A stacker balancing device in an automated stereoscopic warehouse and an automated stereoscopic warehouse

Abstract

The present invention discloses a stacker balancing device in an automated stereoscopic warehouse, comprising: a stacker and two groups of shelf groups fixed in series on the left and right sides of the stacker; each group of shelf groups is provided with at least one first guide rail installed horizontally and with a guide rail bearing surface facing the stacker side, and a first guide wheel rolling along the guide rail bearing surface is correspondingly provided on the stacker side wall opposite to the guide rail bearing surface of each first guide rail; each group of shelf groups is provided with at least one second guide rail installed horizontally and with an upper guide rail bearing surface at the top and a lower guide rail bearing surface at the bottom, and a group of guide wheel groups are correspondingly provided on the stacker side wall opposite to each second guide rail, and each group of guide wheel groups is composed of an upper guide wheel rolling along the corresponding upper guide rail bearing surface and a lower guide wheel rolling along the corresponding lower guide rail bearing surface. The above device can greatly reduce the shaking and tilting amount of the stacker, thereby ensuring the normal operation of the stacker.

Description

Technical Field

[0001] The invention relates to the field of logistics automated warehousing equipment, and in particular to a stacker balancing device in an automated stereoscopic warehouse and an automated stereoscopic warehouse. Background Art

[0002] The automated high-bay warehouse is a new concept in intelligent logistics warehousing. It can achieve the goals of rationalizing storage in high-rise warehouse space, automating access, and simplifying operations. It is an indispensable automated warehousing equipment in modern logistics management.

[0003] The common automated three-dimensional warehouses on the market are mainly composed of at least one stacker, several shelves fixed on both sides of each stacker, a conveying system, a control system, etc. Each stacker has a set moving route. When goods need to be stored or retrieved, the corresponding stacker moves along the set moving route to the shelf where the goods need to be stored or retrieved. The stacker lifts the cargo platform on it to the cargo storage and retrieval port where the goods need to be stored or retrieved, and then the goods can be stored or retrieved.

[0004] However, the above-mentioned automated three-dimensional warehouse has the following main disadvantages:

[0005] ① Since the stacker is driven by the walking mechanism at the bottom, the bottom of the stacker is affected by the driving force, while the top of the stacker is not restricted. Therefore, when the stacker starts moving, stops moving, and changes speed, it will inevitably shake due to the instantaneous inertia force. The higher the height of the stacker, the greater the shaking. This will lead to inefficient storage and retrieval of goods, which is not conducive to the development towards higher storage heights and faster storage and retrieval speeds. In addition, the stacker is also very easy to be damaged.

[0006] ② When storing and retrieving goods, the center of gravity will shift when the fork on the cargo platform of the stacker is extended to the cargo access port of the corresponding shelf, and when the fork carries the goods back to the cargo platform. The higher the cargo platform on the stacker is, the easier it is for the stacker to tilt due to the shift in center of gravity and the deformation of the stacker column will increase. This will cause the fork on the cargo platform of the stacker to be unable to accurately position at the cargo access port, and in severe cases, it will cause subsequent cargo storage and retrieval operations to fail. Summary of the invention

[0007] The technical problem to be solved by the present invention is to provide a stacker balancing device in an automated stereoscopic warehouse which can greatly reduce the shaking and tilting of the stacker, thereby ensuring the normal operation of the stacker, and an automated stereoscopic warehouse using the stacker balancing device.

