A double-stretch double-station stacker system for mixed-size storage

Abstract

The application relates to the technical field of warehouse logistics equipment, in particular to a double-stretch double-station stacker system for mixed storage of large and small goods, which comprises multiple goods shelf columns and goods bodies, multiple one-deep crossbeams and two-deep crossbeams for placing different goods bodies are arranged between two adjacent goods shelf columns, and a stacker body is further arranged between the two adjacent goods shelf columns; a loading assembly for assisting the stacker body to place and take the goods body is arranged on each stacker body; and a lifting fork for storing and taking the goods body is arranged on the loading assembly. The device is provided with an optical-electric system for accurately aligning the double-stretch goods shelf through the loading platform, first, the optical-electric system is used for detecting the column and the crossbeam, so that the center of the loading platform of the stacker and the center of the goods shelf are accurately aligned, then the detection optical-electric system 1-17 is used for realizing the accurate alignment between the center of the loading platform and the center of the goods loaded on the loading platform, and the accurate alignment between the goods and the goods shelf is realized by comprehensively aligning the two.

Description

Technical Field

[0001] This invention relates to the field of warehousing and logistics equipment technology, specifically a double-extension, double-station stacker crane system for mixed storage of large and small goods. Background Technology

[0002] As automated storage and retrieval systems (AS / RS) continue to develop towards greater density, in order to improve the storage density and utilization rate of warehouses, the racking in AS / RS is gradually shifting from single-extension racking to double-extension racking. Double-extension racking is a type of racking that uses two rows of parallel storage. Each row usually consists of two pallet positions, or one large pallet can occupy two small pallet positions. Double-extension racking with a double-row parallel design has a relatively large storage capacity, enabling more goods to be stored in the same area of ​​the warehouse. In AS / RS, racking is the storage equipment for goods, and stacker cranes are the core equipment for the automatic storage and retrieval of goods in AS / RS.

[0003] When performing storage and retrieval operations, the positioning function of the stacker crane is required to be quite strict. At present, the main positioning methods of stacker cranes include addressing chips and encoders, laser rangefinders, and laser barcode addressers. However, although the above three methods can position the main body of the stacker crane, there will still be positioning errors. When the stacker crane is too tall or there are many types of pallets, it is easy to cause the stacker crane fork position accuracy to be inaccurate, resulting in errors in the placement and retrieval of pallets. This can lead to the stacker crane forks hitting the pallets, causing the pallets to fall or be damaged.

[0004] The patented technology, disclosed in publication number "CN112744750A", provides an automatic addressing device and method for stacker cranes. When the stacker crane moves to a certain storage location, it can simultaneously recognize the horizontal and vertical coordinates, as well as the storage locations on the left and right sides of the stacker crane. The addressing efficiency is high, and the addressing accuracy can reach within 1mm. In particular, it can greatly improve the addressing efficiency for large automated warehouses with many storage locations.

[0005] Further searching revealed a pallet placement and alignment device for stacker cranes used in automated warehouses, with publication number "CN218402167U". This device uses linear measurement sensors and barcode labels to perform secondary positioning of the forks relative to the pallets, avoiding the inaccuracy of the stacker crane fork position when the stacker crane is too tall or there are many types of pallets. This can lead to errors in the placement and retrieval of pallets, which can cause the stacker crane forks to collide with the pallets, resulting in the pallets falling or being damaged.

[0006] The stacker crane automatic addressing device and addressing method mentioned above require the configuration of 5 vision systems when in use. While the addressing accuracy is improved, the initial investment cost is large, and the subsequent maintenance cost is also high. The overall cost of the equipment is too high, which is not conducive to the market operation of the product.

[0007] The aforementioned pallet placement and alignment device for stacker cranes used in automated warehouses is only applicable to single-extension unit racking systems and cannot be properly applied to complex double-extension double-position racking systems.

[0008] Therefore, those skilled in the art have provided a double-extension, double-station stacker crane system for mixed loading of large and small goods to solve the problems mentioned in the background art. Summary of the Invention

[0009] The purpose of this invention is to provide a double-extension, double-station stacker crane system for mixed loading of large and small goods, in order to solve the problems mentioned in the background art.

