip to the cargo plate.

[0008] As a preferred solution of the stacking and loading and unloading structure of the stacker described in the present invention, two groups of first cavities are symmetrically opened in the fixed seat, the sliding part includes a first airbag fixedly installed in the first cavity, a limiting slide is fixedly installed on the upper end of the first airbag, a limiting ball seat is fixedly connected to the limiting slide, a ball is rollingly inserted on the limiting ball seat, and a first elastic member is fixedly connected between the limiting slide and the bottom of the first cavity.

[0009] As a preferred solution of the stacking and loading and unloading structure of the stacker described in the present invention, wherein: a sliding groove is opened in the fixed seat, a limit plate is fixedly installed in the center of the sliding groove, the detection unit includes a connecting tube fixedly connected to the first airbag and the end of the sliding groove respectively, and an electromagnetic block slidably inserted in the sliding groove, a second elastic part is fixedly connected between the electromagnetic block and the limit plate, and an induction strip is fixedly installed on the inner wall of the sliding groove.

[0010] As a preferred solution of the stacking and loading and unloading structure of the stacker described in the present invention, a bellows is fixedly connected between the connecting pipe and the electromagnetic block.

[0011] As a preferred solution of the stacking and loading and unloading structure of the stacker described in the present invention, a second cavity is provided on the fixed seat, the limiting assembly is arranged in the second cavity, a plurality of horn holes corresponding to the card pieces are provided on the second cavity, the card pieces are slidably inserted in the horn holes, and the same limiting airbag is provided on the outside of the plurality of card pieces.

[0012] As a preferred solution of the stacking and loading and unloading structure of the stacker described in the present invention, the card parts are divided into card connecting parts and boosting parts. When all the card parts are inserted into the through holes of the freight plate, the card parts are all card connecting parts. When some of the card parts are inserted into the through holes of the freight plate, the card parts inserted into the through holes are card connecting parts, and the card parts without through holes become boosting parts due to the reverse extrusion of the second airbag.

[0013] As a preferred solution of the stacking and loading and unloading structure of the stacker described in the present invention, the upper portion of the clamp is a cylindrical structure, and an annular chamfer is provided on the upper end of the clamp, and the lower portion of the clamp is a spherical structure.

[0014] As a preferred solution of the stacking and loading and unloading structure of the stacker described in the present invention, a guide groove is vertically opened in the fixed seat, and the two ends of the guide groove are respectively connected to the second cavity and the sliding groove, and the upper end of the guide groove is fixedly connected to a guide tube connected to the second airbag.

[0015] As a preferred solution of the stacking and loading and unloading structure of the stacker described in the present invention, wherein: a loading and unloading mechanism is provided on the machine body, and the loading and unloading mechanism includes a sliding seat, a support seat, a protective frame and two sets of drive components. The sliding seat is slidably installed on the frame, the support seat is fixedly connected to one side of the sliding seat, and the protective frame is fixedly installed on the support seat. The two sets of drive components correspond one to one with the two sets of telescopic forks respectively.

[0016] As a preferred solution of the stacking and loading and unloading structure of the stacker described in the present invention, wherein: a connecting plate is fixedly installed on the support seat, the driving assembly includes a threaded rod rotatably installed between the connecting plate and the support seat and two sliding rods fixedly installed on the support seat, and three sliders are fixedly installed at the bottom of the two sets of telescopic forks, one of the sliders is provided with a threaded groove on the inner ring, and the sliding seat is threadedly sleeved on the threaded rod, and the remaining two sliders are slidably sleeved on the sliding rod.

[0017] Beneficial effects of the present invention: 1. A detection unit is set up. Through the cooperation of two sets of sliding parts and the detection unit, the weight distribution difference of the goods on both sides of the freight plate can be detected in real time when the telescopic fork is lifting the freight plate. By comparing the change results of the two sets of detection units, the position of the telescopic fork relative to the freight plate can be judged and adjusted in time to prevent the goods from sliding, tilting or falling during transportation due to unstable center of gravity, thereby ensuring the safety of warehousing operations.

