Double-stretching double-station stacking machine system for mixed placement of large and small goods

Abstract

The invention relates to the technical field of warehouse logistics equipment, in particular to a double-extension double-station stacking machine system for mixed placement of large and small goods, which comprises a plurality of goods shelf upright posts and goods main bodies, and a plurality of first deep cross beams and second deep cross beams for placing different goods main bodies are arranged between two adjacent goods shelf upright posts; a stacking machine body is further arranged between every two adjacent goods shelf stand columns, each stacking machine body is provided with a goods carrying assembly assisting the corresponding stacking machine body in taking and placing the corresponding goods body, and each goods carrying assembly is provided with a lifting goods fork used for storing and taking the corresponding goods body. According to the photoelectric system for accurately aligning the cargo carrying table to the double-extending goods shelf, firstly, the vertical column is used for detecting photoelectricity, the cross beam is used for detecting photoelectricity, accurate alignment of the center of the cargo carrying table of the stacking machine and the center of the goods shelf is guaranteed, then accurate alignment of the center of the cargo carrying table and the center of goods loaded on the cargo carrying table is achieved through detection photoelectricity 1-17, and accurate alignment of the cargo carrying table and the goods on the cargo carrying table is integrated; therefore, accurate alignment of the goods and the goods shelf is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of warehousing logistics equipment, and in particular to a double-extension double-station stacker system for mixed storage of large and small goods. Background Art

[0002] As the automated warehouse system continues to develop towards density, in order to improve the storage density and utilization rate of the warehouse, the shelves of the automated three-dimensional warehouse are gradually changing from single-extending to double-extending. Double-extending shelves are a type of shelves that use double rows of parallel storage. The same row usually consists of two pallet positions, or a large pallet can occupy two small pallet positions for arrangement. The storage capacity of the double-extending shelves with a double-row parallel design is relatively large, and more goods can be stored in the same area of ​​the warehouse. The shelves in the automated three-dimensional warehouse are the storage equipment for goods, and the stacker is the core equipment for automatic storage and retrieval of goods in the three-dimensional shelves;

[0003] When performing storage and retrieval operations, the positioning function of the stacker is required to be relatively strict. At present, the main positioning methods for stackers include address plates and encoders, laser rangefinders, laser barcode addressers, etc. Although the above three methods can position the main body of the stacker, there will still be positioning errors. When the stacker is very high or there are many types of pallets, it is easy to cause inaccurate positioning of the stacker fork, resulting in errors in the placement and retrieval of the pallet, which will cause the stacker fork to hit the pallet, causing the pallet to fall or be damaged.

[0004] The stacker automatic addressing device and addressing method provided by the publication number "CN112744750A" were retrieved. When the patented technology is used, when it runs to a certain cargo position, it can simultaneously address the horizontal and vertical coordinates, and simultaneously address the cargo positions on the left and right sides of the stacker. The addressing efficiency is high, and the addressing accuracy can reach within 1mm. Especially for large-scale stereoscopic warehouses with many cargo positions, the addressing efficiency can be greatly improved;

[0005] Then, a stacker pallet placement alignment device with publication number "CN218402167U" used in stereoscopic warehouses was retrieved. The device can re-position the position of the fork relative to the pallet through a linear measurement sensor and a barcode label, thereby avoiding the situation where the stacker fork position is inaccurate when the stacker is too high or there are many types of pallets, resulting in errors in the placement and retrieval of the pallet, and the stacker fork hits the pallet, causing the pallet to fall or be damaged.

[0006] The automatic addressing device and addressing method of the stacker mentioned above need to be equipped with 5 sets of visual systems when in use. The addressing accuracy is improved, but the one-time investment cost is large, the subsequent maintenance cost is also high, and the overall cost of the equipment is too high, which is not conducive to the market operation of the product;

[0007] The above-mentioned stacker pallet placement alignment device used in a stereoscopic warehouse is only applicable to a single-extending unit shelf system and cannot be normally applied to a complex double-extending double-position shelf system.

[0008] Therefore, those skilled in the art provide a double-extension double-station stacker system for mixed storage of large and small goods to solve the problems raised in the above background technology. Summary of the invention

[0009] The object of the present invention is to provide a double-extension double-station stacker system for mixed storage of large and small goods, so as to solve the problems raised in the above-mentioned background technology.

