Braking device, stacker crane, control method therefor, and computer-readable storage medium

Abstract

The application discloses a kind of brake device, stacker and its control method and computer readable storage medium, the brake device includes mounting bracket, brake mechanism and trigger mechanism, brake mechanism includes connecting arm and brake jaw, connecting arm is slidably connected with mounting bracket, to make brake jaw close or far from loading platform;Trigger mechanism includes lifting drive assembly, guide and telescopic piece, guide is installed to mounting bracket, guide is drivingly connected with telescopic piece, guide is used to guide telescopic piece to slide relative to lifting drive assembly and connect with connecting arm when lifting drive assembly drives telescopic piece to rise, to enable lifting drive assembly to move brake jaw by telescopic piece and connecting arm drive to prevent loading platform from falling down.Lifting drive assembly drives brake jaw to lock up stand column by telescopic piece, guide and connecting arm, prevent loading platform from falling in the process of material taking, avoid the safety accident caused by loading platform to fall to completely stop this process.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of stacker, in particular to a brake device, a stacker and a control method thereof and a computer readable storage medium. BACKGROUND

[0002] At present, with the gradual development of the logistics industry, the use of stackers is also gradually widespread, but the safety problem that follows has gradually become the focus of attention. When the existing stacker forks heavy goods, the loading platform is prone to fall. The common measure is to trigger the brake system of the loading platform through the breaking of the steel wire rope or the overspeed system detection. The loading platform truck starts to fall and is detected by the system, and then the system reacts to control the brake system to stop the falling of the loading platform truck. During this period, a considerable amount of time has been experienced, and the falling loading platform truck has a great safety hazard during this period.

[0003] In view of this, it is necessary to provide a new brake device, a stacker and a control method thereof and a computer readable storage medium to solve or at least alleviate the above technical defects. SUMMARY

[0004] The main purpose of the present application is to provide a brake device, a stacker and a control method thereof and a computer readable storage medium, which aims to solve the technical problem that the existing stacker has a great safety hazard when forking heavy objects.

[0005] In order to achieve the above purpose, the present application provides a brake device, which comprises:

[0006] a mounting frame;

[0007] a brake mechanism, the brake mechanism comprising a connecting arm and a brake jaw connected to each other, the connecting arm being in sliding fit with the mounting frame, so that the brake jaw is close to or away from the loading platform;

[0008] a trigger mechanism, the trigger mechanism comprising a lifting driving assembly, a guide and a telescopic piece in sliding fit with the lifting driving assembly, the guide being installed on the mounting frame, the guide being in transmission connection with the telescopic piece, the guide being used to guide the telescopic piece to slide relative to the lifting driving assembly and connect with the connecting arm when the lifting driving assembly drives the telescopic piece to rise, so that the lifting driving assembly can drive the brake jaw to move through the telescopic piece and the connecting arm to prevent the loading platform from falling.

[0009] In an embodiment, the lifting driving assembly comprises a lifting driving member and a sliding member in transmission connection with the lifting driving member, the sliding member is in sliding fit with the mounting frame, the telescopic member comprises a sliding part, a connecting part and a guiding part connected in sequence, the sliding member is in sliding fit with the sliding part, the guiding member is provided with a guiding hole, the guiding part is located in the guiding hole, when the lifting driving member drives the telescopic member to ascend through the sliding member, the guiding part can move in the guiding hole, so that the guiding hole guides the sliding part to slide relative to the sliding member through the guiding part and the connecting part, and the sliding part is away from one end of the connecting part and connected with the connecting arm.

[0010] In an embodiment, the guiding hole comprises a reset part, a telescopic part and a lifting part communicated in sequence from bottom to top, the reset part and the lifting part extend along the vertical direction, the reset part and the lifting part are arranged in the vertical direction, the reset part and the lifting part are arranged in the horizontal direction, and the lifting part is arranged close to the connecting arm.

[0011] In an embodiment, the triggering mechanism further comprises a reset elastic member, the reset elastic member is connected with the sliding member and the sliding part respectively.