[0018] 2. Set up a limit assembly. After the linkage detection unit completes the center of gravity detection and adjustment, it automatically triggers the card lock after the freight board is fully pressed on the fixed seat. At the same time, the booster is used to reversely pressurize and strengthen the supporting force of the card connector to ensure a reliable limiting effect. The card of the limit assembly adaptively plugs into the bottom plate slot of the freight board to avoid displacement of the freight board due to external forces such as vibration and steering during transportation, thereby further ensuring safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be derived from these drawings without inventive effort. Among them: Figure 1 It is a schematic diagram of the overall structure of the stacking and loading and unloading structure of the stacker of the present invention.

[0020] Figure 2A schematic diagram of the three-dimensional structure of the loading and unloading mechanism provided by the present invention; Figure 3 A schematic cross-sectional view of the regulating mechanism provided by the present invention; Figure 4 For the present invention Figure 3 A magnified view of the structure at point A; Figure 5 A schematic structural diagram of the sliding portion provided by the present invention; Figure 6 A schematic diagram of a partial cross-sectional structure of the limit assembly provided by the present invention; Figure 7 A schematic diagram of the state of the card provided by the present invention in the second cavity; Figure 8 This is a schematic diagram of the state in which all the card pieces provided by the present invention are inserted into the through holes of the freight plate; Figure 9 This is a schematic diagram of the state in which the card provided by the present invention is partially inserted into the through hole of the freight plate.

[0021] Description of reference numerals: 100, body; 200, loading and unloading mechanism; 201, sliding seat; 202, supporting seat; 202a, connecting plate; 202b, threaded rod; 202c, sliding rod; 202d, slider; 203, protective frame; 300, telescopic fork; 400, adjustment unit; 401, fixing seat; 402, first cavity; 402a, sliding groove; 402b, limiting plate; 402c, second cavity; 402d, guide groove; 402e, guide pipe; 403, first airbag; 403a, first elastic member; 403b, connecting pipe; 403c, bellows; 403d, electromagnetic block; 403e, sensor strip; 403f, second elastic member; 404, limiting slide plate; 404a, limiting ball seat; 404b, ball bearing; 405, second airbag; 405a, clamping member; 405b, limiting airbag; 405c, speaker hole; 500, freight plate; 501, through hole. DETAILED DESCRIPTION

[0022] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0023] Example 1 Reference Figures 1-8The present embodiment provides a stacking and loading and unloading structure of a stacker, including a main unit, which includes a body 100. The body 100 is provided with a loading and unloading mechanism 200. The loading and unloading mechanism 200 includes two sets of drive assemblies, each set of drive assemblies is provided with a set of telescopic forks 300, and the telescopic forks 300 are provided with adjustment units 400. The adjustment units 400 are used to detect the weight on both sides of the telescopic forks 300.

[0024] In this embodiment, the adjustment unit 400 can be adapted to various forks that need to load and unload large goods. The adjustment unit 400 includes a fixed base 401 fixedly installed on the telescopic end of the telescopic fork 300. Two sliding parts and a detection unit fixedly connected to the sliding parts are symmetrically arranged in the fixed base 401. When the telescopic fork 300 is inserted into the slot of the freight plate 500, it drives the adjustment unit 400 to rise and contact the bottom of the freight plate 500. During this process, the two sliding parts first contact the bottom of the freight plate 500. As the fixed base 401 rises, due to the gravity distribution on the freight plate 500, the two sliding parts are subjected to different thrusts, which in turn causes different changes in the detection unit fixedly connected to the sliding part. The detection unit measures the weight of the goods at both ends of the fixed base 401 through the displacement control of the two sets of sliding parts, and compares the change results of the two sets of detection units to determine the front, back, left and right position adjustment of the telescopic fork 300 relative to the freight plate 500.

