A stacker for use in a warehouse stack

Abstract

The application relates to a stacking vehicle applied to warehouse stacking and belonging to the warehouse stacking technical field, which comprises a transverse moving track and a transverse moving base, the transverse moving base is slidingly installed on the transverse moving track, the transverse moving track is fixedly arranged on the ground of a channel between warehouse shelves along the running direction of the channel; a stacking vehicle frame body is fixedly arranged on the top of the transverse moving base, a lifting platform is arranged on the stacking vehicle frame body in a lifting mode, an actuator is arranged on the top of the lifting platform, and a lifting driving mechanism for driving the lifting platform to lift up and down is arranged on the stacking vehicle frame body. The transverse moving track is arranged on the ground of the channel between the warehouse shelves, the step of maintenance personnel climbing to maintain is avoided, the maintenance or maintenance work of the transverse moving track is more convenient, the difficulty is lower, and the operation cost of the track maintenance is lower.

Description

Technical Field

[0001] This application relates to the field of warehousing and stacking technology, and in particular to a stacker vehicle used in warehousing and stacking. Background Technology

[0002] Stacker trucks are various wheeled handling vehicles used for loading, unloading, stacking, and short-distance transportation of palletized goods. They are characterized by their compact structure, flexible transportation, simple operation, small turning radius, and high explosion-proof safety performance. They are suitable for operations in narrow passages and limited spaces, making them ideal equipment for palletized loading and unloading in high-bay warehouses and workshops.

[0003] In the existing technology, common stacker trucks mainly include traverse rails, traverse platforms, and overhead lifting platforms. The traverse rails are laid along the aisles between the warehouse racks, the traverse platforms are slidably installed on the traverse rails, and the lifting platforms are installed on the traverse platforms. The lifting platforms are equipped with actuators (usually telescopic forks) for picking up and placing goods.

[0004] However, since the transverse track is erected in the air, maintenance personnel need to climb to a height to perform maintenance, which presents problems of difficult maintenance and high maintenance costs. Summary of the Invention

[0005] To address the problems of difficult and costly maintenance of the lateral movement track of stacker trucks, this application provides a stacker truck for use in warehouse stacking.

[0006] This application provides a stacker truck used in warehouse stacking, which adopts the following technical solution: A stacker truck used in warehouse stacking is characterized by comprising a transverse ground rail and a transverse base, wherein the transverse base is slidably mounted on the transverse ground rail, and the transverse ground rail is laid and fixed to the ground of the passageway along the direction of the passageway between the warehouse racks. A stacker frame is fixedly installed on the top of the transverse base. A lifting platform is mounted on the stacker frame. An actuator is installed on the top of the lifting platform. A lifting drive mechanism for driving the lifting platform to move up and down is installed on the stacker frame.

[0007] Preferably, the stacker frame includes two oppositely arranged side frames, and two vertical guide rails are installed on the opposite side of each of the two side frames. Slider blocks are slidably installed on each of the four vertical guide rails. The lifting platform is equipped with two connecting seats on each side near the two side frames, and the four connecting seats are bolted to the four sliders respectively.

[0008] Preferably, the lifting drive mechanism includes a first lead screw, a second lead screw, a third lead screw, and a fourth lead screw arranged vertically. The first lead screw and the second lead screw are respectively installed on both sides of one of the side frames, and the third lead screw and the fourth lead screw are respectively installed on both sides of the other side frame. The first lead screw and the third lead screw are opposite to each other, and the second lead screw and the fourth lead screw are opposite to each other. The lifting drive mechanism also includes a servo motor, a first commutator, and two transmission connection structures mounted on the bottom bracket of the stacker frame. The input end of the first commutator is connected to the drive end of the servo motor via a coupling. The two transmission connection structures are connected to the two output ends of the first commutator via couplings. One of the transmission connection structures is connected to the end of the first lead screw and the third lead screw, and the other transmission connection structure is connected to the end of the second lead screw and the fourth lead screw. The first lead screw, the second lead screw, the third lead screw, and the fourth lead screw are each threaded with a lead screw nut, and the four lead screw nuts are respectively bolted and fixed to four connecting seats.