[0012] In an embodiment, the guiding part comprises a guiding body and a roller hinged with the guiding body, the roller is located in the guiding hole, so that the roller can roll along the extension direction of the guiding hole.

[0013] In an embodiment, the lifting driving assembly further comprises a buffer elastic member and a movable joint, the sliding member comprises a sliding block body and a cover plate, the sliding block body is provided with a through hole for the sliding part to pass through, the sliding part is in sliding fit with the through hole, the top of the sliding block body is further provided with a containing bin for containing the buffer elastic member and the movable joint, the cover plate covers the opening of the containing bin, one side of the buffer elastic member abuts against the cover plate and the other side is connected with the movable joint, the protruding shaft of the lifting driving member is connected with the movable joint through the cover plate.

[0014] In an embodiment, the braking device further comprises a detection assembly, the detection assembly is used to detect whether the braking jaw can prevent the loading table from falling.

[0015] In addition, the application also provides a stacking machine, the stacking machine comprises a lifting device, the loading table, a stand and the above-mentioned braking device, the loading table is in sliding fit with the stand, the lifting device is used to drive the loading table to ascend and descend, the loading table is provided with a avoiding hole for the braking jaw to pass through, so that the lifting driving assembly can drive the braking jaw to pass through the avoiding hole and abut against the stand.

[0016] Further, the application also provides a control method of the stacker, which is applied to the above stacker, the column is provided with a material taking station, and the control method of the stacker comprises the following steps of:

[0017] controlling the lifting device to drive the loading platform to move to the material taking station;

[0018] controlling the lifting driving assembly to drive the telescopic piece to ascend to the connection of the telescopic piece and the connecting arm, and then controlling the lifting driving assembly to drive the brake jaw to abut against the column through the connecting arm to prevent the falling of the loading platform;

[0019] controlling the loading platform to take materials, and then controlling the lifting device to drive the loading platform to ascend by a preset height after the loading platform completes the taking of materials;

[0020] controlling the lifting driving assembly to drive the telescopic piece to be disconnected from the connecting arm and reset.

[0021] Further, the application also provides a computer readable storage medium, which is stored with a stacker control program, and the stacker control program realizes the steps of the above control method of the stacker when executed by a processor.

[0022] In the above technical solution of the application, when the loading platform moves to the material taking station, the lifting driving assembly drives the telescopic piece to ascend, the guide piece guides the telescopic piece to move to the direction close to the connecting arm and connect with the connecting arm in the ascending process of the telescopic piece, the lifting driving assembly continues to drive the telescopic piece to ascend, so as to drive the brake jaw to lock the column through the connecting arm, thereby preventing the falling of the loading platform during the taking of materials, even if the steel wire rope driving the loading platform to ascend breaks, the brake jaw can also prevent the falling of the loading platform, and the safety accidents caused by the falling of the loading platform to the complete stop are avoided; after the loading platform completes the taking of materials, the lifting device drives the loading platform to ascend by a preset distance, so as to ensure that the weight of the loading platform completing the taking of materials is still within the lifting capacity of the lifting device, and the phenomenon that the lifting device cannot bear the weight of the loading platform due to the removal of the brake jaw and the falling of the loading platform is avoided; after the lifting device drives the loading platform to ascend by the preset distance, the lifting driving piece drives the telescopic piece to descend, the connecting arm also descends, the brake jaw is separated from the column, and the telescopic piece is separated from the connecting arm under the guidance of the guide piece in the descending process, and finally resets. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings described below only show some of the embodiments of the present application, and all other drawings obtained by those of ordinary skill in the art based on these drawings without creative effort are within the scope of the present application.

[0024] Figure 1 A perspective view of a brake device according to an embodiment of the present application;

[0025] Figure 2 A perspective view of a trigger mechanism according to an embodiment of the present application; Figure 1 A partial enlarged view of the brake device shown in A;

[0026] Figure 3 A front view of the brake device shown in A; Figure 1 A front view of the brake device shown in A;

[0027] Figure 4 A perspective view of a trigger mechanism according to an embodiment of the present application;

[0028] Figure 5 A flowchart of a control method for a stacker according to a first embodiment of the present application.

