Stacker, three-dimensional warehouse structure containing the stacker, and goods conveying method

Abstract

The present invention provides a stacker, a three-dimensional warehouse structure including the stacker, and a goods conveying method. The stacker includes a stacker main body, a fork assembly, a Z-axis movement mechanism, a variable overhang bidirectional conveying mechanism, and a stacker electronic control unit. The Z-axis movement mechanism and the stacker electronic control unit are both installed on the stacker main body. The variable overhang bidirectional conveying mechanism is installed on the Z-axis movement mechanism, and the Z-axis movement mechanism can drive the variable overhang bidirectional conveying mechanism to move along the height direction of the stacker main body. The variable overhang bidirectional conveying mechanism includes a driving mechanism, a first transmission mechanism, a second transmission mechanism, an I-shaped plate, and a sliding plate. The sliding plate is installed on the Z-axis movement mechanism. The stacker provided by the present invention can adjust the overhang length of the stacker by freely adjusting the position of the fork assembly to meet the use in three-dimensional warehouses with different shelf spacing specifications.

Description

Technical Field

[0001] The present invention relates to the field of industrial stereoscopic warehouse manufacturing. Specifically, it relates to a stacker, a stereoscopic warehouse structure containing the stacker, and a cargo transportation method. In particular, it relates to the intelligent transportation equipment of a multi-task industrial stereoscopic warehouse. Specifically, it relates to an intelligent transportation equipment applicable to a multi-task industrial stereoscopic warehouse and its control method. Background Art

[0002] Automated industrial stereoscopic warehouses are usually required to be equipped in the key parts intelligent machining production lines of aerospace, automobiles, etc., which are responsible for the storage and logistics transfer of materials such as machined workpieces, tooling fixtures, and cutting tools. Currently, a stereoscopic warehouse is usually designed with a frame beam structure of a fixed size and unified, and the same shelf spacing is set, and transfer pallets of the same specification are configured. This kind of arrangement is convenient for picking and delivering goods with the same control strategy.

[0003] However, since the sizes of materials such as workpieces, fixtures, and cutting tools are different and the storage types are different, it is very easy to cause waste of space by adopting the same specification of shelf spacing; correspondingly, if multiple different specifications of shelf spacing are set, since most of the current stackers have a fixed overhang length during operation and can only be applicable to stereoscopic warehouses with the same shelf spacing, different specifications of stackers need to be configured for different specifications of shelf spacing, which will cause waste of resources and costs. Summary of the Invention

[0004] Aiming at the defects in the prior art, the purpose of the present invention is to provide a stacker.

[0005] A stacker according to the present invention includes a stacker main body, a fork assembly, a Z-axis movement mechanism, a variable overhang bidirectional conveying mechanism, and a stacker electronic control unit;

[0006] The Z-axis movement mechanism and the stacker electronic control unit are both installed on the stacker main body. The variable overhang bidirectional conveying mechanism is installed on the Z-axis movement mechanism, and the Z-axis movement mechanism can drive the variable overhang bidirectional conveying mechanism to move along the height direction of the stacker main body;

[0007] The variable overhang bidirectional conveying mechanism includes a driving mechanism, a first transmission mechanism, a second transmission mechanism, an I-shaped plate, and a sliding plate;

[0008] The sliding plate is installed on the Z-axis movement mechanism;

[0009] The driving mechanism is connected to the I-shaped plate through the first transmission mechanism, and the driving mechanism can drive the I-shaped plate to move between a first position and a second position along the length direction of the sliding plate through the first transmission mechanism;

[0010] The I-shaped plate can drive the fork assembly to move between a third position and a fourth position along the length direction of the I-shaped plate through a second transmission mechanism;

[0011] The first position and the second position are respectively the positions when the I-shaped plate moves to the left extreme and the right extreme of the slide plate; the third position and the fourth position are respectively the positions when the fork assembly moves to the left extreme and the right extreme of the slide plate;

[0012] When the I-shaped plate is in the first position, the fork assembly moves to the third position, and the leftmost end of the fork assembly extends beyond the leftmost end of the slide plate. When the I-shaped plate is in the second position, the fork assembly moves to the fourth position, and the rightmost end of the fork assembly extends beyond the rightmost end of the slide plate.

