A stacker crane with three-stage telescopic forks

Abstract

The present application relates to a three-stage telescopic fork for a stacker, and relates to the technical field of stackers, which includes: a bottom fixed body for being installed on a lifting mechanism of the stacker; an intermediate moving body for being connected to the bottom fixed body in a transverse sliding manner; a top moving body for being connected to the intermediate moving body in a transverse sliding manner, with the sliding direction of the top moving body being parallel to the sliding direction of the intermediate moving body; a transverse driving mechanism for driving the intermediate moving body and the top moving body to slide transversely; an end lifting mechanism, including a top plate for being connected to the top moving body in a vertical sliding manner, a lifting driving member for providing power, and a pushing structure for transmitting the driving force of the lifting driving member to the top plate. The present application has the effect of precisely controlling the lifting or lowering of goods from a shelf.

Description

Technical Field

[0001] The present application relates to a stacker, and in particular to a stacker with three-stage telescopic forks. Background Art

[0002] To improve the efficiency, accuracy, and flexibility of warehouse management and meet the demands of modern manufacturing and logistics, intelligent warehouse storage systems are gaining attention. Stacker cranes are a hallmark of intelligent warehouses. Their primary function is to operate within the warehouse's aisles, depositing goods into designated shelves or removing goods from designated shelves to designated conveyors or destinations. This significantly reduces manual operation time and costs, while improving storage efficiency and accuracy.

[0003] At present, stackers mainly include a horizontal operating mechanism, a column installed on the horizontal operating mechanism, a lifting mechanism that slides vertically on the column, and a fork telescopic mechanism installed on the horizontal operating mechanism. When storing and retrieving goods, the fork is inserted into the bottom of the goods, and the lifting structure drives the fork telescopic mechanism to move upward, lift the goods to lift them off the shelf, and then the fork is controlled to retract to take the goods out. However, the lifting structure is used for long-distance lifting, so the output force is large and the speed is also fast. For lifting goods over a short distance, it needs to be opened and then closed quickly, and the control accuracy of the lifting height for short distances is not high. Therefore, it is necessary to provide a stacker that can more accurately control the short-distance lifting of the fork, so as to accurately control the lifting or lowering of goods from the shelf. Summary of the Invention

[0004] The purpose of this application is to provide a stacker with three-stage telescopic forks to accurately control the lifting or lowering of goods from the shelf.

[0005] The present application provides a stacker crane with three-stage telescopic forks, which adopts the following technical solution: the three-stage telescopic forks include:

[0006] The bottom fixed body is used to be installed on the lifting mechanism of the stacker;

[0007] The middle moving body is connected to the bottom fixed body in a lateral sliding manner;

[0008] The top moving body is connected to the middle moving body in a transverse sliding manner, and the sliding direction of the top moving body is parallel to the sliding direction of the middle moving body;

[0009] A transverse driving mechanism, used for driving the middle moving body and the top moving body to slide transversely;

[0010] The end lifting mechanism includes a top plate connected to the top moving body in a vertical sliding direction, a lifting driving member for providing power, and a pushing structure for transmitting the driving force of the lifting driving member to the top plate.

[0011] The lateral drive mechanism enables flexible horizontal movement of the top moving body, while the end lifting mechanism lifts the goods vertically a fixed distance, allowing them to be lifted from the shelf a fixed distance or lowered from a fixed height. The lifting drive uses a push mechanism to raise and lower the top plate relative to the top moving body, thereby achieving short-distance lifting of goods. During this process, the entire telescopic fork does not move vertically, and the stacker's lifting mechanism does not operate, improving the control accuracy of lifting or lowering goods from the shelf.

[0012] Preferably, the push structure includes a first push plate and a second push plate that are laterally slidably connected to the top moving body, the first push plate having a first inclined chute, the second push plate having a second vertically arranged chute, and the side wall of the top plate having a third horizontally arranged chute. The push structure also includes a linkage shaft that passes through the first, second, and third chute simultaneously, and when the first and second push plates move toward or away from each other, the linkage shaft is driven to move vertically to drive the top plate to move. The push structure adopts a design in which the first and second push plates cooperate with the linkage shaft. Through the inclined and vertical arrangement of the chute, the effective conversion of the lifting drive torque to the top plate thrust is achieved, thereby enhancing the stability and reliability of the end lifting mechanism.