[0029] Explanation of reference signs:

[0030] 1 Braking device 11 Mounting bracket 12 Braking mechanism 121 Connecting arm 1211 Connecting hole 122 Braking jaw 13 Trigger mechanism 131 Lifting drive assembly 1311 Lifting drive 1312 Slider 1313 Slider body 1314 Cover plate 1315 Housing bin 1316 Movable joint 1317 Buffering elastic member 132 Guide 1321 Guide hole 1322 Reset part 1323 Telescopic part 1324 Lifting part 133 Telescopic member 1331 Sliding part 1332 Connecting part 1333 Guide part 1334 Guide body 1335 Roller 134 Reset elastic member

[0031] The implementation of the object, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of the present application.

[0033] It should be noted that all directional indications (such as up, down, left, right) in the embodiments of the present application are only used to explain the relative positional relationship, movement condition, etc. between components in a certain specific posture (such as the posture shown in the drawings) and will change accordingly if the specific posture changes. Figure 1

[0034] ​Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" can explicitly or implicitly include at least one of that feature.

[0035] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are implemented by those skilled in the art. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0036] This invention provides a braking device 1, such as... Figure 1 and Figure 4 As shown, the braking device 1 includes a mounting bracket 11, a braking mechanism 12, and a triggering mechanism 13. The braking mechanism 12 includes a connecting arm 121 and a brake caliper 122 connected to each other. The connecting arm 121 is slidably engaged with the mounting bracket 11 so that the brake caliper 122 moves closer to or further away from the loading platform. The triggering mechanism 13 includes a lifting drive assembly 131, a guide 132, and a telescopic member 133 slidably engaged with the lifting drive assembly 131. The guide 132 is mounted on the mounting bracket 11 and is throttle-connected to the telescopic member 133. The guide 132 is used to guide the telescopic member 133 to slide relative to the lifting drive assembly 131 and connect with the connecting arm 121 when the lifting drive assembly 131 drives the telescopic member 133 to rise, so that the lifting drive assembly 131 can drive the brake caliper 122 through the telescopic member 133 and the connecting arm 121 to prevent the loading platform from falling.

[0037] The stacker comprises a lifting device, a loading platform, a column and a braking device 1, the loading platform is in sliding fit with the column, the lifting device is used to drive the loading platform to lift, when the lifting device drives the loading platform to move to a material taking station, the lifting driving assembly 131 drives the telescopic piece 133 to ascend, in the process of ascending, the guide piece 132 guides the telescopic piece 133 to move to the direction close to the connecting arm 121 and connects with the connecting arm 121, the lifting driving assembly 131 continues to drive the telescopic piece 133 to ascend, so as to drive the braking jaw 122 to lock the column through the connecting arm 121, thereby preventing the loading platform from falling in the process of taking material; even if the steel wire rope driving the loading platform to lift is broken, the braking jaw 122 can prevent the loading platform from falling, and the safety accidents caused by the loading platform falling to completely stop in the process are avoided; when the loading platform finishes taking material, the lifting device drives the loading platform to ascend by a preset distance, so as to ensure that the weight of the loading platform after taking material is still within the lifting capacity of the lifting device, and the phenomenon that the lifting device cannot bear the weight of the loading platform due to the removal of the braking jaw 122 and the falling of the loading platform is avoided; after the lifting device drives the loading platform to ascend by the preset distance, the lifting driving assembly 131 drives the telescopic piece 133 to descend, the connecting arm 121 also descends, the braking jaw 122 is separated from the column, and the telescopic piece 133 is separated from the connecting arm 121 under the guidance of the guide piece 132 in the process of descending, and finally resets. It should be noted that the braking mechanism 12 can adopt the original braking mechanism of the existing stacker, that is, only the triggering mechanism 13 needs to be added on the basis of the original stacker, the installation and removal of the triggering mechanism 13 are relatively simple, thereby reducing the transformation cost of the stacker.

