An automated three-dimensional warehouse for transformer core column materials and core stacking

Abstract

The present invention belongs to the technical field of transformer stereoscopic warehouses, and specifically relates to an automated stereoscopic warehouse for core column materials and core stacking of distribution transformers, comprising: a stereoscopic warehouse, a rail-mounted tunnel stacker, a stacking production device, a material unloading device and a conveyor line; the stereoscopic warehouse is provided with a plurality of warehouses, and is installed on a working area in an equidistant arrangement; the stereoscopic warehouse is composed of a first warehouse and a second warehouse, and the first warehouse and the second warehouse are both provided with a plurality of storage locations, the rail-mounted tunnel stacker is installed between the first warehouse and the second warehouse, the bottom of the first warehouse is arranged in a production area, the stacking production device is located in the bottom production area of ​​the first warehouse, and the material unloading device is located on one side of the second warehouse, so that the present invention can realize three-dimensional cargo storage, maximize the use of space, improve cargo storage density and automatically complete cargo outbound, improve outbound efficiency, and reduce labor costs.

Description

Technical Field

[0001] The invention discloses an automated three-dimensional warehouse, belongs to the technical field of transformer three-dimensional warehouses, and specifically relates to an automated three-dimensional warehouse for iron core column materials and iron core stacking of distribution transformers. Background Art

[0002] A transformer is an electromagnetic energy conversion device. Its main principle is to use the effect of electromagnetic induction to achieve voltage reduction by transforming magnetic flux at different numbers of turns. The transformer core is the core component for transforming magnetic flux, and the quality and processing of the core directly affect the performance and efficiency of the transformer. Therefore, in order to improve the power conversion efficiency of the transformer and prevent magnetic interference, high-quality iron materials must be used on the core, and packaging or stacking methods must be used to reduce electromagnetic leakage and prevent the spread of the magnetic field.

[0003] In the prior art, transformer core column materials and cores are manually stacked, and are manually circulated and stored in designated locations. Order information cannot be accurately recorded, and the various processes cannot be linked, resulting in low work efficiency and a large amount of labor costs. Summary of the invention

[0004] Purpose of the invention: To provide an automated three-dimensional warehouse for core column materials and core stacking of distribution transformers to solve the above-mentioned problems.

[0005] Technical solution: An automated three-dimensional warehouse for core column materials and core stacking of distribution transformers, including: a three-dimensional storage warehouse, a rail-mounted roadway stacker, a stacking production device, a material unloading device and a conveyor line;

[0006] The three-dimensional storage warehouse is provided with a plurality of them, and they are installed in the working area with equidistant arrangement; the three-dimensional storage warehouse consists of a first storage warehouse and a second storage warehouse, and the first storage warehouse and the second storage warehouse are each provided with a plurality of storage locations, the rail-guided aisle stacker is installed between the first storage warehouse and the second storage warehouse, the bottom of the first storage warehouse is located in the production area, the stacking production device is located in the bottom production area of ​​the first storage warehouse, and the unloading device is located on one side of the second storage warehouse.

[0007] In a further embodiment, the rail-mounted aisle stacker includes: a horizontal reciprocating linear motion device, a vertical lifting device, and left and right telescopic fork pickup fork devices;

[0008] The horizontal reciprocating linear motion device is installed on the top track of the three-dimensional storage warehouse and is located between the first storage warehouse and the second storage warehouse to perform horizontal linear motion, i.e., X-axis motion, on the three-dimensional storage warehouse. The vertical lifting device is installed on the horizontal reciprocating linear motion device to perform vertical motion, i.e., Y-axis motion. The left and right telescopic fork picking fork device is installed on the vertical lifting device to drive the fork to perform left and right motion, i.e., Z-axis motion.