[0013] Preferably, the transverse drive mechanism includes a transverse main drive structure for driving the intermediate moving body to slide, and a transverse driven structure for driving the top moving body to slide. The transverse driven structure drives the top moving body by moving through the intermediate moving body. The transverse driven structure includes a first planar belt and a second planar belt. A belt idler pulley A is mounted on the end of the intermediate moving body near side A, and a belt idler pulley B is mounted on the end near side B. One end of the first planar belt is fixedly connected to the end of the bottom fixed body near side B, and the other end of the first planar belt passes over the belt idler pulley A and is fixedly connected to the top moving body. One end of the second planar belt is fixedly connected to the end of the bottom fixed body near side A, and the other end of the second planar belt passes over the belt idler pulley B and is fixedly connected to the top moving body. When the transverse main drive structure drives the intermediate moving body toward side A, the belt idler pulley A tightens the first planar belt, pulling the top moving body toward side A. When the transverse main drive structure drives the intermediate moving body toward side B, the belt idler pulley B tightens the second planar belt, pulling the top moving body toward side B. The three-section extension and retraction of the fork teeth is achieved through the transverse main drive structure and the transverse driven structure.

[0014] Preferably, the second flat belt is fixedly connected to the top moving body near side A, and the first flat belt is fixedly connected to the top moving body near side B. The connection position between the flat belt and the top moving body is moved closer to the edge to increase the moving stroke of the top moving body.

[0015] Preferably, the first push plate is fixedly connected to the first connecting plate, the second push plate is fixedly connected to the second connecting member, the first planar belt is fixedly connected to the first connecting plate, the second planar belt is fixedly connected to the second connecting plate, and the lifting drive is an electric push cylinder installed on the bottom fixed body, and the electric push cylinder has two free ends fixedly connected to the first planar belt and the second planar belt respectively. The lifting drive pulls the first connecting plate and the second connecting plate through the two planar belts to control the movement of the first push plate and the second push plate towards or away from each other, thereby controlling the lifting and lowering of the top plate. The lifting drive as a power source is installed on the bottom fixed body, which reduces the load on the top moving body on the one hand and simplifies the wiring harness on the other hand. The planar belt serves as a transmission member for the lateral extension and retraction of the fork teeth, and also as a transmission member for the vertical lifting and lowering of the top plate. The overall structure is more integrated, reducing the number of components.

[0016] Preferably, the end of the first slide on the A side is higher than the end on the B side, and a first thrust spring is provided between the first connecting plate and the top moving body, and the force applied by the first thrust spring to the first connecting plate is toward the A side. A second thrust spring is provided between the second connecting plate and the top moving body, and the force applied by the second thrust spring to the second connecting plate is toward the B side. The thrust of the two thrust springs is used to push the first push plate and the second push plate away from each other, so that the top plate is lifted, thereby lifting the cargo. The electric push cylinder is used to pull the flat belt to pull the first push plate and the second push plate closer to each other, so that the cargo is lowered. On the other hand, when the flat belt pulls the top moving body, it applies a force through the thrust spring, so that when it is just started, it is acted upon by the thrust spring, and the force applied to the top moving body gradually increases, which has a buffering effect on the start of the sliding of the top moving body.

[0017] Preferably, both ends of the first chute extend in the horizontal direction. When the thrust spring is used to buffer the sliding start of the top moving body, the push plate will be displaced to cause the top plate to rise and fall. By setting the horizontal extension, the movement of a single push plate will not cause the top plate to rise and fall.

[0018] Preferably, the transverse drive mechanism includes:

[0019] The synchronous belt driving wheel is rotatably connected to the bottom fixed body;

[0020] A driving motor is installed on the bottom fixed body and is used to drive the synchronous belt driving wheel to rotate;

[0021] A synchronous belt idler wheel is rotatably connected to both ends of the bottom fixed body; and

[0022] The transmission synchronous belt is mounted on the synchronous belt idler pulley and meshes with the synchronous belt driving pulley;

[0023] The intermediate moving body is fixedly connected with a rack meshed with a transmission synchronous belt.

[0024] The drive motor drives the synchronous belt drive pulley, which in turn rotates the transmission belt. Guided by two synchronous belt idler pulleys, the transmission belt meshes with the rack of the intermediate moving body, thereby driving the intermediate moving body. Using the synchronous belt for transmission ensures stable transmission and low noise.

[0025] Preferably, the bottom fixed body is rotatably connected to two guide idler wheels, which are located on both sides below the synchronous belt drive pulley. The spacing between the guide idler wheels is less than the diameter of the synchronous belt drive pulley. The transmission synchronous belt passes around one guide idler wheel, the synchronous belt drive pulley, and the other guide idler wheel in sequence. This increases the wrap angle of the transmission synchronous belt, thereby improving transmission efficiency and stability.