[0013] Preferably, the fork assembly includes a fork, a fork support mother plate, and a connecting plate; the fork is detachably installed on the fork support mother plate, the fork support mother plate is detachably installed on the connecting plate; the connecting plate is detachably installed on the second transmission mechanism. Preferably, it further includes an electric control limit self-locking unit; the electric control limit self-locking unit includes a pneumatic brake structure for locking the I-shaped plate.

[0014] Preferably, the Z-axis movement mechanism includes a Z-axis motor, a lead screw, and a nut platform;

[0015] The Z-axis motor can drive the lead screw to rotate along its own axis, the nut platform is sleeved on the lead screw, and can move up and down along the length direction of the lead screw as the lead screw rotates; the variable overhang double-direction conveying mechanism is installed on the nut platform.

[0016] Preferably, the driving mechanism includes a motor and a motor gear; the motor gear is installed on the output shaft of the motor, and the motor gear is in transmission connection with the first transmission mechanism; the motor can drive the I-shaped plate to move between the first position and the second position through the first transmission mechanism.

[0017] Preferably, the first transmission mechanism includes a rack; the rack is firmly installed on the I-shaped plate and meshes with the driving mechanism.

[0018] Preferably, the second transmission mechanism includes a sprocket, a chain, an upper guide rail, and a lower guide rail;

[0019] The I-shaped plate is movably connected to the slide plate through the lower guide rail;

[0020] The upper guide rail is movably connected to the I-shaped plate; the fork assembly is detachably connected to the upper guide rail;

[0021] The sprocket is installed on the I-shaped plate;

[0022] One end of the chain is connected to the fork assembly, and the other end is connected to the slide plate, and the chain is matched with the sprocket; the I-shaped plate can drive the sprocket so that the chain pulls the fork assembly to move between the third position and the fourth position.

[0023] Preferably, the second transmission mechanism further includes a chain connection block;

[0024] The number of chain connection blocks is twice that of the chain and is distributed at both ends of the chain.

[0025] A three-dimensional warehouse structure including a stacker according to the present invention further includes a three-dimensional warehouse shelf body, a replaceable fork storage unit, an automatic blanking table, and a three-dimensional warehouse electronic control unit;

[0026] The three-dimensional warehouse shelf body includes a plurality of shelves, and the distances between the plurality of shelves are not completely the same; the shelves include a plurality of storage grids with different sizes;

[0027] The three-dimensional warehouse shelf body has an inlet and outlet, and the replaceable fork storage unit and the automatic blanking table are arranged outside the three-dimensional warehouse shelf body;

[0028] The three-dimensional warehouse shelf body, the replaceable fork storage unit, the automatic blanking table, and the stacker are all signal-connected to the three-dimensional warehouse electronic control unit.

[0029] A cargo transportation method according to the present invention, using the three-dimensional warehouse structure including a stacker, further includes the following steps:

[0030] S1. The three-dimensional warehouse electronic control unit obtains the current cargo instruction to be picked up and delivered, and controls the stacker to match an appropriate replaceable fork from the replaceable fork storage unit according to the type of the cargo to be picked up and delivered;

[0031] S2. The three-dimensional warehouse electronic control unit adjusts the overhang length of the stacker to adapt to the shelf distance of the task corresponding point by identifying the shelf distance of the task corresponding point according to the position of the cargo to be picked up and delivered in the three-dimensional warehouse shelf body, and locks the I-shaped plate through the electric control limit self-locking unit;

[0032] S3. The three-dimensional warehouse electronic control unit controls the stacker to move to the storage grid of the task corresponding point, unlocks the electronic control unit, and then controls the fork assembly to move along the upper guide rail through the stacker electronic control unit to realize the picking up and delivering of the materials.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] 1. The stacker provided by the present invention can adjust the overhang length of the stacker by freely adjusting the position of the fork assembly to meet the use in a stereoscopic warehouse with different shelf spacings.