[0008] In order to solve the above problems, the technical solution adopted by the present invention is: the stacker balancing device in the automated stereoscopic warehouse comprises: a stacker and two groups of shelf groups fixed in series on the left and right sides of the stacker, each shelf group is composed of at least one shelf, and each cargo access opening on each shelf is facing the stacker side; when any shelf group is composed of two or more shelves, each shelf is arranged in sequence along the moving route of the stacker; at least one horizontally installed first guide rail is provided on each shelf group, and the guide rail bearing surfaces on each first guide rail are facing the stacker side, and when the guide rail bearing surfaces of each first guide rail are opposite to each other, the stacker side is provided with a plurality of guide rails, and the stacker side is provided with a plurality of guide rails, and the plurality of guide rails are ... A first guide wheel is respectively arranged on the side walls of the stacker, and when the stacker moves, each first guide wheel rolls along the corresponding guide rail supporting surface; at least one horizontally installed second guide rail is arranged on each group of shelf groups, the top of each second guide rail is an upper guide rail supporting surface, and the bottom of each second guide rail is a lower guide rail supporting surface, and a group of guide wheel groups are respectively arranged on the side walls of the stacker opposite to each second guide rail, and each guide wheel group consists of an upper guide wheel and a lower guide wheel. When the stacker moves, each upper guide wheel rolls along the corresponding upper guide rail supporting surface, and each lower guide wheel rolls along the corresponding lower guide rail supporting surface.

[0009] Furthermore, in the aforementioned stacker balancing device in an automated stereoscopic warehouse, a first adjusting guide structure is provided between each first guide wheel and the stacker so that each first guide wheel is always attached to the corresponding guide rail bearing surface.

[0010] Furthermore, in the aforementioned stacker balancing device in an automated stereoscopic warehouse, the first adjustment guide structure is as follows: a mounting frame with a horizontal mounting plate is fixedly arranged on the side wall of the stacker, a first accommodating groove penetrating the top and bottom surfaces of the horizontal mounting plate is opened inwardly at the middle part of the outer end surface of the horizontal mounting plate, thereby forming a first mounting arm and a second mounting arm extending outwardly at the outer end of the horizontal mounting plate, a fixing block with a through hole is fixedly arranged on the top or bottom surface of the second mounting arm, one end of the first guide block located on the same side as the fixing block is hinged to the first mounting arm, and the guide wheel shaft of the first guide wheel is vertically fixedly installed on the first guide block; a horizontal step through hole consisting of a first connecting through hole and a second connecting through hole is opened inwardly on the outer end surface of the other end of the first guide block, the first connecting through hole is located outside the second connecting through hole, and the aperture of the first connecting through hole is smaller than The first screw rod is connected with the guide wheel of the first control wheel, and the guide wheel shaft is connected with the guide wheel of the first control wheel to the first control wheel base. The guide wheel shaft of the first guide wheel is connected with the guide wheel of the first control wheel, and the guide wheel shaft of the first guide wheel is connected with the guide wheel bottom of the first control wheel.

[0011] Furthermore, in the aforementioned stacker balancing device in an automated stereoscopic warehouse, a first groove is provided inwardly on the outer end face of the fixed block for the end of the first spring to be inserted and engaged, and the two ends of the first spring respectively abut against the bottom of the first groove and the step surface of the horizontal step through hole.

[0012] Furthermore, in the aforementioned stacker balancing device in an automated stereoscopic warehouse, a second adjusting guide structure is provided between each guide wheel group and the stacker so that each upper guide wheel is always attached to the corresponding upper guide rail bearing surface.

[0013] The yoke is an angular channel structure formed on a pair of cylindrical rollers, the yoke is secured on a plurality of cylindrical rollers that are adapted to move relative to the second guide rails and to the second guide rails of the yoke. A vertical step through hole consisting of a third connecting through hole and a fourth connecting through hole is opened downwardly on the top surface of the other end of the guide block, the third connecting through hole is located above the fourth connecting through hole and the aperture of the third connecting through hole is larger than the aperture of the fourth connecting through hole; when the second guide block swings around the hinge point between the second guide block and the third mounting arm until the vertical step through hole is located above the threaded hole of the connecting block, the lower section of the second adjusting screw passes through the vertical step through hole and is tightened in the threaded hole of the connecting block, and the upper section of the second adjusting screw extends out of the vertical step through hole. After the second spring and the adjusting block with the through hole are inserted from the top of the second adjusting screw in turn, the third locking nut is locked on the threaded section of the second adjusting screw. Under the elastic force of the second spring, the two ends of the second spring respectively abut against the step surface of the vertical step through hole and the adjusting block, so that the upper guide wheel is always attached to the corresponding upper guide rail bearing surface; the guide wheel shaft of the upper guide wheel is located in the second accommodating groove, and an adjustment gap is left between the guide wheel shaft of the upper guide wheel and the bottom of the second accommodating groove.