[0010] To achieve the above objectives, the present invention provides the following technical solution:

[0011] A double-extension, double-station stacker crane system for mixed loading of large and small goods includes multiple rack columns and cargo bodies. Multiple single-depth beams and double-depth beams for placing different cargo bodies are installed between two adjacent rack columns. A stacker crane body is also provided between two adjacent rack columns. Each stacker crane body is provided with a loading component to assist the stacker crane body in picking up and placing cargo bodies. The loading component is provided with two sets of lifting forks for storing and retrieving cargo bodies.

[0012] The storage compartments between two adjacent shelf columns are divided into storage location A and storage location B. The loading component is provided with two sets of storage locations corresponding to storage location A and storage location B.

[0013] The cargo-carrying assembly is also equipped with multiple photoelectric sensors, which detect the front, back, left, right, and top surfaces of the cargo body to detect any abnormal positional deviation of the cargo body on the cargo-carrying assembly.

[0014] Preferably, the stacker crane body includes two stacker crane columns, and a traveling mechanism is provided at the top and bottom of the two stacker crane columns. The cargo loading component is located between the two stacker crane columns. One of the stacker crane columns is equipped with a lifting machine for lifting the cargo loading component, and the other stacker crane column is equipped with a control cabinet.

[0015] Preferably, the loading assembly includes a loading platform, on which two sets of detection photoelectric sensors A and two sets of detection photoelectric sensors B are symmetrically installed on both sides near the shelf uprights. Each set of detection photoelectric sensors A has 5 detection photoelectric sensors, and each set of detection photoelectric sensors B has 3 detection photoelectric sensors. Multiple detection photoelectric sensors C for detecting goods on the loading platform are also provided between the two sets of lifting forks.

[0016] Preferably, the loading platform is divided into two storage locations, storage location L and storage location R, which correspond to storage location A and storage location B, respectively.

[0017] The loading platform is also equipped with two X-axis column detection photoelectric sensors and two Y-axis beam detection photoelectric sensors on both sides near the shelf uprights.

[0018] Preferably, the two sets of lifting forks are located at storage positions L and R respectively. Each set of lifting forks includes two sets of double-extended fork bodies, and each set of double-extended fork bodies is fixedly connected to the loading platform. Each double-extended fork body is equipped with an encoder for measuring the extension length at its tail.

[0019] Preferably, the two double-extended fork bodies located in the same group are also fixedly connected to the facing surfaces of a synchronous rack, and the two synchronous racks are arranged in a centrally symmetrical manner.

[0020] Preferably, a lubrication assembly is also provided between the two double-extended fork bodies located in the same group. The lubrication assembly includes a lubricating oil storage tank and a synchronizing gear. The lubricating oil storage tank is installed between the two double-extended fork bodies. The outlet end of the lubricating oil storage tank is connected to a connecting pipe. The other end of the connecting pipe is connected to a piston cylinder. A piston rod is slidably connected in the piston cylinder. A one-way valve is also provided in the connecting pipe.

[0021] Preferably, the synchronizing gear is disposed between the two double-extended fork bodies, and the synchronizing gear meshes with one of the synchronizing racks. The bottom of the synchronizing gear is rotatably connected to a support shaft, and the end of the support shaft away from the synchronizing gear is fixed to the loading platform. The top of the synchronizing gear is hinged to a connecting rod through a rotating shaft, and the connecting rod is located at the eccentric position of the synchronizing gear. The other end of the connecting rod is fixed to the piston rod in the piston cylinder.

[0022] The piston cylinder is provided with two oil supply pipes at the liquid outlet end. Both oil supply pipes are connected to the inside of the piston cylinder, and the other ends of the two oil supply pipes are respectively connected to the bodies of two adjacent double-extend forks.

[0023] Compared with the prior art, the beneficial effects of the present invention are:

[0024] 1. This invention utilizes a photoelectric system for precise alignment of a double-extension rack on a loading platform. First, it ensures precise alignment between the center of the stacker crane's loading platform and the center of the rack by using photoelectric sensors for column detection and beam detection (both virtual and real measurements). Then, it achieves precise alignment between the center of the loading platform and the center of the goods loaded on the loading platform by using photoelectric sensors 1-17. Combining these two precise alignment methods, the invention achieves precise alignment between the goods and the rack, resulting in high alignment accuracy and low usage and maintenance costs.