[0035] 2. The stereoscopic warehouse structure containing the stacker provided by the present invention has multiple shelf spacings that are not completely the same, which can reasonably utilize the space and make the number of shelves in the stereoscopic warehouse more reasonable; the sizes of the storage grids in the shelves are not completely the same, which can accommodate more goods in the stereoscopic warehouse and realize the reasonable utilization of the space in the stereoscopic warehouse. Moreover, through the stacker provided by the present invention, the stacker can freely walk in the spaces with different shelf spacings, and at the same time, it also has the function of quickly replacing the forks, and can realize the picking and delivering of multiple types of materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Other features, objects, and advantages of the present invention will become more apparent by reading the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0037] Figure 1 is a schematic structural diagram of the stacker of the present invention;

[0038] Figure 2 is a front view structural diagram when the I-beam plate of the bidirectional conveying mechanism with variable overhang is in the first position;

[0039] Figure 3 is Figure 2 a side view structural diagram of;

[0040] Figure 4 is Figure 2 a top view structural diagram of;

[0041] Figure 5 is a three-dimensional structural diagram of the bidirectional conveying mechanism with variable overhang;

[0042] Figure 6 is Figure 5 a structural diagram of the hidden fork assembly;

[0043] Figure 7 is a structural diagram of the stereoscopic warehouse containing the stacker of.

[0044] The figures show:

[0045] DETAILED DESCRIPTION OF THE EMBODIMENTS

[0046] The present invention will be described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several changes and improvements can still be made. These all belong to the protection scope of the present invention.

[0047] The present invention provides a stacker, as Figures 1-6 shown, which includes a stacker main body 16, a fork assembly, a Z-axis movement mechanism 12, a variable overhang bidirectional conveying mechanism 21, and a stacker electronic control unit; in a preferred example, the stacker is a flexible stacker

[0048] The Z-axis movement mechanism 12 and the stacker electronic control unit are both installed on the stacker main body 16. The variable overhang bidirectional conveying mechanism 21 is installed on the Z-axis movement mechanism 12, and the Z-axis movement mechanism 12 can drive the variable overhang bidirectional conveying mechanism 21 to move along the height direction of the stacker main body 16; the Z-axis movement mechanism 12 includes a Z-axis motor, a lead screw, and a nut platform; the Z-axis motor can drive the lead screw to rotate along its own axis, the nut platform is sleeved on the lead screw, and can move up and down along the length direction of the lead screw as the lead screw rotates; the variable overhang bidirectional conveying mechanism 21 is installed on the nut platform.

[0049] The variable overhang bidirectional conveying mechanism 21 includes a driving mechanism, a first transmission mechanism, a second transmission mechanism, an I-shaped plate 9, and a sliding plate 11; the sliding plate 11 is installed on the Z-axis movement mechanism 12; the driving mechanism is connected to the I-shaped plate 9 through the first transmission mechanism, and the driving mechanism can drive the I-shaped plate 9 to move between a first position and a second position along the length direction of the sliding plate 11 through the first transmission mechanism; the I-shaped plate 9 can drive the fork assembly to move between a third position and a fourth position along the length direction of the I-shaped plate 9 through the second transmission mechanism;

[0050] The first position and the second position are respectively the positions when the I-shaped plate 9 moves to the left limit and the right limit of the sliding plate 11; the third position and the fourth position are respectively the positions when the fork assembly moves to the left limit and the right limit of the sliding plate 11; when the I-shaped plate 9 is in the first position, the fork assembly moves to the third position, the leftmost end of the fork assembly extends beyond the leftmost end of the sliding plate 11, and the rightmost end of the fork assembly does not extend beyond the rightmost end of the sliding plate 11; when the I-shaped plate 9 is in the second position, the fork assembly moves to the fourth position, the rightmost end of the fork assembly extends beyond the rightmost end of the sliding plate 11, and the leftmost end of the fork assembly does not extend beyond the leftmost end of the sliding plate 11.

[0051] The stacker can adjust the overhang length of the stacker by adjusting the position of the fork assembly.

[0052] The drive mechanism includes a motor and a motor gear. The motor is a bidirectional motor, and the motor gear is mounted on the motor output shaft. The motor gear is in transmission connection with the first transmission mechanism. The motor is capable of driving the I-shaped plate 9 between a first position and a second position via the first transmission mechanism. The first transmission mechanism includes a rack. The rack is securely mounted on the I-shaped plate 9 and meshes with the drive mechanism. Specifically, the rack meshes with the motor gear. More specifically, the gear at the end of the drive motor drives the I-shaped plate 9 to extend and retract smoothly on both sides of the lower guide rail 10.