[0025] Two groups of first cavities 402 are symmetrically opened in the fixing seat 401. Figure 5 As shown, the sliding portion includes a first airbag 403 fixedly installed in the first cavity 402, a limiting slide 404 is fixedly installed on the upper end of the first airbag 403, a slide groove is opened in the first cavity 402, the limiting slide 404 is slidably inserted in the slide groove, the limiting slide 404 supports the limiting ball seat 404a to slide in the vertical direction, and limits the sliding upper limit of the limiting ball seat 404a to prevent the limiting ball seat 404a from sliding out of the fixed seat 401, and the limiting slide 404 is fixedly connected to A limiting ball seat 404a is provided with a ball 404b which is rolled thereon. When the telescopic fork 300 is adjusted and moved relative to the cargo plate 500, the provision of the ball 404b is beneficial to reducing friction. A first elastic member 403a is fixedly connected between the limiting slide 404 and the first cavity 402. The first elastic member 403a is a compression spring. After the first airbag 403 is compressed by the limiting slide 404, the first elastic member 403a pushes the limiting slide 404 to reset.

[0026] A sliding groove 402a is provided in the fixing seat 401, and a limiting plate 402b is fixedly installed in the center of the sliding groove 402a. A circular hole is provided in the center of the limiting plate 402b, which allows the sliding groove 402a to communicate with the air on both sides of the limiting plate 402b, thereby reducing the air resistance in the sliding groove 402a. The limiting plate 402b is used to fix two sets of second elastic members 403f. The detection unit includes a sensor strip 403e, two sets of connecting pipes 403b, a second elastic member 403f and two sets of electromagnetic blocks 403e. 3d, the ends of the two sets of connecting tubes 403b are respectively fixedly connected to the first airbag 403 and the end of the sliding groove 402a, the electromagnetic block 403d is slidably inserted in the sliding groove 402a, the second elastic member 403f is a compression spring, the second elastic member 403f is fixedly connected between the electromagnetic block 403d and the limit plate 402b, the sensing strip 403e is fixedly installed on the inner wall of the sliding groove 402a, and a bellows 403c is fixedly connected between the connecting tube 403b and the electromagnetic block 403d.

[0027] Specifically, the compressed gas in the first airbag 403 enters the bellows 403c through the connecting tube 403b. The gas pushes the electromagnetic block 403d to slide in the sliding groove 402a. The elastic force of the second elastic member 403f is less than the pressure of the gas. The electromagnetic block 403d pushes and compresses the second elastic member 403f. Before the top surface of the fixed seat 401 completely contacts the cargo plate 500, the sensor bar 403e determines whether the support position of the telescopic fork 300 needs to be adjusted by monitoring the sliding position of the two electromagnetic blocks 403d.

[0028] Furthermore, the weights detected by the detection unit at the two locations do not need to be identical, but must be within a tolerance. If one electromagnetic block 403d has slid close to the limit plate 402b, but the other electromagnetic block 403d has not yet fully slid to the position of the sensing bar 403e, the position of the telescopic fork 300 must be adjusted. Third, when the detection unit moves away from the cargo plate 500, the sliding portion loses its pushing force, and the second elastic member 403f releases its elasticity, pushing the electromagnetic block 403d back to its original position.

[0029] It should be noted that an unbalanced cargo weight means that the center of gravity deviates from the center of the cargo pallet 500, resulting in different horizontal distances from the center of gravity to the first elastic members 403a on both sides. When the spring pushes on the cargo pallet 500, to prevent the pallet from rotating, the torque generated by the thrust of the first elastic members 403a on both sides must be balanced. Due to the different distances, the thrust is inevitably unequal (the farther the distance, the smaller the thrust; the closer the distance, the larger the thrust). Furthermore, because the two first elastic members 403a have the same elastic modulus, the difference in thrust directly leads to different deformations: the side with greater thrust experiences greater deformation, while the side with less thrust experiences less deformation. Therefore, unbalanced cargo weight inevitably causes different deformations of the two first elastic members 403a.

[0030] The process of the telescopic fork 300 pushing the detection unit up is slow. It will not rise continuously until the fixed seat 401 completely reaches the bottom of the cargo plate 500. Instead, there will be a 3-second pause when the sliding part changes its displacement, so that the sensor bar 403e can judge the position of the electromagnetic block 403d. Then, the fixed seat 401 is pushed completely to the bottom of the cargo plate 500, and the ball 404b is completely lowered into the first cavity 402.