[0026] Preferably, the drive motor is a reduction motor, and the output shaft of the drive motor is coaxially fixedly connected to the synchronous belt driving wheel through a coupling. The reduction motor provides higher torque, reduces the load on the motor, and optimizes space.

[0027] In summary, this application includes at least one of the following beneficial technical effects:

[0028] The transverse drive mechanism enables the flexible horizontal movement of the top moving body. The end lifting mechanism lifts the goods vertically by a fixed distance. The lifting drive component lifts the top plate relative to the top moving body through the push structure, thereby achieving short-distance lifting of the goods. During this process, the entire telescopic fork does not move vertically, and the stacker's lifting mechanism does not work, which improves the control accuracy of picking up or putting down goods from the shelf.

[0029] The lift drive uses two flat belts to pull the first and second push plates toward each other, lowering the top plate. Two thrust springs push the first and second push plates away from each other, raising the top plate. The lift drive, serving as the power source, is mounted on the bottom fixed body, reducing the load on the top moving body and simplifying the wiring harness. The flat belts act as both the transmission element for the lateral extension and retraction of the forks and the vertical elevation of the top plate, resulting in a more integrated overall structure and a reduced number of components.

[0030] When the flat belt pulls the top moving body, it applies a force through the thrust spring. Therefore, when it is just started, the force applied to the top moving body gradually increases due to the action of the thrust spring, which plays a buffering role in the sliding start of the top moving body. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is a top view of an embodiment of the present application;

[0032] Figure 2 This is a front view of an embodiment of the present application for demonstration;

[0033] Figure 3 This is a structural diagram of an embodiment of the present application for illustrating a transverse main drive structure;

[0034] Figure 4 This is a schematic structural diagram of an embodiment of the present application for illustrating a transverse driven structure;

[0035] Figure 5 This is a schematic structural diagram of an embodiment of the present application for illustrating an end lifting mechanism;

[0036] Figure 6 It is a schematic diagram used to illustrate the push structure of an embodiment of the present application.

[0037] In the figure, 100, bottom fixed body; 101, crossbeam; 102, support wheel; 103, fixed seat; 200, intermediate moving body; 201, T-slot; 202, rack; 203, side groove; 300, top moving body; 301, edge; 302, third slide; 410, transverse main drive structure; 411, synchronous belt driving wheel; 412, drive motor; 413, synchronous belt idler; 414, transmission synchronous belt; 415, guide idler; 420, transverse driven structure; 421. First planar belt; 422. Second planar belt; 423. Belt idler pulley A; 424. Belt idler pulley B; 500. End lifting mechanism; 510. Top plate; 520. Lifting drive member; 530. Pushing structure; 531. First push plate; 532. Second push plate; 533. Linking shaft; 534. First slide groove; 535. Second slide groove; 536. First connecting plate; 537. Second connecting plate; 538. First thrust spring; 539. Second thrust spring. DETAILED DESCRIPTION

[0038] The following is combined with Figure 1 -Attached Figure 6 , further details of this application are given. Example

[0039] A stacker crane with three-stage telescopic forks, Figure 1 ,include:

[0040] The bottom fixed body 100 is used to support other components of the telescopic fork;

[0041] The intermediate movable body 200 is slidably connected to the bottom fixed body 100 in a transverse direction;

[0042] The top moving body 300 is connected to the middle moving body 200 in a lateral sliding manner, and the sliding direction of the top moving body 300 is parallel to the sliding direction of the middle moving body 200;

[0043] The transverse driving mechanism is used to drive the intermediate moving body 200 and the top moving body 300 to slide transversely.

[0044] Reference Figure 1 and Figure 2 In this embodiment, the bottom fixed body 100 is composed of two horizontal beams 101. Both ends of the two beams 101 are fixed by a fixed seat 103, and then installed on the lifting mechanism of the stacker through the fixed seat 103. The intermediate moving body 200 is generally flat and has a T-slot 201 in the middle. The bottom fixed body 100 is located in the T-slot 201. Rollers are installed on both sides of the bottom fixed body 100 to enable lateral sliding between the intermediate moving body 200 and the bottom fixed body 100. The top moving body 300 is generally plate-shaped and has downwardly extending edges 301 on both sides. The top moving body 300 covers the intermediate moving body 200. The edges 301 of the top moving body 300 are rotatably connected to rollers. Side grooves 203 for rollers are opened on both sides of the intermediate moving body 200 to enable relative sliding between the top moving body 300 and the intermediate moving body 200.