[0038] According to an embodiment of the present application, the braking device 1 further comprises a braking lifting piece, which is in transmission connection with the mounting frame 11 and is used to drive the mounting frame 11 to lift. Since the height of the loading platform for taking material is different each time, in order to prevent the loading platform at different height positions from falling, the position of the mounting frame 11 is adjusted by the braking lifting piece, so that the braking device 1 moves to the height position corresponding to the loading platform, thereby realizing the braking of the loading platform at different height positions.

[0039] In an embodiment, the lifting driving assembly 131 comprises a lifting driving member 1311 and a sliding member 1312 in driving connection with the lifting driving member 1311, the sliding member 1312 is in sliding fit with the mounting frame 11, the telescopic member 133 comprises a sliding part 1331, a connecting part 1332 and a guiding part 1333 connected in sequence, the sliding member 1312 is in sliding fit with the sliding part 1331, the guide member 132 is provided with a guide hole 1321, the guiding part 1333 is located in the guide hole 1321, when the lifting driving member 1311 drives the telescopic member 133 to ascend through the sliding member 1312, the guiding part 1333 can move in the guide hole 1321, so that the guide hole 1321 guides the sliding part 1331 to slide relative to the sliding member 1312 through the guiding part 1333 and the connecting part 1332 and makes the end of the sliding part 1331 away from the connecting part 1332 connected with the connecting arm 121. When the lifting driving member 1311 drives the telescopic member 133 to ascend, the guiding part 1333 moves synchronously in the guide hole 1321, under the guidance of the guide hole 1321, the guiding part 1333 can drive the sliding part 1331 to slide to the left through the connecting part 1332, so that the end of the sliding part 1331 away from the connecting part 1332 is connected with the connecting arm 121; that is, in the case of using only one driving member, both the up-down movement of the telescopic member 133 and the left-right movement of the telescopic member 133 are realized, the structure is simple and reliable, and the cost is low. It should be noted that the lifting driving member 1311 can be an electric cylinder, an oil cylinder or a gas cylinder.

[0040] According to an embodiment of the present application, the guide member 132 is a guide driving member, which can be a gas cylinder, an oil cylinder or an electric cylinder, an extension shaft of the guide driving member is connected with the telescopic member 133, the guide driving member is in sliding fit with the mounting frame 11, the lifting driving member 1311 drives the guide driving member to ascend through the telescopic member 133, the guide driving member is used to drive the telescopic member 133 to reciprocate relative to the sliding member 1312, so that the telescopic member 133 moves towards or away from the connecting arm 121.

[0041] As Figure 3As shown, the guide hole 1321 includes a reset portion 1322, an extension portion 1323 and a lifting portion 1324 which are sequentially communicated from bottom to top, the reset portion 1322 and the lifting portion 1324 both extend along the vertical direction, the reset portion 1322 and the lifting portion 1324 are arranged in the vertical direction, the reset portion 1322 and the lifting portion 1324 are arranged in the horizontal direction, and the lifting portion 1324 is close to the connecting arm 121. The guide portion 1333 is initially located in the reset portion 1322, and since the reset portion 1322 extends along the vertical direction, the guide portion 1333 lifts in the reset portion 1322 and does not drive the sliding portion 1331 to slide relative to the sliding member 1312 through the connecting portion 1332; with the rising of the extension member 133, the guide portion 1333 enters the extension portion 1323 from the reset portion 1322, and the guide portion 1333 drives the sliding portion 1331 to move left through the connecting portion 1332 under the guidance of the extension portion 1323, so that the connecting portion 1332 can gradually approach the connecting arm 121 and be connected with the connecting arm 121; with the continuous rising of the extension member 133, the guide portion 1333 enters the lifting portion 1324 from the extension portion 1323, and since the lifting portion 1324 also extends along the vertical direction, with the rising of the extension member 133, the extension member 133 does not slide relative to the sliding member 1312, so that the lifting driving member 1311 can drive the connecting arm 121 to rise through the extension member 133.