[0025] 2. This invention achieves normal, accurate, and efficient operation of double-extended double-workstation racks in automated warehouses by setting up photoelectric detection of A1, A2, A3, A4, A5, B1, B2, B3, C1, C2, and C3, and optimizing 24 modes of picking and placing goods on the innovative double-extended double-workstation racks and loading platforms. This effectively avoids the risk of goods colliding with the top of the stacker crane.

[0026] 3. In this invention, there are two sets of independently controllable double-extension, double-motor forks on the loading platform. The tail of the two sets of forks is equipped with an encoder to measure the extension length. When the extension length is inconsistent or the connection is lost, an alarm can be triggered and the machine can be stopped in time to avoid the situation where the goods fall due to unstable picking caused by inconsistent extension length.

[0027] 4. This invention uses a photoelectric system for detection to meet the precise alignment requirements between the loading platform and the goods on the shelf, enabling the normal, accurate, and efficient operation of double-extension double-workstation racks for mixed storage of large and small goods in automated warehouses. It is applicable not only to double-extension double-workstation rack systems but also to single-extension unit rack systems, with low equipment investment costs and convenient maintenance.

[0028] 5. This invention, through a lubrication assembly placed between the two sets of lifting forks, automatically triggers the meshing of the synchronous rack and synchronous gear when the forks are working, thereby achieving automatic filling and pumping of lubricating oil in the piston cylinder. This automated lubrication mechanism greatly reduces the need for manual intervention, improves work efficiency and equipment maintenance convenience. At the same time, regardless of which side the forks extend to, lubrication of the forks can be achieved through the bidirectional rotation of the synchronous gear during the extension or retraction process. This design ensures that the forks are adequately lubricated at all working stages, effectively extending the service life of the double-extension forks, reducing the failure rate caused by friction and wear, and improving the overall stability and reliability of operation. Attached Figure Description

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

[0030] Figure 2 This is a right view of the main body of the stacker crane in this invention;

[0031] Figure 3 This is a front view of the main body of the stacker crane in this invention;

[0032] Figure 4 This invention refers to the photoelectric position of the XY axis detection photoelectric sensor on the shelf.

[0033] Figure 5 This is a schematic diagram of the structure and positions of each detection photoelectric device in this invention;

[0034] Figure 6 This is a schematic diagram of the structure on the cargo-carrying component in this invention;

[0035] Figure 7 For the present invention Figure 6 Enlarged view of the structure at point B;

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

[0037] Figure 9 This is a schematic diagram of the structure on the cargo platform in this invention;

[0038] Figure 10 For the present invention Figure 9 Enlarged view of the structure at point C;

[0039] Figure 11 This is a schematic diagram showing that the LR position contains a large quantity of goods in this invention;

[0040] Figure 12 This is a schematic diagram showing a small item at the LR position in this invention;

[0041] Figure 13 This is a schematic diagram of a small item at position R in this invention;

[0042] Figure 14 This is a schematic diagram of a small item at position L in this invention;

[0043] Figure 15 This is a schematic diagram showing the positions of the cargo detection photoelectric sensors A, B, and C on the cargo platform in this invention.

[0044] In the diagram: 1. Rack upright; 11. First-depth crossbeam; 12. Second-depth crossbeam; 13. Pallet location A; 14. Pallet location B; 2. Stacker crane body; 21. Stacker crane upright; 22. Control cabinet; 23. Detector photoelectric sensor; 3. Detector photoelectric sensor A; 4. Detector photoelectric sensor B; 5. Detector photoelectric sensor C; 6. Loading assembly; 61. Loading platform; 62. Storage location L; 63. Storage location R; 64. X-axis upright detection photoelectric sensor; 65. Y-axis crossbeam detection photoelectric sensor; 7. Lifting fork; 71. Double-extended fork body; 72. Synchronous rack; 8. Lubrication assembly; 81. Lubricating oil storage tank; 82. Synchronous gear; 83. Piston cylinder; 84. Connecting rod; 85. Connecting pipe; 86. Oil supply pipe; 87. Support shaft; 9. Cargo body. Detailed Implementation