[0010] To achieve the above object, the present invention provides the following technical solutions:

[0011] A double-extension double-station stacker system for mixed storage of large and small goods, comprising a plurality of shelf columns and a cargo body, a plurality of one-deep beams and two-deep beams for placing different cargo bodies are installed between two adjacent shelf columns, a stacker body is also arranged between two adjacent shelf columns, each of the stacker bodies is provided with a cargo loading assembly for assisting the stacker body to take and place the cargo body, and the cargo loading assembly is provided with two sets of lifting forks for storing and taking the cargo body;

[0012] The cargo compartment between two adjacent shelf columns is divided into A cargo position and B cargo position, and the cargo loading assembly is provided with two groups of storage positions corresponding to A cargo position and B cargo position;

[0013] The cargo-carrying component is also equipped with a plurality of detection photoelectric devices, which respectively detect the front, rear, left, right, and height of the cargo body to detect abnormal position deviation of the cargo body on the cargo-carrying component.

[0014] Preferably: the stacker body comprises two stacker columns, the top and bottom of the two stacker columns are provided with walking mechanisms, the cargo assembly is arranged between the two stacker columns, one of the stacker columns is provided with a hoist for lifting the cargo assembly, and the other stacker column is provided with a control cabinet.

[0015] Preferably: the cargo loading component includes a cargo platform, and two groups of cargo detection photoelectric devices A and two groups of cargo detection photoelectric devices B are symmetrically installed on both sides of the cargo loading platform close to the shelf columns, each group of the cargo detection photoelectric devices A is provided with 5 cargo detection photoelectric devices, and each group of the cargo detection photoelectric devices B is provided with 3 cargo detection photoelectric devices, and a plurality of cargo detection photoelectric devices C for detecting cargo on the cargo loading platform are also provided between the two groups of lifting forks.

[0016] Preferably: the cargo platform is divided into two stocking positions, stocking position L and stocking position R, and the stocking position L and stocking position R correspond to the A stocking position and the B stocking position respectively;

[0017] Two X-axis column detection photoelectric devices and two Y-axis beam detection photoelectric devices are respectively installed on both sides of the cargo platform close to the shelf columns.

[0018] Preferably: the two groups of lifting forks are respectively located on the storage position L and the storage position R, each group of the lifting forks includes two groups of double-extension fork bodies, and each group of double-extension fork bodies is fixedly connected to the cargo platform, and the tail of each double-extension fork body is provided with an encoder for measuring the length of the extension fork.

[0019] Preferably, the facing surfaces of the two double-extension fork bodies in the same group are both fixedly connected with synchronous racks, and the two synchronous racks are centrally symmetrically arranged.

[0020] Preferably: a lubrication assembly is further provided between the two double-extension fork bodies located in the same group, the lubrication assembly comprising a lubricating oil storage tank and a synchronous gear, the lubricating oil storage tank is installed between the two double-extension fork bodies, the liquid outlet end of the lubricating oil storage tank is connected with a connecting pipe, the other end of the connecting pipe is connected with a piston cylinder, a piston rod is slidably connected in the piston cylinder, and a one-way valve is also provided in the connecting pipe.

[0021] Preferably: the synchronous gear is arranged between the two double-extension fork bodies, and the synchronous gear is meshed with one of the synchronous racks, the bottom of the synchronous gear is rotatably connected with a support shaft, and one end of the support shaft away from the synchronous gear is fixed to the cargo platform, the top of the synchronous gear is hinged with a connecting rod through a rotating shaft, and the connecting rod is located at the eccentric position of the synchronous gear, and the other end of the connecting rod is fixed to the piston rod in the piston cylinder;

[0022] The liquid outlet end of the piston cylinder is provided with two oil delivery pipes, both of which are connected to the interior of the piston cylinder, and the other ends of the two oil delivery pipes are respectively connected to two adjacent double-extension fork bodies.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] 1. The present invention uses the photoelectric system of the double-extending shelf to align the cargo platform. First, the photoelectric detection of the column and the photoelectric detection of the beam (divided into virtual measurement and actual measurement) ensure the precise alignment of the center of the stacker's cargo platform with the center of the shelf. Then, the precise alignment of the center of the cargo platform with the center of the goods loaded on the cargo platform is achieved through the detection of photoelectric 1-17. The precise alignment of the two is combined to achieve precise alignment of the goods and the shelf. The alignment accuracy is high and the use and maintenance costs are low.