[0053] The second transmission mechanism includes a sprocket 19, a chain 13, an upper guide rail 7, a lower guide rail 10, a chain connecting block 18, a position adjustment structure, and a rolling bearing 8. The upper guide rail 7 and the lower guide rail 10 are both C-shaped guide rails. The I-shaped plate 9 is movably connected to the slide 11 via the lower guide rail 10. Specifically, the lower guide rail 10 can be mounted on the slide 11 via vertical or lateral screws. The upper guide rail 7 is movably connected to the I-shaped plate 9. In a preferred embodiment, rolling bearings 8 are provided between the I-shaped plate 9 and the upper guide rail 7, and between the I-shaped plate 9 and the lower guide rail 10. More specifically, multiple rows of rolling bearings 8 are arranged on the I-shaped plate 9, one of which rolls in the C-shaped track of the lower guide rail 10, thereby ensuring that the I-shaped plate 9 moves smoothly and accurately on the lower guide rail 10. The I-shaped plate 9 can extend from the lower guide rail 10 and transfer the weight borne by the I-shaped plate 9 to the lower guide rail; another row of rolling bearings 8 rolls in the C-shaped track of the upper guide rail 7, ensuring that the upper guide rail 7 moves smoothly and accurately on the I-shaped plate 9. The upper guide rail 7 can extend and retract from both sides of the I-shaped plate 9 without any obstacles, transferring the weight borne by the upper guide rail 7 to the I-shaped plate 9. In addition, the motion positioning accuracy of the upper guide rail 7 on the I-shaped plate 9 can be controlled by adjusting the arrangement accuracy of the rolling bearings 8, thereby greatly increasing the overhang length while ensuring accuracy. It is worth noting that the design of the rolling bearings 8 makes the movable connection kinematic pair rolling rather than sliding, which greatly reduces the electrode load.

[0054] The fork assembly includes a fork 17, a fork support base plate 6, and a connecting plate 61. The fork 17 is detachably mounted on the fork support base plate 6, which is in turn detachably mounted on the connecting plate 61. The connecting plate 61 is detachably mounted on the second transmission mechanism. Specifically, the connecting plate 61 is detachably mounted on the upper guide rail 7. In a preferred embodiment, a fork quick-change mechanism is located behind the fork support base plate 6, enabling rapid and automatic replacement of forks. The fork quick-change mechanism may be a magnetic structure, a snap-fit structure, or other existing quick-change mechanisms.

[0055] The fork assembly is detachably connected to the upper guide rail 7; one end of the chain 13 is connected to the fork assembly, and the other end is connected to the slide plate 11. In a preferred example, the number of the chain connection blocks 18 is twice that of the chain, and they are distributed at both ends of the chain, that is, one end of the chain 13 is connected to the connecting plate 61 through the chain connection block 18, and the other end is connected to the slide plate 11 through the chain connection block 18. Preferably, the chain connection block 18 is connected to the connecting plate 61 through a position adjustment structure; the position adjustment structure can adjust the position of the chain connection block 18 to adjust the tension degree of the chain 13. Preferably, the position adjustment structure is a fixed block plus threaded screw structure. The fixed block is tightly connected to the connecting plate 61, and the threaded screw passes through the fixed block. One end of the screw is connected to the chain connection block 18, and the function of adjusting the position of the chain connection block 18 can be realized by rotating the other end of the screw.

[0056] The sprocket 19 is installed on the I-shaped plate 9, and the chain 13 is matched with the sprocket 19. In a preferred example, the number of both the sprocket 19 and the chain 13 is 2. The two sprockets 19 are symmetrically arranged along the I-shaped plate 9; the two chains 13 are symmetrically arranged along the I-shaped plate 9. Preferably, the two chains are respectively matched with the two sprockets 19 from opposite directions, and they act on each other in opposite directions.

[0057] The working principle of the variable overhang bidirectional conveying mechanism 21 is as follows:

[0058] The motor in the driving mechanism can drive the rack to move along the length direction of the I-shaped plate 9. Since the rack is tightly installed on the I-shaped plate 9, the I-shaped plate 9 will also move along its own length direction. And because the sprocket 19 is installed on the I-shaped plate 9, the sprocket 19 will move along with the movement of the I-shaped plate 9. At the same time, since the chain 13 is matched with the sprocket 19, the movement of the sprocket 19 will drive the chain 13 to move. However, since one end of the chain 13 is connected to the stationary slide plate 11, the chain 13 will drive the end connected to the connecting plate 61 to move, thereby achieving the effect of driving the connecting plate 61, that is, driving the fork to move. In a preferred example, the moving speed of the fork assembly is twice that of the moving speed of the I-shaped plate 9.