[0014] Furthermore, in the aforementioned stacker balancing device in an automated stereoscopic warehouse, a second groove is provided inwardly on the bottom surface of the adjustment block for the top end of the second spring to be inserted and engaged, and the two ends of the second spring respectively rest against the bottom of the second groove and the step surface of the vertical step through hole.

[0015] Furthermore, in the aforementioned stacker balancing device in an automated stereoscopic warehouse, the number of first guide rails on the two groups of shelves is the same, and the first guide rails located in the same row on the two groups of shelves are located at the same height; the number of second guide rails on the two groups of shelves is the same, and the second guide rails located in the same row on the two groups of shelves are located at the same height.

[0016] An automated stereoscopic warehouse comprises a stacker balancing device of the above structure.

[0017] The beneficial effects of the present invention are: ① the device has a simple structure, is easy to install, has a low cost, and greatly extends the service life of the stacker; ② when storing and retrieving goods, during the process of extending or retracting the forks on the cargo platform of the stacker, the stacker is supported by the cooperation of each first guide wheel and the corresponding first guide rail, thereby greatly reducing the inclination of the stacker, and the positioning accuracy of the forks on the cargo platform when storing and retrieving goods is high; ③ at the moment of starting the movement, the moment of stopping the movement, and the process of changing speed, the stacker is supported by the cooperation of each guide wheel group and the corresponding second guide rail, thereby greatly reducing the shaking of the stacker and improving the storage and retrieval efficiency of the stacker, which is conducive to the development of automated stereoscopic warehouses with higher storage heights and faster cargo storage and retrieval speeds. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of a stacker balancing device in an automated stereoscopic warehouse described in the present invention.

[0019] Figure 2 yes Figure 1 Schematic diagram of the structure from a top-down perspective.

[0020] Figure 3 yes Figure 1 Schematic diagram of the stacker structure from the left side.

[0021] Figure 4 yes Figure 1 Schematic diagram of the local enlarged structure of part A.

[0022] Figure 5 yes Figure 4 Schematic diagram of the partial three-dimensional structure of the second adjustment guide structure.

[0023] Figure 6 yes Figure 5 Schematic diagram of the local internal structure in the C direction.

[0024] Figure 7 yes Figure 1 Schematic diagram of the local enlarged structure of part B.

[0025] Figure 8 yes Figure 7 Schematic diagram of the three-dimensional structure of the first adjustment guide structure.

[0026] Fig. 9 yes Figure 8 Schematic diagram of the local internal structure in the D direction. DETAILED DESCRIPTION

[0027] The technical solution of the present invention is further described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0028] The automated stereoscopic warehouse is mainly composed of at least one stacker, a number of shelves fixed on both sides of each stacker, a conveying system, a control system, etc., and each stacker has a set moving route. One way to classify stackers is to divide them into trackless stackers and rail stackers according to whether there are ground tracks. Another way to classify stackers is to divide them into single-column stackers and double-column stackers according to the form of columns. The stacker balancing device in the automated stereoscopic warehouse described in this embodiment is suitable for various stackers, and can be used for both trackless stackers and rail stackers, and can be used for both single-column stackers and double-column stackers. At present, rail stackers are more commonly used. This embodiment takes the application of the stacker balancing device in the automated stereoscopic warehouse to rail and single-column stackers as an example for explanation.

[0029] like Figure 1 , Figure 2 and Figure 3 As shown, each stacker 2 corresponds to a ground rail 1 installed horizontally on the ground, and the stacker 2 with a walking mechanism 21 at the bottom is movably set on the ground rail 1, and the track of the ground rail 1 is the moving route set for the stacker 2. The stacker balancing device in the automated stereoscopic warehouse described in this embodiment includes: a stacker 2 and two groups of shelf groups 3 arranged and fixed on the left and right sides of the stacker 2, each group of shelf groups 3 is composed of at least one shelf, and each cargo access port 31 on each shelf is facing the stacker side. When any shelf group 3 is composed of two or more shelves, the shelves are arranged in sequence along the moving route of the stacker 2.