[0025] 2. The present invention realizes the normal, accurate and efficient operation of the double-extending double-station shelves for mixed storage of large and small goods in the vertical warehouse by setting A1, A2, A3, A4, A5, B1, B2, B3, C1, C2 and C3 photoelectric detection and the optimization of 24 modes of innovative double-extending double-station shelves and cargo platforms for picking and placing goods, and effectively avoids the risk of stackers hitting goods.

[0026] 3. In the present invention, there are two sets of independently controllable double-extension dual-motor forks on the cargo platform. Encoders for measuring the length of the forks are provided at the tails of the two sets of forks. When the lengths of the forks are inconsistent or lost, an alarm can be issued to stop the machine in time to avoid the situation where inconsistent fork lengths lead to unstable cargo pickup and cargo falling.

[0027] 4. The present invention adopts a photoelectric system for detection to meet the requirements for precise alignment of the cargo platform and the goods on the shelf, and realizes the normal, precise and efficient operation of the double-extension double-station shelf for mixed storage of large and small goods. It is not only suitable for the double-extension double-station shelf system, but also for the single-extension unit shelf system, with low equipment investment cost and convenient maintenance.

[0028] 5. The present invention provides a lubrication assembly between two sets of lifting forks, which can automatically trigger the meshing of the synchronous rack and the synchronous gear when the forks are working, thereby realizing automatic filling and pumping of the lubricating oil in the piston cylinder. This automated lubrication mechanism greatly reduces the need for manual intervention, improves work efficiency and the convenience of equipment maintenance. At the same time, no matter which side the forks are extended to, the forks can be lubricated by the bidirectional rotation of the synchronous gear during the extension or retraction process. This design ensures that the forks can be fully lubricated in each working stage, effectively prolongs the service life of the double-extension forks, reduces the failure rate caused by friction and wear, and improves the overall working stability and reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a right side view of the present invention;

[0030] Figure 2 It is a right side view of the stacker main body of the present invention;

[0031] Figure 3 It is a front view of the stacker main body of the present invention;

[0032] Figure 4 The photoelectric position of the XY axis detection photoelectric on the shelf in the present invention;

[0033] Figure 5 It is a schematic diagram of the positions of the various detection photoelectric devices in the structural schematic diagram of the present invention;

[0034] Figure 6 It is a schematic diagram of the structure of the cargo carrying assembly in the present invention;

[0035] Figure 7 For the present invention Figure 6 A magnified view of the structure at B in the middle;

[0036] Figure 8 This is a schematic diagram of deep-position cargo picking and placing in the present invention;

[0037] Fig. 9 It is a schematic diagram of the structure on the cargo platform of the present invention;

[0038] Fig.10 For the present invention Fig. 9 A magnified view of the structure at C in the middle;

[0039] Fig.11 This is a schematic diagram of a large cargo at the LR position in the present invention;

[0040] Fig.12 This is a schematic diagram of a small cargo at the LR position in the present invention;

[0041] Fig.13 It is a schematic diagram of a small item at position R in the present invention;

[0042] Fig.14 It is a schematic diagram of a small cargo at the L position in the present invention;

[0043] Fig.15 It is a schematic diagram of the positions of cargo detection photoelectric A, cargo detection photoelectric B, and cargo detection photoelectric C on the cargo platform of the present invention.