[0009] In a further embodiment, the stacking production device includes: a manual stacking station, a rework station and a sheet column packaging station; and each station is composed of a workbench, a single-layer trolley, and a stacking mechanism; the stacking mechanism is installed on the workbench, and the workbench is docked with the single-layer trolley to allow the transformer core column material and the core to flow from the single-layer trolley to the stacking mechanism of the workbench.

[0010] In a further embodiment, the stacking mechanism includes: a supporting frame; a first guide rail, fixedly mounted on both sides of one end of the supporting frame; a second guide rail, fixedly mounted on both sides of the other end of the supporting frame; a first slider, slidably mounted on the first guide rail; a second slider, slidably mounted on the second guide rail; a fixed plate, fixedly mounted on the supporting frame and located between the first guide rail and the second guide rail; a first slide plate, fixedly mounted on the first slide plate and connected to the fixed plate via a connecting rod; a second slide plate, fixedly mounted on the second slide plate and connected to the fixed plate via a connecting rod; a mounting seat, mounted on the first slide plate and the second slide plate; a limit screw, fixedly mounted on the fixed plate, the first slide plate and the second slide plate.

[0011] In a further embodiment, the left and right telescopic fork pickup device is composed of a cargo platform and a fork assembly, and the fork assembly includes: a first motor; a gear transmission, one end of which is connected to the first motor; a first transmission shaft, one end of which is connected to the other end of the gear transmission; a first mounting frame, which is connected to the first transmission shaft through a ball bearing and is also connected to the first motor; a connecting shaft, one end of which is connected to the other end of the first transmission shaft; a second transmission shaft, one end of which is connected to the other end of the connecting shaft; a second mounting frame, which is connected to the second transmission shaft through a ball bearing; a speed sensor, which is installed on the other end of the second transmission shaft; and both the first mounting frame and the second mounting frame are provided with forks.

[0012] In a further embodiment, the conveyor line includes an infeed conveyor line and an outfeed conveyor line, the infeed conveyor line is connected to the input end of the stacking production device, the outfeed conveyor line is connected to the output end of the unloading device, and the conveyor line includes an RGV trolley and a conveying rail; a turntable is provided between the conveyor line and the stacking production device and the unloading device to rotate the material 90°.

[0013] In a further embodiment, a rolling door is provided on one side of the first storage bin, and a safety net back is provided on one side of the second storage bin and the other side of the first storage bin.

[0014] Beneficial effects: The present invention aims at the storage and circulation problems of the core column materials and the core stacking of the distribution transformer, and realizes the automatic circulation, production and storage functions through a three-dimensional storage warehouse, a rail-mounted lane stacker, a stacking production device, a feeding device and a conveyor line, so that the present invention has the following advantages:

[0015] 1. High space utilization: Three-dimensional cargo storage can maximize the use of warehouse space and improve storage density.

[0016] 2. High efficiency of warehouse delivery: Automated three-dimensional warehouse can automatically deliver goods, increase delivery speed and reduce labor costs.

[0017] 3. High sorting accuracy: The intelligent sorting system of the automated stereoscopic warehouse can improve sorting accuracy and reduce the error rate.

[0018] 4. High cargo dispatching efficiency: Automated three-dimensional warehouses can automatically plan the storage location and outbound order of goods, optimize transportation routes, and improve cargo dispatching efficiency.

[0019] 5. High reliability: The automated three-dimensional warehouse system has high reliability and high security, which can effectively protect the safety of goods and reduce cargo losses and errors during warehousing and transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is the front view of the present invention.

[0021] Figure 2 It is a top view of the present invention.

[0022] Figure 3 It is a schematic diagram of the present invention.

[0023] Figure 4 It is a structural diagram of the present invention.

[0024] Figure 5 It is a left side view of the present invention.

[0025] Figure 6 It is a front view of the rail-mounted tunnel stacker of the present invention.

[0026] Figure 7 It is a schematic diagram of the rail-mounted tunnel stacker of the present invention.

[0027] Figure 8 It is a front view of the stacking mechanism of the present invention.