[0045] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0046] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0047] Example 1, please refer to Figure 1-15 A double-extension, double-station stacker crane system for mixed storage of large and small goods includes multiple rack columns 1 and cargo bodies 9. Multiple single-depth crossbeams 11 and double-depth crossbeams 12 for placing different cargo bodies 9 are installed between adjacent rack columns 1. A stacker crane body 2 is also installed between adjacent rack columns 1. Each stacker crane body 2 is equipped with a loading component 6 to assist in picking up and placing cargo bodies 9. The loading component 6 is equipped with lifting forks for storing and retrieving cargo bodies 9. The storage compartments between adjacent rack columns 1 are divided into A-positions 13 and B-positions 14. The loading component 6 is equipped with two sets of A-positions... The storage locations corresponding to positions 13 and 14 are also equipped with multiple photoelectric sensors 23. These sensors detect the front, rear, left, right, and top surfaces of the cargo body 9. They detect any abnormal positional deviation of the cargo body 9 on the loading assembly 6. The stacker crane body 2 includes two stacker crane columns 21. Both the top and bottom of the two stacker crane columns 21 are equipped with traveling mechanisms. The loading assembly 6 is located between the two stacker crane columns 21. One stacker crane column 21 is equipped with a lifting mechanism for lifting the loading assembly 6, and the other stacker crane column 21 is equipped with a control cabinet 22.

[0048] When using this device to store or retrieve the cargo body 9, first start the hoist on the stacker crane body 2, so that the hoist drives the cargo loading component 6 to the location of the cargo body 9, and move the cargo body 9 to the predetermined position through the lifting forks set on the cargo loading component 6 to perform the storage and retrieval operation.

[0049] There are 17 photoelectric detectors 23 installed on the frame of the cargo loading assembly 6. They are used to detect out-of-tolerance issues on 6 faces (excluding the bottom surface) of various cargo bodies 9, which are 5-sided cubes (front, back, left, right, and height). They can detect abnormal positional deviations of cargo on the loading platform. Among them, photoelectric detectors 1 to B cargo positions 14 detect cargo that is too wide, photoelectric detectors 15 and 16 (oblique illumination) detect cargo that is too long, and photoelectric detector 17 (oblique illumination) detects cargo that is too high.

[0050] Example 2, please refer to Figure 1-15The loading assembly 6 includes a loading platform 61. Two sets of sensor lights A3 and two sets of sensor lights B4 are symmetrically installed on both sides of the loading platform 61 near the shelf uprights 1. Each set of sensor lights A3 has 5 sensor lights, and each set of sensor lights B4 has 3 sensor lights. Multiple sensor lights C5 for detecting goods on the loading platform 61 are also installed between the two sets of lifting forks 7. The loading platform 61 is divided into two storage positions: storage position L62 and storage position R63. Storage positions L62 and R63 correspond to storage positions A13 and B14, respectively. Two X-axis column detection photoelectric sensors 64 and two Y-axis beam detection photoelectric sensors 65 are installed on both sides near the upright column 1. Two sets of lifting forks 7 are located on storage positions L62 and R63 respectively. Each set of lifting forks 7 includes two sets of double-extended fork bodies 71, and each set of double-extended fork bodies 71 is fixedly connected to the loading platform 61. Each double-extended fork body 71 is equipped with an encoder for measuring the extension length at its tail. Synchronous racks 72 are also fixedly connected to the facing surfaces of the two double-extended fork bodies 71 in the same set, and the two synchronous racks 72 are arranged in a centrally symmetrical manner.

[0051] When performing storage and retrieval operations, first determine the storage location for retrieving and placing goods, and select the fork to work according to the storage location. During operation, first use the hoist to move the loading component 6 and the lifting fork 7 to the location of the main body 9 of the goods, then start the double extension fork body 71, so that the double extension fork body 71 extends outward and inserts into the bottom of the main body 9 of the goods, lift the loading platform 61 to move the main body 9 of the goods, and at the same time retract the double extension fork body 71 to move the main body 9 of the goods onto the loading platform 61. After the main body 9 of the goods is moved to the predetermined placement position, start the double extension fork body 71 again to extend and move the main body 9 of the goods to be placed on the predetermined storage compartment.

[0052] By installing photoelectric detectors on the loading platform 61, multiple photoelectric detectors can detect the position, specifications, and storage / retrieval location of goods during storage and retrieval, ensuring that the loading platform 61 is aligned with the center of the storage compartment.