[0044] In the figure: 1. Shelf column; 11. One-deep beam; 12. Two-deep beam; 13. A cargo position; 14. B cargo position; 2. Stacker body; 21. Stacker column; 22. Control cabinet; 23. Detection photoelectric; 3. Cargo detection photoelectric A; 4. Cargo detection photoelectric B; 5. Cargo detection photoelectric C; 6. Cargo loading component; 61. Cargo loading platform; 62. Stock position L; 63. Stock position R; 64. X-axis column detection photoelectric; 65. Y-axis beam detection photoelectric; 7. Lifting fork; 71. Double-extension fork body; 72. Synchronous rack; 8. Lubrication component; 81. Lubricating oil storage box; 82. Synchronous gear; 83. Piston cylinder; 84. Connecting rod; 85. Connecting pipe; 86. Oil pipeline; 87. Support shaft; 9. Cargo body. DETAILED DESCRIPTION

[0045] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0046] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0047] For example, see Figure 1-15 A double-extension double-station stacker system for mixed storage of large and small goods includes a plurality of shelf columns 1 and a cargo body 9. A plurality of one-deep beams 11 and two-deep beams 12 for placing different cargo bodies 9 are installed between two adjacent shelf columns 1. A stacker body 2 is also arranged between two adjacent shelf columns 1. Each stacker body 2 is provided with a cargo loading component 6 for assisting the stacker body 2 to take and place the cargo body 9. The cargo loading component 6 is provided with a lifting fork for storing and retrieving the cargo body 9. The cargo compartment between two adjacent shelf columns 1 is divided into an A cargo position 13 and a B cargo position 14. Two groups of A cargo positions are provided on the cargo loading component 6. A plurality of photoelectric detection devices 23 are installed on the cargo assembly 6, and the plurality of photoelectric detection devices 23 detect the front, rear, left, right and height of the cargo body 9 respectively, and detect the abnormal position deviation of the cargo body 9 on the cargo assembly 6. The stacker body 2 includes two stacker columns 21, and the top and bottom of the two stacker columns 21 are provided with walking mechanisms. The cargo assembly 6 is arranged between the two stacker columns 21, and a hoist for lifting the cargo assembly 6 is arranged on one of the stacker columns 21, and a control cabinet 22 is arranged on the other stacker column 21;

[0048] When using the device to store or retrieve the cargo body 9, first start the elevator on the stacker body 2, so that the elevator drives the cargo carrying assembly 6 to move to the location of the cargo body 9, and use the lifting fork provided on the cargo carrying assembly 6 to move the cargo body 9 to the predetermined location to perform the storage and retrieval operation;

[0049] There are 17 detection photoelectric devices 23 installed on the frame of the cargo loading component 6. They can detect the out-of-tolerance of 6 faces (except the lower surface) of a cube with 5 faces, namely the front, rear, left, right and height, of various cargo bodies 9. They can detect abnormal position deviation of cargo on the cargo platform. Among them, photoelectric devices 1 to B cargo positions 14 detect cargo that is too wide, photoelectric devices 15 and 16 (oblique illumination) detect cargo that is too long, and photoelectric device 17 (oblique illumination) detects cargo that is too high.

[0050] For example 2, please refer to Figure 1-15The cargo component 6 includes a cargo platform 61. Two groups of cargo detection photoelectric devices A3 and two groups of cargo detection photoelectric devices B4 are symmetrically installed on both sides of the cargo platform 61 near the shelf column 1. Each group of cargo detection photoelectric devices A3 is provided with 5 cargo detection photoelectric devices, and each group of cargo detection photoelectric devices B4 is provided with 3 cargo detection photoelectric devices. A plurality of cargo detection photoelectric devices C5 for detecting cargo on the cargo platform 61 are also provided between the two groups of lifting forks 7. The cargo platform 61 is divided into two stock positions, namely, stock position L62 and stock position R63. Stock position L62 and stock position R63 correspond to A stock position 13 and B stock position 14 respectively. The cargo platform 61 Two X-axis column detection photoelectric devices 64 and two Y-axis beam detection photoelectric devices 65 are respectively installed on both sides close to the shelf column 1. Two sets of lifting forks 7 are respectively located on the storage position L62 and the storage position R63. Each set of lifting forks 7 includes two sets of double-extension fork bodies 71, and each set of double-extension fork bodies 71 is fixedly connected to the cargo platform 61. The tail of each double-extension fork body 71 is provided with an encoder for measuring the length of the extension fork. The facing surfaces of the two double-extension fork bodies 71 in the same group are also fixedly connected with synchronous racks 72, and the two synchronous racks 72 are centrally symmetrically arranged.