[0031] like Figure 1 and Figure 2 As shown, the loading and unloading mechanism 200 also includes a sliding seat 201, a support seat 202, and a protective frame 203. The sliding seat 201 is slidably installed on the frame. The sliding seat 201 is controlled by the frame to drive the support seat 202 to rise and fall. The support seat 202 is fixedly connected to one side of the sliding seat 201. The protective frame 203 is fixedly installed on the support seat 202. When the telescopic fork 300 transports the goods to the support seat 202, the protective frame 203 limits the position of the goods.

[0032] The support base 202 is fixedly mounted with a connecting plate 202a, which limits the movement range of the two sets of telescopic forks 300 to prevent the two sets of telescopic forks 300 from moving too far, resulting in a change in the center of gravity of the support base 202. The driving assembly includes a threaded rod 202b rotatably mounted between the connecting plate 202a and the support base 202 and two sliding rods 202c fixedly mounted on the support base 202. The threads on the two sets of threaded rods 202b rotate in opposite directions. Two motors (not shown in the figure) are symmetrically arranged on the support base 202, and the two motors are connected to the two screw rods 202c. The threaded rods 202b rotate coaxially in a one-to-one correspondence. Three sliders 202d are fixedly installed at the bottom of the two sets of telescopic forks 300. One of the sliders 202d has a threaded groove on the inner ring, and the sliding seat 201 is threadedly sleeved on the threaded rod 202b. The other two sliders 202d are slidably sleeved on the sliding rod 202c. The sliding rod 202c limits the movement of the telescopic motor to prevent the telescopic motor from rotating together with the threaded rod 202b. The motor controls the horizontal movement of the telescopic forks 300 through the threaded rod 202b, thereby adjusting the center of gravity of the freight plate 500 relative to the two sets of telescopic forks 300.

[0033] Unlike a single bidirectional threaded rod 202b, in which both telescopic forks 300 rotate together when the two telescopic forks 300 rotate, the purpose of providing two sets of drive assemblies is to provide two independently rotatable threaded rods 202b, and to adjust the telescopic fork 300 on the heavier side according to the lever principle, which is conducive to finding the balance on the cargo plate 500 more quickly. Specifically, the measurement results of the measuring unit are transmitted to the system via electrical signals. The system compares the measurement results of the two sets of detection units to determine whether the weights on the left and right sides of the stacker are within tolerance. If the system detects that the left telescopic fork 300 is carrying a heavier load, it activates the left drive assembly, causing its left threaded rod to rotate, moving the left telescopic fork 300 a certain distance away from the right telescopic fork 300. This is because, according to the principle of leverage, increasing the lever arm length of the heavier fork can increase the torque on that side while maintaining the same weight, thereby offsetting the imbalance caused by the heavier weight. Conversely, if the right telescopic fork 300 is carrying a heavier load, the system activates the right drive assembly, causing its right threaded rod to rotate, moving the right telescopic fork 300 a certain distance away from the left telescopic fork 300. During the adjustment process, the system obtains real-time weight data from both sides through the detection units. When the weight difference between the two sides returns to the tolerance range, the corresponding drive assembly is immediately stopped, completing the position adjustment.

[0034] Example 2 The difference between this embodiment and the first embodiment is that this embodiment provides a solution for strengthening the connection between the detection unit and the freight plate 500. Specifically, the general freight plate 500 has the problem of inconsistent sizes, and in order to efficiently utilize the warehouse, the three-dimensional warehouse will place goods on both sides of the stacker track, and the two-way telescopic fork 300 can take the goods out from the shelf without the stacker rotating in the same direction. Therefore, it is inconvenient to set limit devices on both sides of the detection unit. Without the limit devices, the freight plate 500 is still prone to sliding and offset relative to the telescopic fork 300 during transportation. Figure 2 、 Figure 3 and Figure 6 As shown, the limiting assembly is used to strengthen the connection between the fixed seat 401 and the freight board 500. A second cavity 402c is opened on the fixed seat 401. The limiting assembly is arranged in the second cavity 402c. The limiting assembly includes a second airbag 405 arranged in the fixed seat 401 and a plurality of clips 405a slidably inserted on the fixed seat 401. The freight board 500 includes a hole-groove type freight board 500 and a strip-groove type freight board 500. The clip 405a of the limiting assembly can adapt to different types of freight boards 500. The detection assembly controls the deformation of the second airbag 405 to realize the adaptive clamping of the clip 405a to the freight board 500.