[0053] By installing an encoder at the tail of the double-extension fork body 71 to measure the extension length, an alarm can be triggered and the machine can be stopped in time when the extension length is inconsistent or the connection is lost.

[0054] Furthermore, the double-extend fork body 71 adopts the AHJW180 series double-extend fork;

[0055] The present invention comprises 24 modes for picking and placing goods using double-extension double-station shelving and loading platforms 61, as detailed in the table below:

[0056]

[0057]

[0058] In this invention, the double-extension double-station rack and loading platform 61 have 34 states for picking up and placing goods, as detailed in the table below:

[0059]

[0060]

[0061] Photoelectric sensors A1 and A2 detect the side legs of a single shelf extension for large or small goods; A5 detects the middle leg of a single shelf extension; A3 and A4 detect the side legs of two shelves extensions for large goods; B1 and B2 detect the side legs of two shelves extensions for small goods; B3 detects the middle leg of two shelves extensions; photoelectric sensor C1 detects whether there are goods in storage location L62; photoelectric sensor C2 detects whether there are goods in storage location R63; and photoelectric sensor C3 detects whether the loading platform is loaded with large or small goods.

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

[0063] When the double-extended fork body 71 extends outward, the synchronous rack 72 on one of the double-extended fork bodies 71 meshes with the synchronous gear 82 and drives the synchronous gear 82 to rotate. When the synchronous gear 82 rotates, it simultaneously pulls the connecting rod 84 to move, causing the connecting rod 84 to pull the piston rod to move inside the piston cylinder 83, so that the lubricating oil in the lubricating oil storage tank 81 is injected into the piston cylinder 83 through the connecting pipe 85. When the double-extended fork body 71 retracts, 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-extended fork body 71 through the two oil supply pipes 86 to lubricate the inside of the double-extended fork body 71.

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

[0065] The working principle of this invention is as follows: When performing storage and retrieval operations, the storage location for picking and placing goods is first determined. The forks are selected to work according to the storage location and the specifications of the goods. During operation, the loading component 6 and the lifting forks 7 are first moved to the location of the main body of the goods 9 by the hoist. The double-extending fork body 71 is activated to extend outward and insert into the bottom of the main body of the goods 9. The loading platform 61 is raised to move the main body of the goods 9. The double-extending fork body 71 is controlled to retract, so that the main body of the goods 9 is moved onto the loading platform 61. After the main body of the goods 9 is moved to the predetermined placement position, the double-extending fork body 71 is activated again to drive the main body of the goods 9 to extend and place it on the predetermined storage compartment.

[0066] When the double-extended fork body 71 extends outward, the synchronous rack 72 on one of the double-extended fork bodies 71 meshes with the synchronous gear 82 and drives the synchronous gear 82 to rotate. When the synchronous gear 82 rotates, it simultaneously pulls the connecting rod 84 to move, causing the connecting rod 84 to pull the piston rod to move inside the piston cylinder 83, so that the lubricating oil in the lubricating oil storage tank 81 is injected into the piston cylinder 83 through the connecting pipe 85. When the double-extended fork body 71 retracts, 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-extended fork bodies 71 through the two oil supply pipes 86 to lubricate the inside of the double-extended fork body 71.

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

[0068] By setting multiple photoelectric detectors on the loading platform 61, the position, specifications, and storage / retrieval locations of goods can be detected during use, ensuring that the loading platform 61 is aligned with the center of the storage compartment.