[0059] For the described stacker, it further includes an electric control limit self-locking unit 14; the electric control limit self-locking unit 14 includes a pneumatic brake structure. The electric control limit self-locking unit 14 is used to lock the I-shaped plate 9. When the upper guide rail and the fork assembly move to the specified position, the electric control limit self-locking unit 14 is locked, which is controlled by the electronic control unit of the stacker.

[0060] The stacker can freely change the overhang length by adjusting the position of the fork 17. The fork support base plate 6 can automatically and quickly replace the fork under the control of the electronic control unit of the stacker. By equipping the fork support base plate 6 with different replaceable forks, it can adapt to the movement of the large, medium, and small shelf spacings and the picking and delivering of shelf items, avoiding situations such as large forks being unable to pick and place items in small storage locations and small forks being unable to bear the weight of items in large storage locations, making the three-dimensional warehouse shelf body 1 more flexible and more reasonably distributed.

[0061] The present invention also provides a three-dimensional warehouse structure containing a stacker, as Figure 7 shown, including the stacker described above, and also including a three-dimensional warehouse shelf body 1, a replaceable fork storage unit 2, an automatic blanking table 3, and a three-dimensional warehouse electronic control unit 5;

[0062] Preferably, the three-dimensional warehouse shelf body 1 is a multi-task three-dimensional warehouse shelf body. The three-dimensional warehouse shelf body 1 includes multiple shelves, and the spacings between the multiple shelves are not completely the same; each shelf includes multiple storage grids with different sizes; the three-dimensional warehouse shelf body 1 has an inlet and outlet 20. The replaceable fork storage unit 2 and the automatic blanking table 3 are arranged outside the three-dimensional warehouse shelf body 1. Preferably, both the replaceable fork storage unit 2 and the automatic blanking table 3 are arranged outside the inlet and outlet 20. The three-dimensional warehouse shelf body 1, the replaceable fork storage unit 2, the automatic blanking table 3, and the stacker 4 are all signal-connected to the three-dimensional warehouse electronic control unit 5. The three-dimensional warehouse shelf body 1 is used for storing goods in the three-dimensional warehouse. The replaceable fork storage unit 2 is a tool mechanism, in which various different fork structures suitable for production requirements are stored, and all forks have a quick-change mechanism. The automatic blanking table 3 is an output mechanism. The goods taken out from the three-dimensional warehouse are placed on the automatic blanking table 3, and then other handling mechanisms transport the goods to the designated position. The use of the automatic blanking table 3 avoids the direct docking of the three-dimensional warehouse fork and handling mechanisms such as AGV (Automated Guided Vehicle), reducing the design difficulty. The flexible stacker 4 is used for picking and placing goods from the three-dimensional warehouse shelf body 1 and picking and placing goods from the automatic blanking table 3, realizing the transfer of materials between the three-dimensional warehouse shelf body and the automatic blanking table. Preferably, the three-dimensional warehouse electronic control unit 5 is a multi-task industrial three-dimensional warehouse intelligent conveying electronic control unit ECU. The three-dimensional warehouse electronic control unit 5 is the master control, used for the control and management of the entire three-dimensional warehouse, recording the storage location, storage content of items in the shelf, controlling the picking and placing sequence, picking and placing positions of the stacker, the presence or absence of items on the automatic loading table, and the access rules, etc.

[0063] The present invention also provides a goods conveying method, using the three-dimensional warehouse structure containing a stacker, and further including the following steps:

[0064] S1. The automated storage and retrieval system (AS / RS) electronic control unit 5 obtains the current instruction for the goods to be retrieved or delivered, and controls the stacker crane 4 to match the appropriate replaceable fork 17 from the replaceable fork storage unit 2 according to the type of the goods to be retrieved or delivered.

[0065] S2. The AS / RS electronic control unit 5 adjusts the overhang length of the stacker crane 4 to adapt to the shelf spacing at the corresponding point of the task by identifying the shelf spacing at the corresponding point of the task based on the position of the goods to be retrieved or delivered in the AS / RS shelf body 1 (i.e., the storage grid), and locks the locking I-beam 9 through the 14-electronic control limit self-locking unit.