[0042] According to an embodiment of the present application, a connecting hole 1211 or a connecting groove is arranged on the side of the connecting arm 121 close to the extension member 133, and the extension member 133 enters the connecting hole 1211 under the guidance of the guide member 132 during the rising process, the extension member 133 continues to rise until the extension member 133 abuts against the outer wall of the connecting hole 1211, and then the extension member 133 drives the connecting arm 121 to rise together when the extension member 133 rises again; when the extension member 133 descends, the connecting arm 121 also automatically falls due to the gravity.

[0043] As shown in the figure, Figure 4 The trigger mechanism 13 further includes a reset elastic member 134 which is connected with the sliding member 1312 and the sliding portion 1331 respectively. The reset elastic member 134 can be a spring, and when the extension member 133 slides left relative to the sliding member 1312, the reset elastic member 134 is in the stretching state, and when the guide portion 1333 enters the extension portion 1323 from the lifting portion 1324, the reset elastic member 134 provides a rightward force to the extension member 133, pulls the extension member 133 to quickly separate from the connecting hole 1211, accelerates the reset speed of the extension member 133, and avoids the influence of the extension member 133 on the reset speed of the brake jaw 122.

[0044] And the guide part 1333 includes a guide body 1334 and a roller 1335 hinged to the guide body 1334, the roller 1335 is located in the guide hole 1321 to enable the roller 1335 to roll along the extension direction of the guide hole 1321. Wherein the additional roller 1335 makes the movement of the guide part 1333 in the guide hole 1321 more flexible.

[0045] As shown in Figure 3 The lifting driving assembly 131 further includes a buffer elastic member 1317 and a movable joint 1316, the sliding member 1312 includes a sliding block body 1313 and a cover plate 1314, the sliding block body 1313 is provided with a through hole for the sliding part 1331 to pass through, the sliding part 1331 is in sliding fit with the through hole, the top of the sliding block body 1313 is further provided with an accommodating bin 1315 for accommodating the buffer elastic member 1317 and the movable joint 1316, the cover plate 1314 covers the opening of the accommodating bin 1315, one side of the buffer elastic member 1317 abuts against the cover plate 1314 and the other side is connected with the movable joint 1316, the protruding shaft of the lifting driving member 1311 passes through the cover plate 1314 and is connected with the movable joint 1316. Compared with the protruding shaft of the lifting driving member 1311 being directly connected with the cover plate 1314 or being directly connected with the sliding block body 1313, the buffer elastic member 1317 is additionally provided, wherein the buffer elastic member 1317 can be a disc spring, and the buffer elastic member 1317 is arranged around the protruding shaft of the lifting driving member 1311, the upper end of the buffer elastic member 1317 abuts against the cover plate 1314, and the lower end of the buffer elastic member 1317 abuts against the movable joint 1316, so that the connection part of the lifting driving member 1311 and the sliding member 1312 can bear greater load; and because the buffer elastic member 1317 is additionally provided, the impact on the brake jaw 122 when the loading platform falls can be buffered by the buffer elastic member 1317, and the rigid impact is converted into a flexible impact, thereby ensuring the reliability of the brake device 1 in braking the loading platform.

[0046] As shown in Figure 1 The brake device 1 further includes a detection assembly for detecting whether the brake jaw 122 can prevent the loading platform from falling. Wherein the detection assembly can detect the position of the guide part 1333 or the position of the sliding block body 1313. Taking the guide part 1333 as an example, when the brake jaw 122 is locked with the stand, the guide part 1333 is located in the detection area of the detection assembly, so the detection assembly can judge whether the brake jaw 122 is locked with the stand by detecting whether the guide part 1333 is detected; when the detection assembly detects the guide part 1333, it indicates that the brake jaw 122 is locked with the stand, and the loading platform can normally take goods.

[0047] In addition, the application further provides a stacker, which comprises a lifting device, a loading platform, a column and the above brake device 1, the loading platform is in sliding fit with the column, the lifting device is used for driving the loading platform to lift, the loading platform is provided with a avoiding hole through which the brake jaw 122 passes, so that the lifting driving assembly 131 can drive the brake jaw 122 to abut against the column through the avoiding hole. Since the stacker adopts all the technical solutions of all the above embodiments, it has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be repeated here.