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

[0070] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A double-stretch double-station stacker system for size mixed storage, comprising a plurality of shelf columns (1) and a cargo body (9), characterized in that: A plurality of deep beams (11) and two deep beams (12) for placing different goods bodies (9) are installed between two adjacent shelf columns (1), and a stacker body (2) is also arranged between two adjacent shelf columns (1), each stacker body (2) is provided with a load carrying assembly (6) for assisting the stacker body (2) to place and take the goods body (9), and two groups of lifting forks for storing and taking the goods body (9) are arranged on the load carrying assembly (6); The goods grid between two adjacent shelf columns (1) is divided into A goods positions (13) and B goods positions (14), and the load carrying assembly (6) is provided with two groups of storage positions corresponding to the A goods positions (13) and the B goods positions (14); A plurality of detection photoelectric elements (23) are also installed on the load carrying assembly (6), and the detection photoelectric elements (23) detect the front, rear, left, right and high five surfaces of the goods body (9) respectively, and detect the position deviation of the goods body (9) on the load carrying assembly (6); Each group of lifting forks includes two groups of fork assemblies (7), the fork assembly (7) includes a fixed fork body (71), a first telescopic fork body (72) is connected inside the fixed fork body (71) through a chain transmission, a second telescopic fork body (73) is connected inside the first telescopic fork body (72) through a chain transmission, and an encoder for measuring the length of the telescopic fork is arranged at the tail of each second telescopic fork body (73); A connecting shaft (75) is also arranged between two fixed fork bodies (71) in the same group, drive gears are arranged at both ends of the connecting shaft (75), two drive gears are connected with the chains in the two fixed fork bodies (71) respectively, and synchronous racks (76) are also installed on the opposite surfaces of two first telescopic fork bodies (72) in the same group, and the two synchronous racks (76) are centrally symmetrically arranged; A lubricating assembly (8) is also arranged between two fixed fork bodies (71) in the same group, the lubricating assembly (8) includes a lubricating oil storage tank (81) and a synchronous gear (82), the lubricating oil storage tank (81) is installed between the two fixed fork bodies (71), a communication pipe (85) is communicated with the liquid outlet end of the lubricating oil storage tank (81), the other end of the communication pipe (85) is communicated with a piston cylinder (83), a piston rod is slidably connected in the piston cylinder (83), and a one-way valve is also arranged in the communication pipe (85); The synchronous gear (82) is arranged between two first telescopic fork bodies (72), and the synchronous gear (82) is engaged with one of the synchronous racks (76), the bottom of the synchronous gear (82) is provided with a connecting rod (84), and the connecting rod (84) is located at the eccentric position of the synchronous gear (82), the other end of the connecting rod (84) is fixed with a piston rod in a piston cylinder (83), and the liquid outlet end of the piston cylinder (83) is provided with two oil conveying pipes (86), both of which are communicated with the inside of the piston cylinder (83), and the other ends of the two oil conveying pipes (86) are respectively communicated with adjacent first telescopic fork bodies (72) and second telescopic fork bodies (73).

2. The dual-stretch dual-station stacker system for mixed-size storage according to claim 1, wherein: The stacker body (2) comprises two stacker columns (21), the top and bottom of the two stacker columns (21) are provided with traveling mechanisms, the load carrying assembly (6) is arranged between the two stacker columns (21), one of the stacker columns (21) is provided with a lifting machine for lifting the load carrying assembly (6), and the other stacker column (21) is provided with a control cabinet (22).

3. The dual-stretch dual-station stacker system for mixed-size storage according to claim 1, wherein: The load carrying assembly (6) comprises a load carrying platform (61), two groups of probe photoelectric A and two groups of probe photoelectric B are symmetrically installed on the two sides of the load carrying platform (61) close to the shelf column (1), each group of probe photoelectric A is provided with five probe photoelectric, each group of probe photoelectric B is provided with three probe photoelectric, and a plurality of probe photoelectric C for detecting goods on the load carrying platform (61) are arranged between the two groups of lifting forks.

4. The dual-stretch dual-station stacker system for mixed-size storage according to claim 3, wherein: The load carrying platform (61) is divided into a storage position L (62) and a storage position R (63), and the storage position L (62) and the storage position R (63) correspond to the A position (13) and the B position (14) respectively. The load carrying platform (61) is also provided with two X-axis column detection photoelectric (64) and two Y-axis beam detection photoelectric (65) respectively installed on the two sides close to the shelf column (1).

5. The dual-stretch dual-station stacker system for mixed-size palletizing of claim 1, wherein: The two groups of lifting forks are located on the storage position L (62) and the storage position R (63) respectively, the fork assembly (7) further comprises a driving motor (74) installed on one side of a fixed fork body (71), the fixed fork body (71) is installed in the load carrying platform (61), the output end of the driving motor (74) penetrates through the fixed fork body (71) and extends to the inside of the fixed fork body (71), and the output end of the driving motor (74) is fixed with one end of the chain in the fixed fork body (71) through a shaft coupling.

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