[0051] When performing the operation of storing and retrieving goods, first determine the cargo position for picking up and placing the goods, select the fork to work according to the cargo position, and during the operation, first use the hoist to move the cargo assembly 6 and the lifting fork 7 to the position where the cargo body 9 is located, start the double-extended cargo fork body 71, make the double-extended cargo fork body 71 extend outward and insert into the bottom of the cargo body 9, lift the cargo platform 61 to move the cargo body 9, and at the same time retract the double-extended cargo fork body 71 to move the cargo body 9 onto the cargo platform 61. After the cargo body 9 is moved to the predetermined placement position, start the double-extended cargo fork body 71 again to extend and drive the cargo body 9 to extend and place it on the predetermined cargo grid;

[0052] Through the photoelectric detection set on the cargo platform 61, when storing and retrieving goods, multiple photoelectric detections can be used to detect the cargo position, cargo specifications, storage and retrieval position, etc., to ensure that the cargo platform 61 is aligned with the center of the cargo grid;

[0053] By providing an encoder for measuring the length of the double-extension fork at the tail of the double-extension fork body 71, when the length of the forks is inconsistent or disconnected, an alarm can be issued in time to stop the machine;

[0054] Furthermore, the double-reach fork body 71 adopts a double-reach fork of model AHJW180 series;

[0055] In the present invention, there are 24 types of modes for picking up and placing goods on the double-extending double-station shelf and the cargo platform 61, as shown in the following table:

[0056]

[0057]

[0058] In the present invention, there are 34 states for picking up and placing goods on the double-extending double-station shelf and the cargo platform 61, as shown in the following table:

[0059]

[0060]

[0061] The cargo detection photoelectric devices A1 and A2 detect the side legs of large or small goods on a single-extending shelf, A5 detects the middle leg of a single-extending shelf, A3 and A4 detect the side legs of large goods on a double-extending shelf, B1 and B2 detect the side legs of small goods on a double-extending shelf, B3 detects the middle leg of a double-extending shelf, photoelectric device C1 detects whether there is goods at storage location L62, photoelectric device C2 detects whether there is goods at storage location R63, and photoelectric device C3 detects whether the cargo platform is carrying large or small goods.

[0062] For example 3, please refer to Figure 1-12 A lubrication assembly 8 is also provided between the two double-extension fork bodies 71 in the same group. The lubrication assembly 8 includes a lubrication oil storage tank 81 and a synchronous gear 82. The lubrication oil storage tank 81 is installed between the two double-extension fork bodies 71. The liquid outlet of the lubrication oil storage tank 81 is connected with a connecting pipe 85. The other end of the connecting pipe 85 is connected with a piston cylinder 83. The piston cylinder 83 is slidably connected with a piston rod. A one-way valve is also provided in the connecting pipe 85. The synchronous gear 82 is provided between the two double-extension fork bodies 71, and the synchronous gear 82 is connected with one of the synchronous racks 72. The bottom of the synchronous gear 82 is meshed, and a support shaft 87 is rotatably connected to the bottom of the synchronous gear 82, and one end of the support shaft 87 away from the synchronous gear 82 is fixed to the cargo platform 61, and a connecting rod 84 is hinged to the top of the synchronous gear 82 through a rotating shaft, and the connecting rod 84 is located at the eccentric position of the synchronous gear 82, and the other end of the connecting rod 84 is fixed to the piston rod in the piston cylinder 83, and two oil pipes 86 are provided at the liquid outlet end of the piston cylinder 83, and the two oil pipes 86 are both connected to the inside of the piston cylinder 83, and the other ends of the two oil pipes 86 are respectively connected to the two adjacent double-extension fork bodies 71;

[0063] When the double-extension fork body 71 extends outward, the synchronous rack 72 on one of the double-extension fork bodies 71 meshes with the synchronous gear 82 and drives the synchronous gear 82 to rotate. When the synchronous gear 82 rotates, the connecting rod 84 is pulled to move, so that the connecting rod 84 pulls the piston rod to move in the piston cylinder 83, so that the lubricating oil in the lubricating oil storage box 81 is injected into the piston cylinder 83 through the connecting pipe 85. When the double-extension fork body 71 is retracted, the synchronous rack 72 drives the synchronous gear 82 to rotate in the opposite direction, so that the lubricating oil in the piston cylinder 83 is pumped into the double-extension fork body 71 through two oil delivery pipes 86 to lubricate the double-extension fork body 71;

[0064] Furthermore, when the double-extension fork body 71 is extended in another direction, the synchronous rack 72 on the other side of the double-extension fork body 71 will engage with the synchronous gear 82, driving the synchronous gear 82 to rotate, thereby achieving full lubrication inside the double-extension fork body 71 and ensuring the stability of the double-extension fork body 71 during operation.