[0048] With reference to Figure 5 , Figure 5 The flowchart of the first embodiment of the control method of the stacker, the control method of the stacker is applied to the above stacker, the column is provided with a material taking station, and the control method of the stacker comprises the following steps.

[0049] S100, controlling the lifting device to drive the loading platform to move to the material taking station;

[0050] The lifting device drives the loading platform to lift, so that the loading platform can be lifted to different heights, so that the loading platform can take and place materials at different height positions.

[0051] S200, controlling the lifting driving assembly to drive the telescopic piece to ascend to the connection of the telescopic piece and the connecting arm, and then controlling the lifting driving assembly to drive the brake jaw to abut against the column through the connecting arm to prevent the loading platform from falling;

[0052] The lifting driving assembly drives the telescopic piece to ascend, so that the telescopic piece is connected with the connecting arm under the guidance of the guide piece, and the lifting driving assembly continues to ascend, so that the lifting driving assembly drives the brake jaw to lock the column through the telescopic piece and the connecting arm, that is, the brake is started in advance before the loading platform falls, so as to prevent it from falling, thereby eliminating the process experienced by the existing stacker from the start of the loading platform falling to the complete stop, eliminating the safety hazard generated by the stacker from the start of falling to the complete stop, and improving the safety of the stacker.

[0053] S300, controlling the loading platform to take materials, and then controlling the lifting device to drive the loading platform to ascend by a preset height after the loading platform completes taking materials;

[0054] After the loading platform finishes taking the goods, in order to ensure that the lifting mechanism can drive the loading platform to move after the taking of the goods is completed, the lifting mechanism is first used to drive the loading platform to ascend by a preset height, wherein the preset height can be 10 mm, so as to avoid that the weight of the loading platform after the taking of the goods is completed exceeds the weight that the lifting mechanism can bear, and the loading platform does not fall due to the fact that the brake jaw clamps the column to stop the loading platform from falling. If the lifting mechanism is not used to drive the loading platform to ascend to verify, but the brake jaw is directly released from clamping the column, the loading platform may fall.

[0055] S400, the lifting driving assembly is controlled to drive the telescopic piece to be disconnected from the connecting arm and reset.

[0056] The lifting driving assembly drives the sliding piece to descend, so that the telescopic piece descends together, and the telescopic piece is separated from the connecting arm under the guidance of the guide piece. The connecting arm falls under the action of gravity, so that the brake jaw moves away from the column, the clamping of the column is released, and the lifting mechanism can normally drive the loading platform to ascend and descend.

[0057] When the lifting mechanism drives the loading platform to move to the taking position, the lifting driving assembly drives the telescopic piece to ascend. In the ascending process of the telescopic piece, the guide piece guides the telescopic piece to move to the direction close to the connecting arm and connect with the connecting arm. The lifting driving assembly continues to drive the telescopic piece to ascend, so that the brake jaw clamps the column through the connecting arm, and the falling of the loading platform in the taking process is prevented. Even if the steel wire rope driving the loading platform to ascend and descend breaks, the brake jaw can prevent the loading platform from falling, and safety accidents caused by the falling of the loading platform to completely stop are avoided. When the loading platform finishes taking the goods, the lifting device drives the loading platform to ascend by a preset distance, so that the weight of the loading platform after the taking of the goods is completed is still within the lifting capacity of the lifting device, and the phenomenon that the lifting device cannot bear the weight of the loading platform due to the removal of the brake jaw and the falling of the loading platform is avoided. After the lifting device drives the loading platform to ascend by the preset distance, the lifting driving piece drives the telescopic piece to descend, the connecting arm also descends, the brake jaw is separated from the column, and the telescopic piece is separated from the connecting arm under the guidance of the guide piece in the descending process, and finally resets.

[0058] In addition, the application also provides a computer readable storage medium, and a stacker control program is stored on the computer readable storage medium. The stacker control program is executed by a processor to realize the steps of the control method of the stacker.

[0059] The above is only the preferred embodiment of the application, and does not limit the patent scope of the application. Any equivalent structural transformation made under the concept of the application, or direct / indirect application in other related technical fields is included in the patent protection scope of the application.