[0045] Reference Figure 3 The transverse driving mechanism includes a transverse main driving structure 410, which is used to drive the intermediate moving body 200 to slide.

[0046] In this embodiment, the transverse main drive structure 410 includes:

[0047] The synchronous belt driving wheel 411 is rotatably connected to the bottom fixed body 100;

[0048] The driving motor 412 is a reduction motor, which is installed on the bottom fixed body 100 and drives the synchronous belt driving wheel 411 to rotate through the coupling;

[0049] There are two synchronous belt idler pulleys 413, which are rotatably connected to the two ends of the bottom fixed body 100 respectively; and

[0050] The transmission synchronous belt 414 is sleeved on the synchronous belt idler pulley 413 and meshed with the synchronous belt driving pulley 411 .

[0051] The intermediate moving body 200 is fixedly connected to a rack 202, which meshes with a transmission timing belt 414. A drive motor 412 drives a timing belt drive pulley 411, which in turn rotates the transmission timing belt 414. Guided by two timing belt idler pulleys 413, the transmission timing belt 414 meshes with the rack 202 of the intermediate moving body 200, thereby driving the intermediate moving body 200. The drive motor 412 is a servo motor equipped with an encoder, which provides position feedback, enabling efficient and accurate positioning.

[0052] The bottom fixed body 100 is rotatably connected to a plurality of support wheels 102 . The support wheels 102 are located between two synchronous belt idler wheels 413 and provide support for the transmission synchronous belt 414 so that the transmission synchronous belt 414 is fully engaged with the rack 202 .

[0053] To increase the wrap angle of the transmission timing belt 414, the bottom fixed body 100 is rotatably connected to two guide idler pulleys 415. These two guide idler pulleys 415 are located below and on either side of the timing belt driving pulley 411. The transmission timing belt 414 passes sequentially around one guide idler pulley 415, the timing belt driving pulley 411, and the other guide idler pulley 415. The spacing between the guide idler pulleys 415 is smaller than the diameter of the timing belt driving pulley 411, thereby increasing the wrap angle of the transmission timing belt 414 and improving transmission efficiency and stability.

[0054] Reference Figure 4 The lateral drive mechanism further includes a lateral driven structure 420, which is used to drive the sliding of the top moving body 300. The lateral driven structure 420 drives the top moving body 300 to move by moving the intermediate moving body 200.

[0055] The lateral driven structure 420 includes a first planar belt 421 and a second planar belt 422. A belt idler pulley A423 is mounted on the end of the intermediate moving body 200 near side A, and a belt idler pulley B424 is mounted on the end near side B. Side A is the side in the lateral sliding direction of the three-stage telescopic fork, and side B is the side opposite side A.

[0056] One end of the first planar belt 421 is connected to one end of the bottom fixed body 100 close to the B side, and the other end passes around the belt idler wheel A423 and is connected to a position of the top moving body 300 close to the B side.

[0057] One end of the second planar belt 422 is connected to one end of the bottom fixed body 100 close to the A side, and the other end of the second planar belt 422 passes over the belt idler B424 and is connected to a position of the top moving body 300 close to the A side.

[0058] When the transverse main drive structure 410 drives the intermediate moving body 200 toward side A, the belt idler pulley A 423 tightens the first flat belt 421, which pulls the top moving body 300 toward side A. When the transverse main drive structure 410 drives the intermediate moving body 200 toward side B, the belt idler pulley B 424 tightens the second flat belt 422, which pulls the top moving body 300 toward side B. The three-stage extension and retraction of the fork teeth is achieved through the transverse main drive structure 410 and the transverse driven structure 420.

[0059] Reference Figure 5 and Figure 6 In order to lift and lower goods from the shelf, the three-stage telescopic fork also includes an end lifting mechanism 500.

[0060] The end lifting mechanism 500 includes a top plate 510 vertically connected to the top moving body 300, a lifting driving member 520 for providing power (refer to Figure 4 ) and transmits the driving force of the lifting drive member 520 to the pushing structure 530 of the top plate 510.

[0061] The push structure 530 includes a first push plate 531, a second push plate 532 and a linkage shaft 533 that are laterally slidably connected to the top moving body 300. There are two first push plates 531 and two second push plates 532, which are respectively located on both sides of the top moving body 300.