[0009] Preferably, the transmission connection structure includes a first transmission rod, a second commutator, a second transmission rod, a third transmission rod, a third commutator, and a fourth commutator. The second commutator, the third commutator, and the fourth commutator are all fixedly installed on the bottom bracket of the stacker vehicle frame. The first transmission rod is arranged along the width direction of the transverse ground rail, and the second and third transmission rods are arranged along the length direction of the transverse ground rail. The two ends of the first transmission rod are connected between the output end of the first commutator and the input end of the second commutator via couplings. The two ends of the second transmission rod are connected between the output end of the second commutator and the input end of the third commutator via couplings. The output end of the third commutator is connected to the end of the first or second lead screw via a coupling. The two ends of the third transmission rod are connected between the output end of the second commutator and the input end of the fourth commutator via couplings. The output end of the fourth commutator is connected to the third or fourth lead screw via a coupling.

[0010] Preferably, each side frame is fixedly equipped with two vertical guide rods, the two vertical guide rods are located between two vertical guide rails, and counterweight units are slidably connected to the two vertical guide rods; Two roller assemblies are rotatably mounted on the top of the side frame. Each roller assembly is equipped with a counterweight belt. One end of each counterweight belt is connected to a counterweight block unit, and the other end is connected to a lifting platform.

[0011] Preferably, each of the two side frames is fixedly connected to a plurality of protective covers on opposite sides, and the plurality of protective covers are arranged sequentially from bottom to top.

[0012] Preferably, the stacker truck also includes: A pressure sensor, mounted on the transverse base, is used to collect pressure data between the transverse base and the transverse ground rail; A three-axis accelerometer is mounted on the transverse base to collect vibration data of the transverse base. The encoder, mounted on the transverse base, is used to acquire the position information of the transverse base; The data processor is connected to the signal output terminals of the pressure sensor, triaxial accelerometer, and encoder. It is used to determine and output the fault type and fault location of the transverse track based on pressure data, vibration data, and position information. The fault types include track deformation and the presence of foreign objects on the track surface.

[0013] Preferably, the data processing method of the data processor includes the following steps: Step S1, Data Preprocessing: Based on the load data of the stacker truck and the self-weight constant of the stacker truck under no-load conditions, the pressure data and vibration data are subjected to load normalization processing. Step S2, Fault Analysis: For the position where the stacker truck passes over the transverse track, the track deformation and foreign object detection are determined based on the pressure data and vibration data after load normalization in step S1. Step S3, Fault Alarm: Display the fault location and fault type on the monitor.

[0014] Preferably, in step S2, the track deformation judgment specifically involves: performing a short-time Fourier transform on the vibration data, analyzing the energy distribution of the vibration data, and determining whether the energy distribution of the vibration data at the corresponding position of the transverse track exceeds the vibration energy threshold. If so, it is determined that there is a track deformation fault at the corresponding position of the transverse track; otherwise, it is determined that there is no track deformation fault at the corresponding position of the transverse track. The track foreign object judgment specifically involves: determining whether both the short-time energy change of the pressure data and the short-time energy change of the vibration data exceed the threshold. If so, it is determined that there is a foreign object at the corresponding position of the transverse track; otherwise, it is determined that there is no foreign object at the corresponding position of the transverse track.