Claims

1. A stacker characterized in that, The stacker comprises a lifting device, a carrier platform, a column and a braking device, the braking device comprises: a mounting frame; a braking mechanism comprising a connecting arm and a braking jaw connected with each other, the connecting arm is in sliding fit with the mounting frame to make the braking jaw close to or away from the carrier platform; a triggering mechanism comprising a lifting driving assembly, a guide and a telescopic piece in sliding fit with the lifting driving assembly, the guide is mounted on the mounting frame, the guide is in transmission connection with the telescopic piece, the guide is used to guide the telescopic piece to slide relative to the lifting driving assembly and connect with the connecting arm when the lifting driving assembly drives the telescopic piece to rise, so that the lifting driving assembly can drive the braking jaw to move through the telescopic piece and the connecting arm to prevent the carrier platform from falling; the carrier platform is in sliding fit with the column, the lifting device is used to drive the carrier platform to rise and fall, the carrier platform is provided with an avoiding hole for the braking jaw to pass through, so that the lifting driving assembly can drive the braking jaw to pass through the avoiding hole and abut against the column; the lifting driving assembly comprises a lifting driving piece and a sliding piece in transmission connection with the lifting driving piece, the sliding piece is in sliding fit with the mounting frame, the telescopic piece comprises a sliding part, a connecting part and a guide part connected in sequence, the sliding part is in sliding fit with the sliding piece, the guide is provided with a guide hole, the guide part is located in the guide hole, the guide hole is used to make the guide part move in the guide hole when the lifting driving piece drives the telescopic piece to rise through the sliding piece, so that the guide hole guides the sliding part to slide relative to the sliding piece through the guide part and the connecting part and makes one end of the sliding part away from the connecting part connect with the connecting arm; the guide hole comprises a reset part, a telescopic part and a lifting part communicated in sequence from bottom to top, the reset part and the lifting part both extend along the vertical direction, the reset part and the lifting part are arranged in vertical direction, the reset part and the lifting part are arranged in horizontal direction, and the lifting part is close to the connecting arm; the triggering mechanism further comprises a reset elastic piece, the reset elastic piece is connected with the sliding piece and the sliding part respectively; the lifting driving assembly further comprises a buffer elastic piece and a movable joint, the sliding piece comprises a sliding block body and a cover plate, the sliding block body is provided with a through hole for the sliding part to pass through, the sliding part is in sliding fit with the through hole, the top of the sliding block body is further provided with a containing bin for accommodating the buffer elastic piece and the movable joint, the cover plate covers the opening of the containing bin, one side of the buffer elastic piece abuts against the cover plate and the other side is connected with the movable joint, the protruding shaft of the lifting driving piece passes through the cover plate and is connected with the movable joint.

2. The stacker according to claim 1, characterized in that, the guide part comprises a guide body and a roller hinged with the guide body, the roller is located in the guide hole, so that the roller can roll along the extension direction of the guide hole.

3. The stacker according to claim 1 or 2, characterized in that, The brake device further comprises a detection assembly configured to detect whether the brake jaw can prevent the loading platform from falling.

4. A control method of a stacker characterized by, The control method of the stacker is applied to the stacker of claim 1, the column is provided with a material taking station, and the control method of the stacker comprises the following steps: controlling the lifting device to drive the loading platform to move to the material taking station; controlling the lifting driving assembly to drive the telescopic member to ascend to the connection between the telescopic member and the connecting arm, and then controlling the lifting driving assembly to drive the brake jaw to abut against the column through the connecting arm to prevent the loading platform from falling; controlling the loading platform to take materials, and then controlling the lifting device to drive the loading platform to ascend by a preset height after the loading platform completes the taking of materials; controlling the lifting driving assembly to drive the telescopic member to be disconnected from the connecting arm and reset.

5. A computer readable storage medium, characterized in that, The computer readable storage medium stores a stacker control program, and the stacker control program is executed by the processor to realize the steps of the control method of the stacker of claim 4.

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