[0035] Specifically, such as Figure 3 and Figure 4As shown, a guide groove 402d is vertically opened in the fixed seat 401, and the two ends of the guide groove 402d are respectively connected to the second cavity 402c and the sliding groove 402a, and the upper end of the guide groove 402d is fixedly connected to the guide tube 402e connected to the second airbag 405. The guide groove 402d and the sliding groove 402a are both filled with gas. When the two electromagnetic blocks 403d slide toward each other, the electromagnetic block 403d pushes the gas in the sliding groove 402a to flow into the guide groove 402d. The gas enters the second airbag 405 through the guide groove 402d and the guide tube 402e, causing the second airbag 405 to expand. The second airbag 405 pushes the clamp 405a to rise and insert into the hole groove of the freight plate 500, thereby realizing the limitation of the freight plate 500 by using the clamp 405a.

[0036] The second cavity 402c is provided with a plurality of horn holes 405c corresponding to the card 405a one-to-one. By providing the horn holes 405c, when the card 405a is tilted and deflected, the enlarged aperture limits the deflection range of the card 405a, and the edge of the hole will not cause wear and bending to the card 405a. The card 405a is slidably inserted into the horn hole 405c, and the same limiting airbag 405b is sleeved on the outside of the plurality of card members 405a. When the card 405a rises, the limiting airbag 405b plays a role in assisting the card 405a to maintain a vertical state. When the card 405a is tilted due to the obstruction of the through hole 501 of the freight plate 500, the limiting airbag 405b also plays a role in assisting the card 405a to tilt, thereby ensuring that the card 405a can maintain the limiting effect even in the tilted state.

[0037] Furthermore, the card parts 405a are divided into card connectors and booster parts. When all the card parts 405a are inserted into the through holes 501 of the freight plate 500, the card parts 405a are all card connectors. When some of the card parts 405a are inserted into the through holes 501 of the freight plate 500, the card parts 405a inserted into the through holes 501 are card connectors, and the card parts 405a without the through holes 501 become booster parts. The booster parts reversely squeeze the second airbag 405, and the second airbag 405 further pressurizes and pushes the card connector, thereby strengthening the support for the card connector.

[0038] Furthermore, the upper part of the card 405a is a cylindrical structure, and the cylindrical structure part slides up and down in the horn hole 405c and the limiting airbag 405b to limit the through hole 501 of the freight plate 500. The upper end of the card 405a is provided with an annular chamfer. When the end of the card 405a is at the edge of the through hole 501 of the freight plate 500, the chamfer is conducive to guiding the edge of the through hole 501 to push the card 405a to tilt, thereby facilitating more card 405a to be inserted into the through hole 501, and the annular chamfer can better help the card 405a adapt to the different shapes of the freight plate 500 slots. The lower part of the card 405a is a spherical structure. The spherical structure can increase the contact area between the card 405a and the second airbag 405, thereby avoiding the problem of the card 405a puncturing the second airbag 405 and helping the card 405a to tilt.

[0039] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A stacking and loading and unloading structure of a stacker, characterized by: include: A main unit comprising a body (100) on which two sets of telescopic forks (300) are provided; An adjustment unit (400) includes a fixed seat (401) fixedly mounted on the telescopic end of the telescopic fork (300), two sliding parts and a detection unit fixedly connected to the sliding parts being symmetrically arranged in the fixed seat (401), and the detection unit is controlled by the displacement of the two sets of sliding parts to measure the weight of the cargo at both ends of the fixed seat (401); A limiting assembly comprises a second airbag (405) disposed within a fixing seat (401) and a plurality of clips (405a) slidably inserted into the fixing seat (401). The limiting assembly is used to strengthen the connection between the fixing seat (401) and the freight plate (500). The detection assembly controls the deformation of the second airbag (405) to achieve adaptive clipping of the clips (405a) to the freight plate (500).