[0015] In summary, the stacker truck used in warehouse stacking according to this application has at least one of the following beneficial technical effects: 1. The transverse track is installed on the ground. The stacker frame can slide along the transverse track between the storage racks through the transverse base. With the use of the lifting drive mechanism, it can meet the positioning of the actuator on the lifting platform. Compared with the traditional suspended stacker, it is easier to maintain and has a lower maintenance cost. 2. The motion of the servo motor drive shaft can be transmitted through the first commutator, the first transmission rod, the second commutator, the second transmission rod, the third commutator, the third transmission rod, and the fourth commutator to the first lead screw, the second lead screw, the third lead screw, and the fourth lead screw, so as to drive the first lead screw, the second lead screw, the third lead screw, and the fourth lead screw to rotate synchronously, thereby driving the four lead screw nuts to move up and down to achieve the technical effect of driving the lifting platform to move up and down. It can drive the actuator on the lifting platform to move to the required height and then perform the corresponding actions of picking up and placing goods. 3. By combining and using pressure sensors, triaxial accelerometers, encoders, and data processors, the transverse track can be detected during the sliding movement of the stacker truck along the transverse track. The transverse track deformation and foreign object detection can be performed to prompt relevant personnel to perform timely maintenance on the transverse track. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of Embodiment 1 of this application used to illustrate the overall structure of the stacker truck.

[0017] Figure 2 This is a schematic diagram of Embodiment 1 of this application used to illustrate the internal structure of the stacker truck frame.

[0018] Figure 3 This is a schematic diagram of Embodiment 1 of this application used to illustrate the power transmission of the lifting drive mechanism.

[0019] Explanation of reference numerals in the attached drawings: 1. Horizontal rail; 2. Horizontal base; 3. Stacker frame; 31. Side frame; 32. Vertical guide rail; 33. Slider; 34. Vertical guide rod; 35. Roller assembly; 36. Protective cover; 37. Top support; 38. Bottom support; 4. Lifting platform; 41. Connecting seat; 5. Actuator; 6. Lifting drive mechanism; 61. First lead screw; 62. Second lead screw; 63. Third lead screw; 64. Fourth lead screw; 65. Servo motor; 66. First commutator; 67. Transmission connection structure; 671. First transmission rod; 672. Second commutator; 673. Second transmission rod; 674. Third transmission rod; 675. Third commutator; 676. Fourth commutator; 68. Lead screw nut; 7. Counterweight unit; 71. Counterweight frame; 72. Counterweight; 73. Counterweight belt. Detailed Implementation

[0020] The following combination Figures 1-3 This application will be described in further detail.

[0021] Example 1 This application discloses a stacker truck used in warehouse stacking. (Refer to...) Figures 1-3It mainly includes a transverse sliding rail 1 and a transverse sliding base 2. The transverse sliding rail 1 is laid and fixed to the ground of the passageway along the direction of the storage rack. The transverse sliding base 2 is slidably installed on the transverse sliding rail 1. The transverse sliding drive mechanism (the transverse sliding drive mechanism is existing technology and will not be described in detail) installed on the transverse sliding base 2 can drive the transverse sliding base 2 to slide back and forth along the transverse sliding rail 1.

[0022] The top of the transverse base 2 is bolted to the stacker frame 3, and the stacker frame 3 is equipped with a lifting platform 4 that can be raised and lowered. The actuator 5 (telescopic fork) for picking up and putting down goods is installed on the top of the lifting platform 4, and the stacker frame 3 is equipped with a lifting drive mechanism 6 for driving the lifting platform 4 to move up and down.

[0023] The traverse rail 1 is installed on the ground. The stacker truck frame 3 can slide along the traverse rail 1 between the storage racks via the traverse base 2. With the use of the lifting drive mechanism 6, it can control the position of the actuator 5 on the lifting platform 4. At the same time, compared with the traditional suspended stacker truck, the traverse rail 1 eliminates the need for climbing to perform maintenance, making maintenance simpler and cheaper.

[0024] Reference Figure 1 and Figure 2 In this embodiment, the stacker frame 3 is generally rectangular in shape. The stacker frame 3 includes a top support 37, a bottom support 38, and two oppositely arranged side frames 31. The upper and lower ends of the two side frames 31 are respectively bolted to the top support 37 and the bottom support 38. The front and rear sides of the stacker frame 3 are open to facilitate the execution mechanism 5 to perform the action of picking up and placing goods.