[0062] Reference Figure 6 The first push plate 531 is provided with an inclined first chute 534, with the end of the first chute 534 on the A side higher than the end on the B side. The second push plate 532 is provided with a vertically arranged second chute 535. The side wall of the top plate 510 is provided with a horizontally arranged third chute 302.

[0063] The linkage shaft 533 is simultaneously passed through the first slide groove 534, the second slide groove 535 and the third slide groove 302. The linkage shaft 533 is rotatably connected to three rollers, which roll in the slide grooves to reduce friction during sliding.

[0064] When the first push plate 531 and the second push plate 532 move toward each other, the linkage shaft 533 moves downward, thereby driving the top plate 510 to move downward. When the first push plate 531 and the second push plate 532 move backward, the linkage shaft 533 moves upward, thereby driving the top plate 510 to lift.

[0065] The two first push plates 531 are fixedly connected via a first connecting plate 536, and the first planar belt 421 is fixedly connected to the first connecting plate 536. The two second push plates 532 are fixedly connected via a second connecting plate (not shown), and the second planar belt 422 is fixedly connected to the second connecting plate.

[0066] Reference Figure 4 The lifting drive 520 is an electric push cylinder mounted on the bottom fixed body 100. The electric push cylinder has two free ends fixedly connected to the first planar belt 421 and the second planar belt 422. The lifting drive 520 pulls the first connecting plate 536 and the second connecting plate 537 via the two planar belts to control the simultaneous movement of the first push plate 531 and the second push plate 532 toward each other.

[0067] A first thrust spring 538 is installed between the first connecting plate 536 and the top moving body 300. The first thrust spring 538 applies a force to the first connecting plate 536 toward side A. A second thrust spring 539 is installed between the second connecting plate 537 and the top moving body 300. The second thrust spring 539 applies a force to the second connecting plate 537 toward side B. The thrust of the two thrust springs pushes the first push plate 531 and the second push plate 532 away from each other, thereby lifting the top plate 510 and, in turn, lifting the cargo.

[0068] In addition, when the flat belt pulls the top moving body 300, it applies a force through the thrust spring. Therefore, when it is just started, the force applied to the top moving body 300 gradually increases due to the action of the thrust spring, which plays a buffering role in the sliding start of the top moving body 300.

[0069] When the thrust spring is used to cushion the sliding start of the top moving body 300, the push plate will be displaced, causing the top plate 510 to rise and fall. To solve this problem, the ends of the first slide groove 534 are extended horizontally. By providing a horizontal extension, the movement of a single push plate will not cause the top plate 510 to rise and fall.

[0070] The operating principle of the embodiment of the present application is as follows: the lifting drive 520 pulls the first connecting plate 536 and the second connecting plate 537 via two planar belts, and in conjunction with a thrust spring, controls the movement of the first push plate 531 and the second push plate 532 toward or away from each other, thereby controlling the lifting and lowering of the top plate 510. The lifting drive 520, serving as a power source, is mounted on the bottom fixed body 100, reducing the load on the top movable body 300 and simplifying the wiring harness. The planar belt serves as the transmission element for both the lateral extension and retraction of the forks and the vertical lifting and lowering of the top plate 510, making the overall structure more integrated and reducing the number of components.

[0071] The transverse drive mechanism enables flexible horizontal movement of the top moving body 300. The end lift mechanism 500 lifts the goods vertically a fixed distance, allowing them to be lifted from the shelf a fixed distance or lowered from a fixed height. The lift drive 520, via the push mechanism 530, raises and lowers the top plate 510 relative to the top moving body 300, achieving short-distance lifting of goods. During this process, the telescopic forks do not move vertically, and the stacker's lifting mechanism does not operate, improving the control accuracy of lifting or lowering goods from the shelf.

[0072] The examples of this specific embodiment are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Identical components are represented by the same reference numerals. Therefore, any equivalent changes made based on the structure, shape, and principle of this application should be included in the scope of protection of this application.