[0028] Fig. 9 It is a top view of the stacking mechanism of the present invention.

[0029] Fig.10 It is a schematic diagram of a fork assembly of the present invention.

[0030] Figure numerals: three-dimensional storage warehouse 1, rail-mounted tunnel stacker 2, stacking production device 3, unloading device 4, conveyor line 5, horizontal reciprocating linear motion device 6, vertical lifting device 7, left and right telescopic fork picking fork device 8, support frame 9, first guide rail 10, second guide rail 11, first slider 12, second slider 13, fixed plate 14, first slide plate 15, second slide plate 16, mounting seat 17, limit screw 18, first motor 19, gear transmission 20, first transmission shaft 21, first mounting frame 22, connecting shaft 23, second transmission shaft 24, second mounting frame 25, speed sensor 26, connecting rod 27. DETAILED DESCRIPTION

[0031] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] An automatic three-dimensional warehouse for transformer core column materials and core stacking, such as Figures 1 to 5 As shown, it includes: a three-dimensional storage warehouse 1, a rail-mounted roadway stacker 2, a stacking production device 3, a material unloading device 4 and a conveyor line 5;

[0033] In one embodiment, Figures 1 to 5 As shown, the three-dimensional storage warehouse 1 is provided with a plurality of them, and is installed in the working area in an equidistant arrangement; the three-dimensional storage warehouse 1 is composed of a first storage warehouse and a second storage warehouse, and the first storage warehouse and the second storage warehouse are each provided with a plurality of storage locations, the rail-guided aisle stacker 2 is installed between the first storage warehouse and the second storage warehouse, the bottom of the first storage warehouse is located in the production area, the stacking production device 3 is located in the bottom production area of ​​the first storage warehouse, and the unloading device 4 is located on one side of the second storage warehouse.

[0034] In one embodiment, Figure 6 to Figure 7As shown, the rail-mounted aisle stacker 2 includes: a horizontal reciprocating linear motion device 6, a vertical lifting device 7 and left and right telescopic fork pickup fork devices 8;

[0035] The horizontal reciprocating linear motion device 6 is installed on the top track of the three-dimensional storage warehouse 1 and is located between the first storage warehouse and the second storage warehouse to perform horizontal linear motion, i.e., X-axis motion, on the three-dimensional storage warehouse 1. The vertical lifting device 7 is installed on the horizontal reciprocating linear motion device 6 to perform vertical motion, i.e., Y-axis motion. The left and right telescopic fork picking fork device 8 is installed on the vertical lifting device 7 to drive the fork to move in the left and right directions, i.e., Z-axis motion.

[0036] In one embodiment, Figures 1 to 5 As shown, the stacking production device 3 includes: a manual stacking station, a rework station and a sheet column packaging station; and each station is composed of a workbench, a single-layer trolley, and a stacking mechanism; the stacking mechanism is installed on the workbench, and the workbench is docked with the single-layer trolley to allow the transformer core column material and the core to flow from the single-layer trolley to the stacking mechanism of the workbench.

[0037] In one embodiment, Figures 8 to 10 As shown, the stacking mechanism includes: a supporting frame 9; a first guide rail 10, fixedly mounted on both sides of one end of the supporting frame 9; a second guide rail 11, fixedly mounted on both sides of the other end of the supporting frame 9; a first slider 12, slidably mounted on the first guide rail 10; a second slider 13, slidably mounted on the second guide rail 11; a fixed plate 14, fixedly mounted on the supporting frame 9 and located between the first guide rail 10 and the second guide rail 11; a first slide plate 15, fixedly mounted on the first slide plate and connected to the fixed plate 14 through a connecting rod 27; a second slide plate 16, fixedly mounted on the second slide plate and connected to the fixed plate 14 through a connecting rod 27; a mounting seat 17, mounted on the first slide plate 15 and the second slide plate 16; a limit screw 18, fixedly mounted on the fixed plate 14, the first slide plate 15 and the second slide plate 16.