[0025] Two vertical guide rails 32 are fixedly installed on the opposite side walls of the two side frames 31, and sliders 33 are slidably connected to the four vertical guide rails 32. Two connecting seats 41 are bolted to the two sides of the lifting platform 4 near the two side frames 31, and the four connecting seats 41 are bolted to the four sliders 33 respectively. Through the sliders 33 and the connecting seats 41, the lifting platform 4 can move up and down within the stacker truck frame 3.

[0026] Reference Figure 1 , Figure 2 as well as Figure 3 In this embodiment, the lifting drive mechanism 6 consists of a vertically arranged first lead screw 61, a second lead screw 62, a third lead screw 63, a fourth lead screw 64, a servo motor 65, a first commutator 66, and two transmission connection structures 67. The first lead screw 61 and the second lead screw 62 are respectively installed on both sides of one of the side frames 31 along the height direction, while the third lead screw 63 and the fourth lead screw 64 are respectively installed on both sides of the other side frame 31 along the height direction. The first lead screw 61 is opposite to the third lead screw 63, and the second lead screw 62 is opposite to the fourth lead screw 64.

[0027] The first lead screw 61, the second lead screw 62, the third lead screw 63, and the fourth lead screw 64 are each threaded with a lead screw nut 68. The four lead screw nuts 68 are fixedly connected to the four connecting seats 41 respectively. By driving the first lead screw 61, the second lead screw 62, the third lead screw 63, and the fourth lead screw 64 to rotate, the connecting seats 41 can be moved up and down through the lead screw nuts 68, thereby causing the lifting platform 4 to slide up and down.

[0028] The servo motor 65, the first commutator 66, and the two transmission connection structures 67 are all mounted on the top of the bottom bracket 38. The input end of the first commutator 66 is connected to the drive end of the servo motor 65 via a coupling. The two transmission connection structures 67 are respectively connected to the output end of the first commutator 66 via couplings. One transmission connection structure 67 is connected to the end of the first lead screw 61 and the third lead screw 63, and the other transmission connection structure 67 is connected to the end of the second lead screw 62 and the fourth lead screw 64. By using the first commutator 66 and the two transmission connection structures 67 in combination, the first lead screw 61, the second lead screw 62, the third lead screw 63, and the fourth lead screw 64 can be driven to rotate synchronously by a single servo motor 65, thereby driving the four lead screw nuts 68 to rise and fall, thus achieving the technical effect of driving the lifting platform 4 to rise and fall.

[0029] In this embodiment, the transmission connection structure 67 includes a first transmission rod 671, a second commutator 672, a second transmission rod 673, a third transmission rod 674, a third commutator 675, and a fourth commutator 676. The second commutator 672, the third commutator 675, and the fourth commutator 676 are all fixedly mounted on the top of the bottom bracket 38.

[0030] The first transmission rod 671 is arranged along the width direction of the transverse ground rail 1, and its two ends are respectively connected between the output end of the first commutator 66 and the input end of the second commutator 672 via couplings; the second transmission rod 673 is arranged along the length direction of the transverse ground rail 1, and its two ends are respectively connected between one output end of the second commutator 672 and the input end of the third commutator 675 via couplings, and the output end of the third commutator 675 is connected to the end of the first lead screw 61 or the second lead screw 62 via couplings; the third transmission rod 674 is arranged along the length direction of the transverse ground rail 1, and its two ends are respectively connected between the other output end of the second commutator 672 and the input end of the fourth commutator 676 via couplings, and the output end of the fourth commutator 676 is connected to the end of the third lead screw 63 or the fourth lead screw 64 via couplings.

[0031] The motion of the servo motor 65 driving shaft can be transmitted through the first commutator 66, the first transmission rod 671, the second commutator 672, the second transmission rod 673, the third commutator 675, the third transmission rod 674, and the fourth commutator 676 to the first lead screw 61, the second lead screw 62, the third lead screw 63, and the fourth lead screw 64 to rotate synchronously, thereby driving the four lead screw nuts 68 to move up and down to achieve the technical effect of driving the lifting platform 4 to move up and down. It can drive the actuator 5 on the lifting platform 4 to move to the required height and then perform the corresponding actions of picking up and placing goods.