[0066] S3. The AS / RS electronic control unit 5 controls the stacker crane 4 to move to the storage grid at the corresponding point of the task, unlocks the electronic control unit 5, and then controls the fork assembly to move along the upper guide rail 7 through the stacker crane electronic control unit to realize the retrieval and delivery of materials.

[0067] The present invention proposes a stacker crane, an AS / RS structure containing the stacker crane, and a goods transportation method for the retrieval and delivery requirements of a multi-task industrial AS / RS. The AS / RS structure containing the stacker crane is configured with different shelf spacings and storage grids of different sizes. The stacker crane has the functions of variable telescopic overhang and rapid fork replacement, and can complete the retrieval and delivery tasks of different materials in the AS / RS with different shelf spacings.

[0068] The present invention proposes a stacker crane with the functions of variable telescopic overhang and rapid fork replacement for the industrial application scenarios of retrieving and delivering multiple types of materials, which can meet the adaptive insertion and extraction of multiple types of goods pallets classified by size. At the same time, for the sizes of different goods retrieval and delivery pallets, the AS / RS is designed with shelves of different spacings. Through the adaptive overhang adjustment of the variable overhang stacker crane, it is convenient to walk between shelves of different spacings and retrieve and deliver pallets. The stacker crane adapts to the retrieval and delivery tasks of different sizes of goods, which will greatly reduce the variety of conveying mechanisms in the multi-variety industrial AS / RS.

[0069] The present invention can meet the requirement of sharing one stacker crane for multiple types of shelf storage locations and different sizes of storage locations. The existing stacker crane is used corresponding to a single type and single size of storage location. Since the stacker crane designed and used in the present invention has the function of rapid fork replacement, for different types of shelf storage locations and different sizes of shelf storage locations, dedicated forks can be used to retrieve and place goods according to the instructions of the total control system. It realizes the refined storage and calling of different-sized materials such as workpieces, tooling, and cutting tools, saving space and cost;

[0070] In addition, the goods transportation method can adaptively pick up and deliver multiple types of materials and can pick up and deliver goods at different placement positions. The goods on the existing shelves all have the same characteristics, otherwise they cannot be correctly placed on the shelves. Moreover, the goods are all placed within a fixed position range, and picking up and placing cannot be performed beyond this range. Through the goods transportation method of the present invention, the stacker can adaptively walk freely on shelves with different spacings, and at the same time can adaptively replace the forklift according to the size type of the picking and delivering target, so as to realize the adaptive picking and delivering of multiple types of materials and the adaptive picking and delivering of the same type of materials at different positions.

[0071] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0072] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Without conflict, the embodiments of the present application and the features in the embodiments can be arbitrarily combined with each other.

Claims

1. A stacker, characterized in that, It includes a stacker main body (16), a fork assembly, a Z-axis motion mechanism (12), a variable overhang bidirectional conveying mechanism (21), and a stacker electronic control unit; The Z-axis motion mechanism (12) and the stacker electronic control unit are both installed on the stacker main body (16). The variable overhang bidirectional conveying mechanism (21) is installed on the Z-axis motion mechanism (12), and the Z-axis motion mechanism (12) can drive the variable overhang bidirectional conveying mechanism (21) to move along the height direction of the stacker main body (16); The variable overhang bidirectional conveying mechanism (21) includes a driving mechanism, a first transmission mechanism, a second transmission mechanism, an I-beam plate (9), and a sliding plate (11); The sliding plate (11) is installed on the Z-axis motion mechanism (12); The driving mechanism is connected to the I-beam plate (9) through the first transmission mechanism, and the driving mechanism can drive the I-beam plate (9) to move between a first position and a second position along the length direction of the sliding plate (11) through the first transmission mechanism; The I-beam plate (9) can drive the fork assembly to move between a third position and a fourth position along the length direction of the I-beam plate (9) through the second transmission mechanism; The first position and the second position are respectively the positions when the I-beam plate (9) moves to the left limit and the right limit of the sliding plate (11); the third position and the fourth position are respectively the positions when the fork assembly moves to the left limit and the right limit of the sliding plate (11); When the I-beam plate (9) is in the first position, the fork assembly moves to the third position, and the leftmost end of the fork assembly extends beyond the leftmost end of the sliding plate (11). When the I-beam plate (9) is in the second position, the fork assembly moves to the fourth position, and the rightmost end of the fork assembly extends beyond the rightmost end of the sliding plate (11); The second transmission mechanism includes a sprocket (19), a chain (13), an upper guide rail (7), and a lower guide rail (10); The I-beam plate (9) is movably connected to the sliding plate (11) through the lower guide rail (10); The upper guide rail (7) is movably connected to the I-beam plate (9); the fork assembly is detachably connected to the upper guide rail (7); The sprocket (19) is installed on the I-beam plate (9); One end of the chain (13) is connected to the fork assembly, and the other end is connected to the sliding plate (11), and the chain (13) is matched with the sprocket (19); the I-beam plate (9) can drive the sprocket (19) to make the chain (13) pull the fork assembly to move between the third position and the fourth position.