[0030] like Figure 1 and Figure 7 As shown, in this embodiment, at least one horizontally installed first guide rail 4 is provided on each shelf group 3, and the guide rail bearing surface 41 on each first guide rail 4 faces the stacker side. A first guide wheel 81 is correspondingly provided on the stacker side wall opposite to the guide rail bearing surface 41 of each first guide rail 4. When the stacker 2 moves, each first guide wheel 81 rolls along the corresponding guide rail bearing surface 41. Figure 1 and Figure 4 As shown, in this embodiment, at least one horizontally installed second guide rail 5 is provided on each shelf group 3, the top of each second guide rail 5 is an upper guide rail bearing surface 51, the bottom of each second guide rail 5 is a lower guide rail bearing surface 52, and a group of guide wheel groups are respectively provided on the side wall of the stacker opposite to each second guide rail 5, and each guide wheel group is composed of an upper guide wheel 82 and a lower guide wheel 83. When the stacker 2 moves, each upper guide wheel 82 rolls along the corresponding upper guide rail bearing surface 51, and each lower guide wheel 83 rolls along the corresponding lower guide rail bearing surface 52.

[0031] The most preferred solution is that the number of first guide rails 4 on the two shelf groups 3 is the same, and the two first guide rails 4 in the same row on the two shelf groups 3 are at the same height. Here, "row" refers to a number of first guide rails arranged from bottom to top on each shelf group 3, and the position of the bottommost guide rail is located in the first row. In this way, the first guide rails arranged from bottom to top are respectively located in the first row, the second row, the third row, the fourth row, etc.

[0032] The number of the second guide rails 5 on the two rack groups 3 is the same, and the two second guide rails 5 in the same row on the two rack groups 3 are at the same height. The definition of "row" here is consistent with the above.

[0033] The most preferred solution is to provide a second guide rail 5 in the middle section of each shelf group 3 , and to provide a first guide rail 4 in the upper section and the lower section of each shelf group 3 .

[0034] To facilitate the installation of the first guide wheel 81 and reduce the installation accuracy requirement for the first guide wheel 81, in this embodiment, a first adjustment guide structure 6 is provided between each first guide wheel 81 and the stacker 2 so that each first guide wheel 81 is always attached to the corresponding guide rail supporting surface 41.

[0035] like Figure 7 , Figure 8 and Fig. 9As shown, the first adjustment guide structure 6 is as follows: a mounting frame 61 with a horizontal mounting plate 62 is fixedly arranged on the side wall of the stacker 2, a first receiving groove 620 penetrating the top and bottom surfaces of the horizontal mounting plate 62 is opened inwardly at the middle of the outer end surface of the horizontal mounting plate 62, so that the outer end of the horizontal mounting plate 62 forms a first mounting arm 621 and a second mounting arm 622 extending outwardly. A fixing block 67 with a through hole is fixedly arranged on the top or bottom surface of the second mounting arm 622, one end of the first guide block 63 located on the same side as the fixing block 67 is hinged on the first mounting arm 621, and the guide wheel shaft 811 of the first guide wheel 81 is vertically fixedly installed on the first guide block 63; a horizontal step through hole consisting of a first connecting through hole 631 and a second connecting through hole 632 is opened inwardly on the outer end surface of the other end of the first guide block 63, the first connecting through hole 631 is located outside the second connecting through hole 632, and the aperture of the first connecting through hole 631 is smaller than the aperture of the second connecting through hole 632. After the first guide block 63 swings around the hinge point f between the first guide block 63 and the first mounting arm 621 until the horizontal step through hole is opposite to the through hole on the fixed block 67, the horizontal step through hole is now located outside the fixed block 67, and the first adjusting screw 65 is inserted into the horizontal step through hole and the through hole on the fixed block 67, and a first locking nut 68 is screwed into the end of the first adjusting screw 65 extending out of the through hole on the fixed block 67, and a second locking nut 69 is screwed into the end of the first adjusting screw 65 extending out of the horizontal step through hole, and a first spring 66 is sleeved on the first adjusting screw 65 located between the fixed block 67 and the step surface of the horizontal step through hole. Under the elastic force of the first spring 66, the two ends of the first spring 66 respectively abut against the step surface of the horizontal step through hole and the fixed block 67, so that the first guide wheel 81 is always attached to the corresponding guide rail bearing surface 41. At this time, the guide wheel shaft 811 of the first guide wheel 81 is located in the first receiving groove 620, and an adjustment gap is left between the guide wheel shaft 811 of the first guide wheel 81 and the bottom of the first receiving groove 620. During the actual installation and debugging process, the locking position of the first locking nut 68 and the second locking nut 69 on the first adjusting screw 65 can be adjusted according to actual needs, thereby adjusting the preload force of the first spring 66. During the use of the stacker 2, the first adjustment guide structure 6 also has a buffering effect.