[0065] The working principle of the present invention is as follows: when performing the operation of storing and retrieving goods, first determine the cargo position for picking up and placing the goods, select the fork to work according to the cargo position and the cargo specifications, and when operating, first move the cargo loading assembly 6 and the lifting fork 7 to the position where the cargo body 9 is located by the hoist, start the double-extending cargo fork body 71 to extend outward and insert into the bottom of the cargo body 9, lift the cargo platform 61 to move the cargo body 9, control the double-extending cargo fork body 71 to retract, so that the cargo body 9 is moved to the cargo platform 61, and when the cargo body 9 is moved to the predetermined placement position, start the double-extending cargo fork body 71 again to drive the cargo body 9 to extend and place it on the predetermined cargo grid;

[0066] When the double-extension fork body 71 extends outward, the synchronous rack 72 on one of the double-extension fork bodies 71 meshes with the synchronous gear 82 and drives the synchronous gear 82 to rotate. When the synchronous gear 82 rotates, it pulls the connecting rod 84 to move, so that the connecting rod 84 pulls the piston rod to move in the piston cylinder 83, so that the lubricating oil in the lubricating oil storage box 81 is injected into the piston cylinder 83 through the connecting pipe 85. When the double-extension fork body 71 is retracted, the synchronous rack 72 drives the synchronous gear 82 to rotate in the opposite direction, so that the lubricating oil in the piston cylinder 83 is pumped into the two double-extension fork bodies 71 through the two oil delivery pipes 86 to lubricate the double-extension fork bodies 71;

[0067] When the double-extension fork body 71 extends in another direction, the synchronous rack 72 on the other side of the double-extension fork body 71 will mesh with the synchronous gear 82, driving the synchronous gear 82 to rotate, thereby achieving full lubrication inside the double-extension fork body 71 and ensuring the stability of the double-extension fork body 71 during operation;

[0068] By setting up multiple photoelectric detection devices on the cargo platform 61, the cargo position, cargo specifications, cargo storage and retrieval position, etc. can be detected through multiple photoelectric detection devices during use to ensure that the cargo platform 61 is aligned with the center of the cargo grid.

[0069] It should be noted that the various devices in this application are common devices in the market, and can be selected according to specific needs during specific use. The circuit connection relationship of each device belongs to a simple series and parallel connection circuit. There is no innovation in the circuit connection part. Those skilled in the art can implement it relatively easily. It belongs to the existing technology and will not be elaborated on.

[0070] The above are only preferred specific implementation modes of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and inventive concepts of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A double-extension double-station stacker system for mixed storage of large and small goods, comprising a plurality of shelf columns (1) and a cargo body (9), characterized in that: A plurality of first-deep cross beams (11) and second-deep cross beams (12) for placing different cargo bodies (9) are installed between two adjacent rack columns (1); a stacker body (2) is also arranged between two adjacent rack columns (1); each stacker body (2) is provided with a cargo loading component (6) for assisting the stacker body (2) in picking up and placing the cargo body (9); and the cargo loading component (6) is provided with two sets of lifting forks for storing and retrieving the cargo body (9); The cargo compartment between two adjacent shelf columns (1) is divided into A cargo position (13) and B cargo position (14), and the cargo loading assembly (6) is provided with two groups of storage positions corresponding to the A cargo position (13) and the B cargo position (14); The cargo carrying assembly (6) is also equipped with a plurality of detection photoelectric devices (23), which respectively detect five surfaces of the cargo body (9), namely the front, rear, left, right and height, to detect abnormal positional deviation of the cargo body (9) on the cargo carrying assembly (6).

2. A double-extension double-station stacker system for mixed storage of large and small goods according to claim 1, characterized in that: The stacker body (2) comprises two stacker columns (21), the top and bottom of the two stacker columns (21) are both provided with walking mechanisms, the cargo assembly (6) is arranged between the two stacker columns (21), one of the stacker columns (21) is provided with a hoist for lifting the cargo assembly (6), and the other stacker column (21) is provided with a control cabinet (22).