[0032] To ensure smoother vertical movement of the lifting platform 4, counterweight units 7 are installed on the two side frames 31 in this embodiment. Two vertical guide rods 34, arranged along the height of the stacker frame 3, are fixedly installed on each of the two side frames 31, and the counterweight units 7 are slidably mounted on the two vertical guide rods 34.

[0033] The counterweight unit 7 includes a counterweight frame 71 and multiple counterweights 72. The multiple counterweights 72 are stacked on the counterweight frame 71, and the counterweight frame 71 is slidably mounted on two vertical guide rods 34. Two roller assemblies 35 are installed on the side frame 31, and counterweight belts 73 are respectively installed on the two roller assemblies 35. Both ends of the counterweight belts 73 are fixedly connected to the lifting platform 4 and the counterweight frame 71, respectively.

[0034] In this embodiment, three protective covers 36 are bolted to one side of each of the two side frames 31. The three protective covers 36 are arranged sequentially from top to bottom, which can shield the internal structure of the stacker frame 3 and protect the internal structure of the stacker frame 3.

[0035] The implementation principle of a stacker truck applied in warehouse stacking according to an embodiment of this application is as follows: the transverse ground rail 1 is installed on the ground, and the stacker truck frame 3 can slide along the transverse ground rail 1 between the warehouse shelves through the transverse base 2. With the use of the lifting drive mechanism 6, the positioning of the actuator 5 on the drive lifting platform 4 can be satisfied. Compared with the traditional suspended stacker truck, there is no need to climb to perform maintenance operations, the maintenance operation is simpler, and the maintenance cost is lower.

[0036] Example 2

[0037] In this embodiment, based on Embodiment 1, the stacker truck further includes a pressure sensor, a triaxial accelerometer, an encoder, and a data processor. The pressure sensor is mounted on the transverse base 2 to collect pressure data between the transverse base 2 and the transverse ground rail 1. The triaxial accelerometer is mounted on the transverse base 2 to collect vibration data of the transverse base 1. The encoder is mounted on the transverse base 2 to obtain the position information of the transverse base 1. The data input terminal of the data processor is connected to the data output terminals of the pressure sensor, triaxial accelerometer, and encoder via data cables. It is used to determine and output the fault type of the transverse ground rail at each location based on the pressure data, vibration data, and position information. The fault types include ground rail deformation and the presence of foreign objects on the ground rail surface.

[0038] The data processing method of the data processor includes the following steps: Step S1, Data Preprocessing: Based on the load data of the stacker truck and the self-weight constant of the stacker truck under no-load conditions, the pressure data and vibration data are subjected to load normalization processing. The formula for load normalization is: ; ; In the formula, e represents the position of the stacker truck on the traverse rail, which is obtained through an encoder; The pressure per unit load at position e; Let be the vibration intensity at position e under a unit load. The load of the stacker truck at position e; g is the acceleration due to gravity; C is the weight of the lateral base 2 and the stacker truck frame 3 when the stacker truck is unloaded; The readings of the triaxial accelerometer at position e are the vibration data in the x-axis direction (the width direction of the transverse track); The readings of the triaxial accelerometer at position e are the vibration data in the y-axis direction (the length direction of the transverse track); The readings of the triaxial accelerometer at position e are the vibration data in the z-axis direction (height direction); Step S2, Fault Analysis: For the position where the stacker truck passes over the transverse track 1, the track deformation and foreign object judgment are made based on the pressure data and vibration data after load normalization in step S1. Step S3, Fault Alarm: Display the fault location and fault type on the monitor.

[0039] In this embodiment, in step S2, the track deformation judgment specifically involves: performing a short-time Fourier transform on the vibration data, analyzing the energy distribution of the vibration data, and determining whether the energy distribution of the vibration data at the corresponding position of the transverse track 1 exceeds the vibration energy threshold. If so, it is determined that there is a track deformation fault at the corresponding position of the transverse track 1; otherwise, there is no track deformation fault at the corresponding position of the transverse track 1. The track foreign object judgment specifically involves: determining whether both the short-time energy change of the pressure data and the short-time energy change of the vibration data exceed the threshold. If so, it is determined that there is a foreign object at the corresponding position of the transverse track 1; otherwise, it is determined that there is no foreign object at the corresponding position of the transverse track 1.