[0038] In one embodiment, Figures 8 to 10As shown, the left and right telescopic fork pickup fork device 8 is composed of a cargo platform and a fork assembly, and the fork assembly includes: a first motor 19; a gear transmission 20, one end of which is connected to the first motor 19; a first transmission shaft 21, one end of which is connected to the other end of the gear transmission 20; a first mounting frame 22, which is connected to the first transmission shaft 21 through a ball bearing and is also connected to the first motor 19; a connecting shaft 23, one end of which is connected to the other end of the first transmission shaft 21; a second transmission shaft 24, one end of which is connected to the other end of the connecting shaft 23; a second mounting frame 25, which is connected to the second transmission shaft 24 through a ball bearing; a speed sensor 26, which is installed on the other end of the second transmission shaft 24; both the first mounting frame 22 and the second mounting frame 25 are provided with forks.

[0039] In one embodiment, Figure 2 As shown, the conveyor line 5 includes an infeed conveyor line 5 and an outfeed conveyor line 5, the infeed conveyor line 5 is connected to the input end of the stacking production device 3, the outfeed conveyor line 5 is connected to the output end of the unloading device 4, and the conveyor line 5 includes an RGV trolley and a conveying track; a turntable is provided between the conveyor line 5 and the stacking production device 3 and the unloading device 4 to rotate the material 90°.

[0040] In one embodiment, Figure 5 As shown, a rolling door is provided on one side of the first storage bin, and a safety net back is provided on one side of the second storage bin.

[0041] In one embodiment, in the present invention, transformer core column materials and core stacking are automatically bound to order information, automatically stored and transported, and automatically discharged to the corresponding handover position according to production instructions. A rail-mounted aisle stacker 2 is used for material reverse transportation, and a sheet column rotating device is designed at the docking position of the stacking production device 3, the unloading device 4 and the conveyor line 5, and a material handover position is set at the manual stacking station, the rework station and the sheet column packaging station in the stacking production device 3.

[0042] The details are as follows:

[0043] The transformer core column material and core stacking have the function of automatically binding order information for sheet columns.

[0044] The rail-mounted aisle stacker has the functions of automatic warehousing, storage, and transfer of sheet material columns, and automatic discharge to the corresponding handover position according to production instructions.

[0045] The stereoscopic storage warehouse stores the stacked empty pallets of cores; the stacker can automatically transfer the stacked empty pallets to the pre-laying station; it can place the finished core pallets on the stacking table of the manual lamination station, the roller line of the automatic lamination station, or put them into storage; it can transport the manually stacked cores to the roller line corresponding to the assembly station; it can also put the stacked cores or the cores with abnormal detection functions into the rework station or put them into storage for temporary storage. There is an anti-collision interlocking mechanism when the stacker is docked with the rotating table. The stereoscopic storage warehouse is equipped with a WMS / WCS management system.

[0046] In one embodiment, in the present invention, the rail-mounted aisle stacker realizes the storage unit cargo entry operation from the aisle port conveyor to the designated cargo position, or the outbound operation from the designated cargo position to the aisle port conveyor by performing a series of coordinated actions such as horizontal reciprocating linear movement, vertical lifting, and left and right telescopic forking of the cargo fork in the aisle, thereby realizing the automatic entry and exit of the cargo together with the aisle port inbound and outbound conveyor system;

[0047] The stacker moves back and forth along the tunnel floor rails, and its operation has three directions of movement:

[0048] The horizontal movement is in the xx direction, and the stacker moves along the ground track and can deliver the goods to any column;

[0049] The vertical lifting is in the yy direction, and the cargo platform can lift the cargo to any level along the column guide rail;

[0050] The fork is extended to the z direction and can store and retrieve goods.