[0036] In order to enable the end of the first spring 66 to better abut against the fixed block 67, a first groove 671 is opened inwardly on the outer end surface of the fixed block 67 in this embodiment for the end of the first spring 66 to extend into and engage with, and the two ends of the first spring 66 respectively abut against the bottom of the first groove 671 and the step surface of the horizontal step through hole.

[0037] To facilitate the installation of the upper guide wheels 82 and reduce the installation accuracy requirements for the upper guide wheels 82, in this embodiment, a second adjustment guide structure 7 is provided between each guide wheel group and the stacker 2 to ensure that each upper guide wheel 82 is always attached to the corresponding upper guide rail bearing surface 51.

[0038] like Figure 4 , Figure 5 and Figure 6 As shown, the second adjustment guide structure 7 is as follows: a second mounting frame 71 with a vertical mounting plate 72 is fixedly arranged on the side wall of the stacker 2, and the inner side surface of the vertical mounting plate 72 faces the side wall of the stacker opposite to the corresponding second guide track 5. A second receiving groove 720 is downwardly opened in the middle of the top surface of the vertical mounting plate 72, penetrating the inner side surface and the outer side surface of the vertical mounting plate 72, so that the upper section of the vertical mounting plate 720 forms a third mounting arm 721 and a fourth mounting arm 722 extending upward; the guide wheel shaft 831 of the lower guide wheel 83 is horizontally fixedly installed on the vertical mounting plate 72 below the second receiving groove 720, and the lower guide wheel 83 is located on the outer side of the vertical mounting plate 72. A connecting block 74 is fixedly arranged on the inner side surface or the outer side surface of the fourth mounting arm 722, and a threaded hole 741 capable of being screwed with the threaded section on the second adjustment screw 75 is downwardly opened on the top surface of the connecting block 74. One end of the second guide block 73 located on the same side as the connecting block 74 is hinged on the third mounting arm 721, and the guide wheel shaft 821 of the upper guide wheel 82 is horizontally fixedly mounted on the second guide block 73. A vertical step through hole consisting of a third connecting through hole 731 and a fourth connecting through hole 732 is opened downward on the top surface of the other end of the second guide block 73, and the third connecting through hole 731 is located above the fourth connecting through hole 732 and the aperture of the third connecting through hole 731 is larger than the aperture of the fourth connecting through hole 732. When the second guide block 73 swings around the hinge point e between the second guide block 73 and the third mounting arm 721 until the vertical step through hole is located above the threaded hole 741 of the connecting block 74, the lower section of the second adjusting screw 75 passes through the vertical step through hole and is screwed into the threaded hole 741 of the connecting block 74, and the upper section of the second adjusting screw 75 extends above the vertical step through hole. After the second spring 76 and the adjusting block 77 with a through hole are inserted from the top of the second adjusting screw 75 in sequence, the third locking nut 78 is locked on the threaded section of the second adjusting screw 75. Under the elastic force of the second spring 76, the two ends of the second spring 76 respectively abut against the step surface of the vertical step through hole and the adjusting block 77, so that the upper guide wheel 82 is always attached to the corresponding upper guide rail bearing surface 51. At this time, the guide wheel shaft 821 of the upper guide wheel 82 is located in the second receiving groove 720, and an adjustment gap is left between the guide wheel shaft 821 of the upper guide wheel 82 and the bottom of the second receiving groove 720. During the actual installation and debugging process, the locking position of the third locking nut 78 on the second adjusting screw 75 can be adjusted according to actual needs, thereby adjusting the preload force of the second spring 76. The second adjustment guide structure 7 also has a buffering effect.