2. The stacking and loading and unloading structure of the stacker according to claim 1, characterized in that: Two groups of first cavities (402) are symmetrically provided in the fixing seat (401), the sliding portion comprises a first airbag (403) fixedly installed in the first cavity (402), a limiting slide (404) fixedly installed on the upper end of the first airbag (403), a limiting ball seat (404a) fixedly connected to the limiting slide (404), a ball (404b) rollingly inserted into the limiting ball seat (404a), and a first elastic member (403a) fixedly connected between the limiting slide (404) and the bottom of the first cavity (402).

3. The stacking and loading and unloading structure of the stacker according to claim 1, characterized in that: A sliding groove (402a) is provided in the fixing seat (401), a limiting plate (402b) is fixedly installed at the center of the sliding groove (402a), the detection unit comprises a connecting tube (403b) fixedly connected to the first airbag (403) and the end of the sliding groove (402a), and an electromagnetic block (403d) slidably inserted into the sliding groove (402a), a second elastic member (403f) is fixedly connected between the electromagnetic block (403d) and the limiting plate (402b), and a sensing strip (403e) is fixedly installed on the inner wall of the sliding groove (402a).

4. The stacking and loading and unloading structure of the stacker according to claim 3, characterized in that: A bellows (403c) is fixedly connected between the connecting pipe (403b) and the electromagnetic block (403d).

5. The stacking and loading and unloading structure of the stacker according to claim 1, characterized in that: A second cavity (402c) is provided on the fixing seat (401), the limiting assembly is arranged in the second cavity (402c), a plurality of horn holes (405c) corresponding one-to-one to the clamping members (405a) are provided on the second cavity (402c), the clamping members (405a) are slidably inserted in the horn holes (405c), and the outer sides of the plurality of clamping members (405a) are provided with a same limiting airbag (405b).

6. The stacking and loading and unloading structure of the stacker according to claim 1, characterized in that: The clamping parts (405a) are divided into clamping parts and pressurizing parts. When all the clamping parts (405a) are inserted into the through holes (501) of the freight plate (500), the clamping parts (405a) are all clamping parts. When some of the clamping parts (405a) are inserted into the through holes (501) of the freight plate (500), the clamping parts (405a) inserted into the through holes (501) are clamping parts, and the clamping parts (405a) without the through holes (501) become pressurizing parts due to reverse extrusion of the second airbag (405).

7. The stacking and loading and unloading structure of a stacker according to claim 1, characterized in that: The upper portion of the clamping member (405a) is a cylindrical structure, and an annular chamfer is provided at the upper end of the clamping member (405a), and the lower portion of the clamping member (405a) is a spherical structure.

8. The stacking and loading and unloading structure of a stacker according to claim 1, characterized in that: A guide groove (402d) is vertically provided in the fixing seat (401), and the two ends of the guide groove (402d) are respectively connected to the second cavity (402c) and the sliding groove (402a), and the upper end of the guide groove (402d) is fixedly connected to a guide tube (402e) connected to the second airbag (405).

9. The stacking and loading and unloading structure of a stacker according to claim 1, characterized in that: The machine body (100) is provided with a loading and unloading mechanism (200), which comprises a sliding seat (201), a supporting seat (202), a protective frame (203), and two sets of driving components. The sliding seat (201) is slidably mounted on the frame, the supporting seat (202) is fixedly connected to one side of the sliding seat (201), and the protective frame (203) is fixedly mounted on the supporting seat (202). The two sets of driving components correspond to the two sets of telescopic forks (300) respectively.

10. The stacking and loading and unloading structure of the stacker according to claim 9, characterized in that: A connecting plate (202a) is fixedly mounted on the support seat (202), and the driving assembly comprises a threaded rod (202b) rotatably mounted between the connecting plate (202a) and the support seat (202), and two sliding rods (202c) fixedly mounted on the support seat (202). Three sliding blocks (202d) are fixedly mounted on the bottom of each of the two sets of telescopic forks (300), wherein the inner ring of one of the sliding blocks (202d) is provided with a threaded groove, and the sliding seat (201) is threadedly sleeved on the threaded rod (202b), and the remaining two sliding blocks (202d) are slidably sleeved on the sliding rod (202c).

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