2. The stacker according to claim 1, characterized in that, The fork assembly includes a fork (17), a fork support mother plate (6), and a connecting plate (61); the fork (17) is detachably installed on the fork support mother plate (6), the fork support mother plate (6) is detachably installed on the connecting plate (61); the connecting plate (61) is detachably installed on the second transmission mechanism.

3. The stacker according to claim 1, characterized in that, It also includes an electric control limit self-locking unit (14); the electric control limit self-locking unit (14) includes a pneumatic brake structure for locking the I-beam plate (9).

4. The stacker according to claim 1, characterized in that, The Z-axis motion mechanism (12) includes a Z-axis motor, a lead screw, and a nut platform; The Z-axis motor can drive the screw to rotate along itself, and the nut platform is mounted on the screw and can move up and down along the length direction of the screw as the screw rotates; the variable overhang bidirectional conveying mechanism (21) is installed on the nut platform.

5. The stacker according to claim 1, wherein The driving mechanism comprises a motor and a motor gear; the motor gear is mounted on the motor output shaft, and the motor gear is in transmission connection with the first transmission mechanism; the motor can drive the I-shaped plate (9) to move between a first position and a second position via the first transmission mechanism.

6. The stacker according to claim 1, characterized in that, The first transmission mechanism comprises a rack; the rack is fixedly mounted on the I-plate (9) and meshes with the driving mechanism.

7. The stacker according to claim 1, characterized in that, The second transmission mechanism also includes a chain connecting block (18); The number of chain connecting blocks (18) is twice that of the chain, and they are distributed at both ends of the chain (13).

8. A three-dimensional warehouse structure containing a stacker, characterized in that, The stacker comprises the stacker according to any one of claims 1 to 7, and further comprises a three-dimensional warehouse shelf body (1), a replaceable fork storage unit (2), an automatic unloading platform (3) and a three-dimensional warehouse electronic control unit (5); The three-dimensional warehouse shelf body (1) comprises a plurality of shelves, and the spacing between the plurality of shelves is not completely the same; the shelf comprises a plurality of storage compartments of different sizes; The three-dimensional warehouse shelf body (1) has an inlet and outlet (20), and the replaceable fork storage unit (2) and the automatic unloading platform (3) are arranged outside the three-dimensional warehouse shelf body (1); The three-dimensional warehouse shelf body (1), the replaceable fork storage unit (2), the automatic unloading platform (3) and the stacker (4) are all connected to the three-dimensional warehouse electronic control unit (5) by signal.

9. A method for transporting goods, characterized in that, The three-dimensional warehouse structure containing a stacker according to claim 8 further comprises the following steps: S1, the electronic control unit (5) of the three-dimensional warehouse obtains the instruction of the goods that need to be picked up and delivered, and controls the stacker (4) to match the suitable replaceable fork (17) from the replaceable fork storage unit (2) according to the type of the goods to be picked up and delivered; S2, the electronic control unit (5) of the three-dimensional warehouse adjusts the overhang length of the stacker (4) to the shelf spacing corresponding to the task point according to the position of the goods to be picked up and delivered in the shelf body (1) of the three-dimensional warehouse, and locks the I-plate (9) through the electric control limit self-locking unit (14); S3, the electronic control unit (5) of the three-dimensional warehouse controls the stacker (4) to move to the storage grid corresponding to the task, unlocks the electronic control unit (5), and then controls the fork assembly to move along the upper guide rail (7) through the electronic control unit of the stacker to realize the material picking and delivery.

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