[0051] The stacker panel adopts a touch screen to ensure reliable operation and easy operation, maintenance and repair of the stacker;

[0052] The stacker has various safety protection functions such as cargo compartment detection and cargo position detection on the stacker loading platform;

[0053] An alarm system is installed on the stacker's electrical control cabinet. When the stacker fails or the detector detects an abnormality, the stacker will handle the problem on its own according to the fault type and sound an alarm at the same time.

[0054] The columns are welded with high-quality steel to form a solid low-center-of-gravity structure, which improves the stability of the stacker. The end surface processing of the columns allows the stacker's straightness to be controlled within an accuracy range of 0.1%.

[0055] In one embodiment, in the present invention, the rail-mounted aisle stacker is installed with the three-dimensional storage warehouse through the columns; after the columns are assembled, the verticality of the columns is adjusted. The verticality of the columns is adjusted by an eccentric driven wheel axis. The verticality is set to compensate for the elastic deformation of the columns caused by loading goods on the top of the shelf.

[0056] The top of the column is connected to the guide rail with a guide wheel. The guide rail is made by a gantry planer and shaped in one step to ensure the linear accuracy of the column guide rail and enable the cargo to be lifted and lowered freely on the guide rail.

[0057] Rubber buffer devices are installed at the upper and lower ends of the column to prevent it from falling when the movement exceeds the electronic control limit stroke.

[0058] The horizontal reciprocating linear motion device is installed at the bottom of the lower main beam to ensure safe and reliable operation and long service life. A support frame and a track cleaner are installed on it to prevent the wheels from breaking, ensuring that the stacker can operate without trouble for a long time. The drive of the driving wheel is directly controlled by the drive motor with brake. The motor and transmission device are installed on the bracket. This structure allows the drive device to be quickly replaced. The stacker is equipped with a guide wheel with an anti-friction bearing and an eccentric adjustment device. The horizontal reciprocating linear motion device adopts AC frequency conversion speed regulation.

[0059] The vertical lifting device consists of an AC motor with a brake, a motor reducer, and a lifting drum. The drum design ensures the safe operation of the lifting wire rope. The motor drives the cargo platform to be lifted. The wire rope is driven by a drive device installed on the side of the lifting pillar.

[0060] The platform is raised and lowered along the column guide rails by guide wheels with anti-friction bearings. The platform is a welded structure to reduce the deadweight of the platform as much as possible and ensure sufficient rigidity without deformation. The telescopic forks that can be extended on both sides are driven by pinions and gear chains. A speed limiter is used to drive the safety-tested clamps to avoid sudden falls due to wire rope or shaft breaks when the platform exceeds the speed limit. The platform ensures smooth transportation of material pallets and considers the anti-tipping bracket structure of the pallet.

[0061] The fork assembly uses a limit switch to detect the position of the telescopic fork. The stacker can only operate when the fork is in the middle position. Fork type and its transmission system: The telescopic fork consists of an upper and lower fork body, a guide wheel system, a transmission mechanism, etc. The transmission system consists of a variable frequency speed-regulating gear reduction motor, a torque limiter, a chain drive multiplier mechanism, etc.

[0062] The stacker's electrical control system and safety protection, the stacker's electrical control system controls the horizontal reciprocating linear motion device, vertical lifting device and left and right telescopic fork pickup device; the horizontal reciprocating linear motion device, vertical lifting device and left and right telescopic fork pickup device are all driven by AC motors; vector inverters are used to achieve stepless speed regulation and electrical braking, and start and stop smoothly and quickly. The stacker is equipped with a speed-changing brake that uses electrical braking, during which the energy released is converted into heat through the brake resistor. Mechanical braking only works when stopping or emergency braking.