[0039] In order to enable the end of the second spring 76 to better abut against the adjusting block 77, in this embodiment, a second groove 771 is opened inwardly on the bottom surface of the adjusting block 77 for the top end of the second spring 76 to extend into and engage with, and the two ends of the second spring 76 respectively abut against the bottom of the second groove 771 and the step surface of the vertical step through hole.

[0040] The automated stereoscopic warehouse described in this embodiment is composed of at least one stacker 2, each stacker 2 corresponds to two groups of shelf groups 3, and a stacker balancing device in the automated stereoscopic warehouse described in this embodiment is arranged between each stacker 2 and the corresponding two groups of shelf groups 3.

[0041] The above description is only a preferred embodiment of the present invention and does not constitute any other form of limitation to the present invention. Any modification or equivalent change made based on the technical essence of the present invention still falls within the scope of protection required by the present invention.

[0042] The advantages of the present invention are: ① The device has a simple structure, is easy to install, has low cost, and greatly extends the service life of the stacker; ② When storing and retrieving goods, during the extension or retraction of the fork on the cargo platform 22 on the stacker 2, the stacker 2 is supported by the cooperation of each first guide wheel 81 and the corresponding first guide rail 4, thereby greatly reducing the inclination of the stacker 2, and the positioning accuracy of the fork on the cargo platform 22 when storing and retrieving goods is high; ③ At the moment of starting the movement, the moment of stopping the movement, and the process of changing speed, the stacker 2 is supported by the cooperation of each guide wheel group and the corresponding second guide rail 5, thereby greatly reducing the shaking of the stacker 2 and improving the storage and retrieval efficiency of the stacker 2, which is conducive to the development of automated stereoscopic warehouses with higher storage heights and faster cargo storage and retrieval speeds.