Claims

1. A stacker crane with three-stage telescopic forks, comprising: A bottom fixed body (100) is used for being mounted on a lifting mechanism of a stacker; The intermediate moving body (200) is connected to the bottom fixed body (100) in a transverse sliding manner; the top moving body (300) is connected to the intermediate moving body (200) in a transverse sliding manner, and the sliding direction of the top moving body (300) is parallel to the sliding direction of the intermediate moving body (200); the transverse driving mechanism is used to drive the intermediate moving body (200) and the top moving body (300) to slide transversely; it is characterized in that the end lifting mechanism (500) includes a top plate (510) connected to the top moving body (300) in a vertical sliding manner, a lifting driving member (520) for providing power, and a pushing structure (530) that converts the torque of the lifting driving member (520) into thrust; The pushing structure (530) includes a first push plate (531) and a second push plate (532) which are laterally slidably connected to the top moving body (300), the first push plate (531) is provided with a first chute (534) which is inclined, the second push plate (532) is provided with a second chute (535) which is vertically arranged, and the side wall of the top plate (510) is provided with a third chute (302) which is laterally arranged. The pushing structure (530) also includes a linkage shaft (533) which is simultaneously provided in the first chute (534), the second chute (535) and the third chute (302), and when the first push plate (531) and the second push plate (532) move toward or away from each other, the linkage shaft (533) is driven to move vertically to drive the top plate (510) to move. The transverse driving mechanism comprises a transverse main driving structure (410) for driving the intermediate moving body (200) to slide and a transverse driven structure (420) for driving the top moving body (300) to slide. The transverse driven structure (420) drives the top moving body (300) to move by moving the intermediate moving body (200). The transverse driven structure (420) comprises a first plane belt (421) and a second plane belt (422). An idler pulley A (423) is installed at one end of the intermediate moving body (200) close to the A side. ), a belt idler pulley B (424) is installed at one end close to the B side, one end of the first planar belt (421) is connected to one end of the bottom fixed body (100) close to the B side, and the other end of the first planar belt (421) passes around the belt idler pulley A (423) and is connected to the top movable body (300); one end of the second planar belt (422) is connected to one end of the bottom fixed body (100) close to the A side, and the other end of the second planar belt (422) passes around the belt idler pulley B (424) and is connected to the top movable body (300); the second planar belt (422) is fixedly connected to the top movable body (300) close to the A side, and the first planar belt (421) is fixedly connected to the top movable body (300) close to the B side;The first push plate (531) is fixedly connected to a first connecting plate (536), the second push plate (532) is fixedly connected to a second connecting member, the first plane belt (421) is fixedly connected to the first connecting plate (536), the second plane belt (422) is fixedly connected to the second connecting plate (537), and the lifting drive member (520) is an electric push cylinder installed on the bottom fixed body (100), and the electric push cylinder has two free ends, and the free ends are fixedly connected to the first plane belt (421) and the second plane belt (422).

2. The three-stage telescopic fork of a stacker according to claim 1, characterized in that: The end of the first slide groove (534) on the A side is higher than the end on the B side, a first thrust spring (538) is provided between the first connecting plate (536) and the top movable body (300), and the force applied by the first thrust spring (538) to the first connecting plate (536) is toward the A side, and a second thrust spring (539) is provided between the second connecting plate (537) and the top movable body (300), and the force applied by the second thrust spring (539) to the second connecting plate (537) is toward the B side.

3. A stacker crane with three-stage telescopic forks according to any one of claims 1-2, characterized in that: Both ends of the first sliding groove (534) extend in the horizontal direction.

4. A stacker crane with three-stage telescopic forks according to any one of claims 1-2, characterized in that: The transverse driving mechanism comprises: a synchronous belt driving wheel (411), which is rotatably connected to the bottom fixed body (100); a driving motor (412), which is mounted on the bottom fixed body (100) and is used to drive the synchronous belt driving wheel (411) to rotate; a synchronous belt idler wheel (413), which is rotatably connected to both ends of the bottom fixed body (100); and a transmission synchronous belt (414), which is sleeved on the synchronous belt idler wheel (413) and meshed with the synchronous belt driving wheel (411); and the intermediate moving body (200) is fixedly connected to a rack (202) meshed with the transmission synchronous belt (414).

5. The three-stage telescopic fork of a stacker according to claim 4, characterized in that: The bottom fixed body (100) is rotatably connected to two guide idler wheels (415), the two guide idler wheels (415) being located on both sides below the synchronous belt driving wheel (411), the spacing between the guide idler wheels (415) being smaller than the diameter of the synchronous belt driving wheel (411), and the transmission synchronous belt (414) passing through one guide idler wheel (415), the synchronous belt driving wheel (411), and the other guide idler wheel (415) in sequence.

6. The three-stage telescopic fork of a stacker according to claim 4, characterized in that: The driving motor (412) is a reduction motor, and the output shaft of the driving motor (412) is coaxially fixedly connected to the synchronous belt driving wheel (411) via a coupling.

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