[0063] All switch devices of the stacker's electrical control system are installed in the control cabinet and on the panel, which is easy to operate, safe and reliable. All electrical components are installed in the control cabinet, and the external switches and wires and cables are protected by sheaths. The control cabinet has a lighting lamp and a 220V socket for maintenance lighting. The necessary electrical safety interlocking devices are considered during operation, lifting and fork movement. The electric control cabinet is installed on the operating platform, which can be manned to operate the equipment, which is safe and convenient. Data security during power outages All fixed data of the positioning control device, the user's program and parameters are stored in a non-volatile storage module (EPROM). All read and write (RAM) and accumulators are temporarily stored, and the memory storage capacity after power outages is more than 48 hours.

[0064] Stacker positioning and communication;

[0065] Positioning method: walking uses laser distance measurement positioning, lifting uses laser positioning or barcode positioning; Communication method: wireless communication (preferably infrared communication). The wireless communication device uses TCP / IP to achieve data communication through the wireless access point AP and the client EC. Operation mode: The stacker has three control modes: manual, stand-alone automatic and online fully automatic.

[0066] Manual method

[0067] The stacker's horizontal and vertical movements and fork telescopic movements are controlled by control buttons or touch screens; manual operation is mainly used for installation, debugging and equipment fault detection.

[0068] Single machine automatic

[0069] In single-machine automatic control, the operator types a series of commands on the touch screen of the control cabinet panel and controls the stacker through the PLC to complete a series of actions.

[0070] Online Automatic

[0071] The operation command issued by the management computer is directly transmitted to the monitoring microcomputer. After receiving the operation command, the monitoring computer queues the command according to the status of each device at that time. When the stacker is on standby, the monitoring computer contacts the stacker through wireless communication and issues the operation instruction. After receiving the command, the stacker PLC automatically completes the operation (warehouse entry, warehouse exit or warehouse entry and warehouse exit combined operation). The stacker PLC promptly feeds back the operating status of the stacker to the monitoring computer, and the monitoring computer returns the completion information telegram to the management computer system and modifies the database data.

[0072] Stacker safety and protection

[0073] When the aisle stacker runs horizontally close to the end cargo position and runs outside the shelf, the horizontal running speed is forced to slow down, and a limit switch is set at a certain buffer distance from the fixed stop block at the end to ensure that the stacker can stop reliably.

[0074] Polyurethane buffers are installed at both ends of the aisle stacker. In case of failure, the aisle stacker can be stopped by buffering to ensure the safety of the aisle stacker.

[0075] The loading platform is equipped with a sensor to detect the shape deviation of the cargo pallet to avoid accidents caused by cargo exceeding the stacker. The fork is equipped with a mid-position detection switch to prevent the fork from malfunctioning when the rail stacker is moving and lifting, ensuring the safety of the operation of the aisle stacker.

[0076] The loading platform is equipped with shelf real / false detection sensors to confirm whether there is stock on the shelf to avoid double entry. When it is found that there is stock on the shelf, delivery will be stopped and an alarm will be sounded.

[0077] All motors on the stacker are equipped with overload and overheat protection, as well as inverter overcurrent and overvoltage protection.

[0078] The aisle stacker is equipped with upper and lower limit switches. When the loading platform moves up or down and exceeds the set lifting height of the shelf, the limit switch is triggered to ensure that the loading platform will stop running.

[0079] The stacker is equipped with loose rope and overload alarms. When overloaded, it will send out an alarm signal and stop running.

[0080] It is equipped with a speed limiting anti-fall device and a speed limiting protection device. When the wire rope breaks and the cargo platform descends or the descending speed exceeds the safe speed, it can be clamped in time to prevent the cargo platform from falling.

[0081] A forced deceleration switch is set to ensure that when the loading platform moves downward to a certain distance from a shelf on the first floor, the loading platform can only run at a slow speed.