Claims

1. A stacker balancing device in an automated stereoscopic warehouse, comprising: A stacker and two groups of shelf groups fixed in series on the left and right sides of the stacker, each shelf group is composed of at least one shelf, and each cargo access opening on each shelf is facing the stacker side; when any shelf group is composed of more than two shelves, the shelves are arranged in sequence along the moving route of the stacker; it is characterized in that: at least one horizontally installed first guide rail is arranged on each shelf group, the guide rail bearing surface of each first guide rail is facing the stacker side, and a first guide rail is correspondingly arranged on the side wall of the stacker opposite to the guide rail bearing surface of each first guide rail When the stacker moves, each first guide wheel rolls along the corresponding guide rail bearing surface; at least one horizontally installed second guide rail is provided on each group of shelf groups, the top of each second guide rail is an upper guide rail bearing surface, and the bottom of each second guide rail is a lower guide rail bearing surface. A group of guide wheel groups are respectively provided on the side walls of the stacker opposite to each second guide rail, and each guide wheel group is composed of an upper guide wheel and a lower guide wheel. When the stacker moves, each upper guide wheel rolls along the corresponding upper guide rail bearing surface, and each lower guide wheel rolls along the corresponding lower guide rail bearing surface; A first adjusting guide structure is provided between each first guide wheel and the stacker so that each first guide wheel is always attached to the corresponding guide rail bearing surface; The first adjustment guide structure is as follows: a mounting frame with a horizontal mounting plate is fixedly arranged on the side wall of the stacker, a first accommodating groove is opened inwardly at the middle of the outer end surface of the horizontal mounting plate and penetrates the top surface and the bottom surface of the horizontal mounting plate, so that the outer end of the horizontal mounting plate forms a first mounting arm and a second mounting arm extending outward, a fixing block with a through hole is fixedly arranged on the top surface or the bottom surface of the second mounting arm, one end of the first guide block located on the same side as the fixing block is hinged on the first mounting arm, and the guide wheel shaft of the first guide wheel is vertically fixedly installed on the first guide block; a horizontal step through hole composed of a first connecting through hole and a second connecting through hole is opened inwardly on the outer end surface of the other end of the first guide block, the first connecting through hole is located outside the second connecting through hole, and the aperture of the first connecting through hole is smaller than the aperture of the second connecting through hole; the first guide block is arranged around After the hinge point between the first guide block and the first mounting arm swings to the point where the horizontal step through hole and the through hole on the fixed block are opposite to each other, the first adjusting screw is inserted into the horizontal step through hole and the through hole on the fixed block, a first locking nut is screwed into the end of the first adjusting screw extending out of the through hole on the fixed block, and a second locking nut is screwed into the end of the first adjusting screw extending out of the horizontal step through hole. A first spring is sleeved on the first adjusting screw located between the fixed block and the step surface of the horizontal step through hole. Under the elastic force of the first spring, the two ends of the first spring respectively press against the step surface of the horizontal step through hole and the fixed block, so that the first guide wheel is always attached to the corresponding guide rail bearing surface; the guide wheel shaft of the first guide wheel is located in the first accommodating groove, and an adjustment gap is left between the guide wheel shaft of the first guide wheel and the bottom of the first accommodating groove; A second adjusting guide structure is provided between each guide wheel group and the stacker so that each upper guide wheel is always attached to the corresponding upper guide rail bearing surface; The second adjusting device is a device for adjusting the second cam, and the second adjusting device is a device for adjusting the second cam, wherein the second guide wheel is annularly fixed to the side of the second guide wheel and the second guide wheel is adjacent to the guide wheel in the vertical direction. The third connecting through hole and the fourth connecting through hole constitute a vertical step through hole, the third connecting through hole is located above the fourth connecting through hole and the aperture of the third connecting through hole is larger than the aperture of the fourth connecting through hole; when the second guide block swings around the hinge point between the second guide block and the third mounting arm until the vertical step through hole is located above the threaded hole of the connecting block, the lower section of the second adjusting screw passes through the vertical step through hole and is tightened in the threaded hole of the connecting block, and the upper section of the second adjusting screw extends out of the vertical step through hole. After the second spring and the adjusting block with the through hole are successively inserted from the top of the second adjusting screw, the third locking nut is locked on the threaded section of the second adjusting screw. Under the elastic force of the second spring, the two ends of the second spring respectively abut against the step surface of the vertical step through hole and the adjusting block, so that the upper guide wheel is always attached to the corresponding upper guide rail bearing surface; the guide wheel shaft of the upper guide wheel is located in the second accommodating groove, and an adjustment gap is left between the guide wheel shaft of the upper guide wheel and the bottom of the second accommodating groove.

2. The stacker balancing device in an automated stereoscopic warehouse according to claim 1, characterized in that: A first groove for the end of the first spring to be inserted and embedded is provided inwardly on the outer end surface of the fixing block, and two ends of the first spring respectively abut against the bottom of the first groove and the step surface of the horizontal step through hole.

3. The stacker balancing device in an automated stereoscopic warehouse according to claim 1, characterized in that: A second groove is provided inwardly on the bottom surface of the adjusting block for the top end of the second spring to be inserted and locked, and two ends of the second spring respectively abut against the bottom of the second groove and the step surface of the vertical step through hole.

4. A stacker balancing device in an automated stereoscopic warehouse according to claim 1 or 2, characterized in that: The number of first guide rails on the two groups of shelves is the same, and the first guide rails in the same row on the two groups of shelves are at the same height; the number of second guide rails on the two groups of shelves is the same, and the second guide rails in the same row on the two groups of shelves are at the same height.

5. An automated stereoscopic warehouse, characterized in that: A stacker balancing device in an automated high-bay warehouse comprising any one of claims 1 to 4 above.

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