3. The double-extension double-station stacker system for mixed storage of large and small goods according to claim 1, characterized in that: The cargo loading assembly (6) comprises a cargo loading platform (61), and two groups of cargo detection photoelectric devices A and two groups of cargo detection photoelectric devices B are symmetrically installed on both sides of the cargo loading platform (61) close to the shelf column (1), each group of the cargo detection photoelectric devices A is provided with five cargo detection photoelectric devices, and each group of the cargo detection photoelectric devices B is provided with three cargo detection photoelectric devices, and a plurality of cargo detection photoelectric devices C for detecting cargo on the cargo loading platform (61) are also provided between the two groups of lifting forks.

4. The double-extension double-station stacker system for mixed storage of large and small goods according to claim 3, characterized in that: The cargo platform (61) is divided into two stocking positions, namely a stocking position L (62) and a stocking position R (63), wherein the stocking position L (62) and the stocking position R (63) correspond to the A stocking position (13) and the B stocking position (14) respectively; Two X-axis column detection photoelectric devices (64) and two Y-axis beam detection photoelectric devices (65) are respectively installed on both sides of the cargo platform (61) close to the shelf column (1).

5. The double-extension double-station stacker system for mixed storage of large and small goods according to claim 1, characterized in that: The two groups of lifting forks are respectively located on the storage position L (62) and the storage position R (63). Each group of lifting forks comprises two groups of fork assemblies (7). The fork assemblies (7) comprise a fixed fork body (71). The fixed fork body (71) is installed in the cargo platform (61). The interior of the fixed fork body (71) is connected to a first telescopic fork body (72) via a chain transmission. The interior of the first telescopic fork body (72) is connected to a second telescopic fork body (73) via a chain transmission. A driving motor (74) is also installed on one side of one of the fixed fork bodies (71). The output end of the driving motor (74) passes through the fixed fork body (71) and extends to the interior of the fixed fork body (71). The output end of the driving motor (74) is fixed to one end of a chain in the fixed fork body (71) via a coupling. The tail of each second telescopic fork body (73) is provided with an encoder for measuring the length of the extended fork.

6. A double-extension double-station stacker system for mixed storage of large and small goods according to claim 5, characterized in that: A connecting shaft (75) is further provided between the two fixed fork bodies (71) in the same group, and transmission gears are provided at both ends of the connecting shaft (75), and the two transmission gears are respectively connected to the chains in the two fixed fork bodies (71); The facing surfaces of the two first telescopic fork bodies (72) of the same group are both equipped with synchronous racks (76), and the two synchronous racks (76) are arranged in a centrally symmetrical manner.

7. The double-extension double-station stacker system for mixed storage of large and small goods according to claim 5, characterized in that: A lubrication assembly (8) is further provided between the two fixed fork bodies (71) in the same group. The lubrication assembly (8) comprises a lubrication oil storage tank (81) and a synchronous gear (82). The lubrication oil storage tank (81) is installed between the two fixed fork bodies (71). The liquid outlet end of the lubrication oil storage tank (81) is connected to a connecting pipe (85). The other end of the connecting pipe (85) is connected to a piston cylinder (83). A piston rod is slidably connected in the piston cylinder (83). A one-way valve is further provided in the connecting pipe (85).

8. The double-extension double-station stacker system for mixed storage of large and small goods according to claim 7, characterized in that: The synchronous gear (82) is arranged between the two first telescopic fork bodies (72), and the synchronous gear (82) is meshed with one of the synchronous racks (76). A connecting rod (84) is installed at the bottom of the synchronous gear (82), and the connecting rod (84) is located at an eccentric position of the synchronous gear (82). The other end of the connecting rod (84) is fixed to a piston rod in a piston cylinder (83); Two oil delivery pipes (86) are provided at the liquid outlet end of the piston cylinder (83), and the two oil delivery pipes (86) are both connected to the interior of the piston cylinder (83). The other ends of the two oil delivery pipes (86) are respectively connected to the adjacent first telescopic fork body (72) and the second telescopic fork body (73).

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