[0082] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. An automated three-dimensional warehouse for transformer core column materials and core stacking, characterized in that: The automated three-dimensional warehouse comprises: a three-dimensional storage warehouse, a rail-mounted lane stacker, a stacking production device, a material unloading device and a conveyor line; The three-dimensional storage warehouse is provided with a plurality of them and is installed in the working area in an equidistant arrangement; the three-dimensional storage warehouse is composed of a first storage warehouse and a second storage warehouse, each of which is provided with a plurality of storage locations, the rail-guided aisle stacker is installed between the first storage warehouse and the second storage warehouse, the bottom of the first storage warehouse is provided in the production area, the stacking production device is located in the bottom production area of ​​the first storage warehouse, and the unloading device is located on one side of the second storage warehouse; The stacking production device includes: a manual stacking station, a rework station and a sheet column packaging station; and each station is composed of a tooling table, a single-layer trolley, and a stacking mechanism; the stacking mechanism is installed on the tooling table, and the tooling table is docked with the single-layer trolley so that the transformer core column material and the iron core flow from the single-layer trolley to the stacking mechanism of the tooling table; The stacking mechanism includes: a supporting frame; a first guide rail, fixedly mounted on both sides of one end of the supporting frame; a second guide rail, fixedly mounted on both sides of the other end of the supporting frame; a first slider, slidably mounted on the first guide rail; a second slider, slidably mounted on the second guide rail; a fixed plate, fixedly mounted on the supporting frame and located between the first guide rail and the second guide rail; a first slide plate, fixedly mounted on the first slide plate and connected to the fixed plate via a connecting rod; a second slide plate, fixedly mounted on the second slide plate and connected to the fixed plate via a connecting rod; a mounting seat, mounted on the first slide plate and the second slide plate; a limit screw, fixedly mounted on the fixed plate, the first slide plate and the second slide plate.

2. The automatic three-dimensional warehouse for stacking core columns and cores of distribution transformers according to claim 1 is characterized in that: The rail-mounted aisle stacker includes: a horizontal reciprocating linear motion device, a vertical lifting device and left and right telescopic fork pickup fork devices; The horizontal reciprocating linear motion device is installed on the top track of the three-dimensional storage warehouse and is located between the first storage warehouse and the second storage warehouse to perform horizontal linear motion, i.e., X-axis motion, on the three-dimensional storage warehouse. The vertical lifting device is installed on the horizontal reciprocating linear motion device to perform vertical motion, i.e., Y-axis motion. The left and right telescopic fork picking fork device is installed on the vertical lifting device to drive the fork to perform left and right motion, i.e., Z-axis motion.

3. The automatic three-dimensional warehouse for stacking core column materials and cores of distribution transformers according to claim 2 is characterized in that: The left and right telescopic fork pickup device is composed of a cargo platform and a fork assembly; The fork assembly includes: a first motor; a gear transmission, one end of which is connected to the first motor; a first transmission shaft, one end of which is connected to the other end of the gear transmission; a first mounting frame, which is connected to the first transmission shaft through a ball bearing and is also connected to the first motor; a connecting shaft, one end of which is connected to the other end of the first transmission shaft; a second transmission shaft, one end of which is connected to the other end of the connecting shaft; a second mounting frame, which is connected to the second transmission shaft through a ball bearing; a speed sensor, which is installed on the other end of the second transmission shaft; both the first mounting frame and the second mounting frame are provided with forks.

4. The automatic three-dimensional warehouse for stacking core columns and cores of distribution transformers according to claim 1 is characterized in that: The conveyor line includes an infeed conveyor line and an outfeed conveyor line. The infeed conveyor line is connected to the input end of the stacking production device, and the outfeed conveyor line is connected to the output end of the unloading device. The conveyor line includes an RGV trolley and a conveying track. A turntable is provided between the conveyor line and the stacking production device and the unloading device to rotate the material 90°.

5. The automatic three-dimensional warehouse for stacking core column materials and cores of distribution transformers according to claim 2 is characterized in that: A rolling door is provided on one side of the first storage bin, and a safety net back is provided on one side of the second storage bin and the other side of the first storage bin.

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