[0040] The formula for calculating track deformation is as follows: ; In the formula, This is the short-time Fourier transform of the vibration data at position e; For deformation characteristic frequency bands; The vibration energy threshold; The formula for determining foreign objects in the orbit is: ; ; In the formula, Q is the foreign object detection coefficient for the track; The average pressure sliding value within 2 meters before position e of the transverse track 1; The standard deviation of pressure within 2 meters in front of position e represents the background noise; Indicates the pressure anomaly ratio coefficient; The average vibration and sliding value within 2 meters before position e of the transverse track 1; The standard deviation of vibration within 2 meters in front of position e represents the background noise; This represents the vibration anomaly ratio coefficient.

[0041] By combining and using pressure sensors, triaxial accelerometers, encoders, and data processors, the transverse track 1 can be detected during the sliding movement of the stacker truck. The transverse track 1 can be used to determine track deformation and foreign objects, so as to prompt relevant personnel to maintain the transverse track 1 in a timely manner.

[0042] To facilitate maintenance personnel in quickly locating the fault location of the transverse track 1, in this embodiment, length markings are sprayed on the side wall of the transverse track 1, with the markings spaced at 2-meter intervals. In some other embodiments, the interval length of the markings can be changed, which is not limited or elaborated here.

[0043] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A stacker truck used in warehouse stacking, characterized in that, It includes a transverse sliding rail (1) and a transverse sliding base (2), wherein the transverse sliding base (2) is slidably installed on the transverse sliding rail (1), and the transverse sliding rail (1) is laid and fixed to the ground of the passageway along the direction of the passageway between the storage racks; The top of the transverse base (2) is fixedly installed with a stacker frame (3), and a lifting platform (4) is provided on the stacker frame (3). An actuator (5) is installed on the top of the lifting platform (4), and a lifting drive mechanism (6) for driving the lifting platform (4) to move up and down is installed on the stacker frame (3).

2. A stacker truck for warehouse stacking according to claim 1, characterized in that, The stacker frame (3) includes two oppositely arranged side frames (31), and two vertical guide rails (32) are installed on the opposite side of each of the two side frames (31). Sliding blocks (33) are slidably installed on the four vertical guide rails (32). The lifting platform (4) has two connecting seats (41) installed on both sides near the two side frames (31), and the four connecting seats (41) are bolted to the four sliders (33) respectively.

3. A stacker truck for warehouse stacking according to claim 2, characterized in that, The lifting drive mechanism (6) includes a first lead screw (61), a second lead screw (62), a third lead screw (63), and a fourth lead screw (64) arranged vertically. The first lead screw (61) and the second lead screw (62) are respectively installed on both sides of one of the side frames (31), and the third lead screw (63) and the fourth lead screw (64) are respectively installed on both sides of the other side frame (31). The first lead screw (61) and the third lead screw (63) are opposite each other, and the second lead screw (62) and the fourth lead screw (64) are opposite each other. The lifting drive mechanism (6) also includes a servo motor (65), a first commutator (66), and two transmission connection structures (67) mounted on the bottom bracket (38) of the stacker frame (3). The input end of the first commutator (66) is connected to the drive end of the servo motor (65) through a coupling. The two transmission connection structures (67) are connected to the two output ends of the first commutator (66) through a coupling. One of the transmission connection structures (67) is connected to the end of the first lead screw (61) and the third lead screw (63), and the other transmission connection structure (67) is connected to the end of the second lead screw (62) and the fourth lead screw (64). The first lead screw (61), the second lead screw (62), the third lead screw (63) and the fourth lead screw (64) are respectively threaded with lead screw nuts (68), and the four lead screw nuts (68) are respectively bolted and fixed to the four connecting seats (41).

4. A stacker truck for warehouse stacking according to claim 3, characterized in that, The transmission connection structure (67) includes a first transmission rod (671), a second commutator (672), a second transmission rod (673), a third transmission rod (674), a third commutator (675), and a fourth commutator (676). The second commutator (672), the third commutator (675), and the fourth commutator (676) are all fixedly installed on the bottom bracket (38) of the stacker frame (3). The first transmission rod (671) is arranged along the width direction of the transverse ground rail (1), and the second transmission rod (673) and the third transmission rod (674) are arranged along the length direction of the transverse ground rail (1). The two ends of the first transmission rod (671) are connected by a coupling between the output end of the first commutator (66) and the input end of the second commutator (672). The two ends of the second transmission rod (673) are connected by a coupling between the output end of the second commutator (672) and the input end of the third commutator (675). The output end of the third commutator (675) is connected by a coupling to the end of the first lead screw (61) or the second lead screw (62). The two ends of the third transmission rod (674) are connected by a coupling between the output end of the second commutator (672) and the input end of the fourth commutator (676). The output end of the fourth commutator (676) is connected by a coupling to the third lead screw (63) or the fourth lead screw (64).

5. A stacker truck for warehouse stacking according to claim 4, characterized in that, Two vertical guide rods (34) are fixedly installed on each side frame (31). The two vertical guide rods (34) are located between two vertical guide rails (32). A counterweight unit (7) is slidably connected to the two vertical guide rods (34). Two roller assemblies (35) are rotatably mounted on the top of the side frame (31). Each of the two roller assemblies (35) is equipped with a counterweight belt (73). One end of each of the two counterweight belts (73) is connected to the counterweight block unit (7), and the other end is connected to the lifting platform (4).

6. A stacker truck for warehouse stacking according to claim 5, characterized in that, Each of the two side frames (31) is fixedly connected to a number of protective covers (36) on the opposite side, and the number of protective covers (36) are arranged in order from bottom to top.

7. A stacker truck for warehouse stacking according to claim 1, characterized in that, Stacker trucks also include: A pressure sensor is installed on the transverse base (2) to collect pressure data between the transverse base (2) and the transverse ground rail (1); A triaxial accelerometer is installed on the transverse base (2) to collect vibration data of the transverse base (2); An encoder is installed on the transverse base (2) to obtain the position information of the transverse base (2); The data processor is connected to the signal output terminals of the pressure sensor, triaxial accelerometer and encoder, and is used to determine and output the fault type and fault location of the transverse ground rail (1) based on the pressure data, vibration data and position information. The fault type includes ground rail deformation and the presence of foreign objects on the ground rail surface.

8. A stacker truck for warehouse stacking according to claim 7, characterized in that, The data processing method of the data processor includes the following steps: Step S1, Data Preprocessing: Based on the load data of the stacker truck and the self-weight constant of the stacker truck under no-load conditions, the pressure data and vibration data are subjected to load normalization processing. Step S2, Fault Analysis: For the position of the stacker truck passing over the transverse track (1), the track deformation and foreign object judgment are made based on the pressure data and vibration data after load normalization in step S1. Step S3, Fault Alarm: Display the fault location and fault type on the monitor.

9. A stacker truck for warehouse stacking according to claim 8, characterized in that, In step S2, the track deformation judgment is specifically as follows: perform short-time Fourier transform on the vibration data, analyze the energy distribution of the vibration data, and determine whether the energy distribution of the vibration data at the corresponding position of the transverse track (1) exceeds the vibration energy threshold. If so, it is determined that there is a track deformation fault at the corresponding position of the transverse track (1). Otherwise, there is no track deformation fault at the corresponding position of the transverse track (1). The track foreign object judgment is specifically as follows: determine whether the short-time energy change of the pressure data and the short-time energy change of the vibration data both exceed the threshold. If so, it is determined that there is a foreign object at the corresponding position of the transverse track (1). If not, it is determined that there is no foreign object at the corresponding position of the transverse track (1).

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