Bidirectional double-fork synchronous access stereoscopic warehouse stacking machine

Abstract

The present application relates to the technical field of stereoscopic warehouse stacker, specifically a bidirectional double-fork synchronous access stereoscopic warehouse stacker, which comprises a fork structure, a sliding structure, an extension structure, a guide structure, a walking structure and a driving structure, the guide structure comprises a hanging bracket, the hanging bracket is provided with a second rack, the walking structure comprises a walking frame, a moving part, a guide part and a butt joint part. The guide structure is installed on the top of the hanging bracket, and is driven by gear and rack meshing. The walking frame moves stably and accurately on the hanging bracket, and the influence of ground flatness is small compared with the ground roller mode, the walking precision and dynamic response speed are significantly improved; Z-axis movement is realized by the opposite sliding of the double sliding rods of the extension structure, without the need for vertical installation of the lead screw, which greatly reduces the overall height of the stacker and the gravity center of the equipment, and the shaking is small during high-speed lifting and translation, the access to goods is more stable and reliable, and the two sliding rods realize opposite synchronous extension through the same first gear and rack meshing.

Description

Technical Field

[0001] This invention relates to the field of automated storage and retrieval systems (AS / RS) stacker cranes, specifically a bidirectional dual-fork synchronous storage and retrieval AS / RS stacker crane. Background Technology

[0002] Automated storage and retrieval systems (AS / RS) enable high-level warehouse optimization, automated storage and retrieval, and simplified operation. The main components of an AS / RS consist of racking, aisle stacker cranes, inbound and outbound workstations, and an automated transport and control system. The racking is a steel or reinforced concrete structure containing standard-sized storage locations. The aisle stacker cranes move through the aisles between the racks to perform storage and retrieval operations. Management utilizes computer and barcode technology.

[0003] Stacker cranes are the core equipment of automated storage and retrieval systems (AS / RS), and their performance directly affects the storage and retrieval efficiency and operational stability of the storage system. Existing stacker cranes mostly use ground rollers or ground rails for horizontal movement, with motors driving the rollers along ground rails. This method not only requires a high degree of ground flatness but also has limited walking accuracy and response speed, making it difficult to meet the demands of high-speed, high-precision storage and retrieval operations. Furthermore, the Z-axis lifting system of traditional stacker cranes often uses a motor-driven screw-slider system. The vertical installation of the screw significantly increases the overall height of the machine, occupying a large amount of top space and raising the center of gravity, resulting in poor operational stability, especially during high-speed lifting, which can cause swaying and affect the accuracy of fork loading and unloading. Existing stacker cranes generally use a single-fork structure, allowing only one storage or retrieval operation at a time, resulting in low efficiency. When bidirectional (both sides of the aisle) operations are required, a rotating mechanism or overall machine reversal is necessary, which is complex and time-consuming. Summary of the Invention

[0004] To address the problems in the existing technology, this invention provides a bidirectional dual-fork synchronous storage and retrieval automated warehouse stacker crane.

[0005] The technical solution adopted by this invention to solve its technical problem is: a two-way dual-fork synchronous storage and retrieval stacker crane, including three guide structures located at the top of the storage room. Each guide structure includes a hanger. Two of the hangers installed at the top of the storage room form a Y-axis moving guide rail, and the other hanger forms an X-axis guide rail. A second rack is provided on each hanger. A traveling structure is slidably installed on each hanger. The traveling structure includes a traveling frame, a moving component, a guide component, and a docking component. The top of the hanger is provided with a traveling frame. The two ends of the hanger forming the X-axis guide rail are fixed to two traveling frames that move along the Y-axis. A docking component is installed at the bottom of the traveling frame that moves along the X-axis. The traveling frame is provided with a moving component and a guide component. The moving component drives the traveling frame to move on the hanger. A telescopic structure is installed at the bottom of the docking component. A sliding structure is provided on the side wall of the telescopic structure. A fork structure is provided at the bottom of the sliding structure.

[0006] Specifically, the moving component includes a second gear and a second driving component. The second gear is rotatably mounted on the walking frame and meshes with a second rack. The second driving component is mounted on the walking frame and its drive shaft is fixedly connected to the second gear. The second driving component drives the second gear to rotate, and the second gear rolls on the second rack, thereby realizing the movement of the walking frame.

[0007] Specifically, the guide component includes a guide wheel and a groove. The guide wheel rolls with the hanger, and the guide wheel has a groove in it. The second rack is located in the groove. The traveling frame drives the guide wheel to roll with the hanger.

[0008] Specifically, the docking component includes a docking frame and a docking plate. The docking frame is installed at the bottom of the traveling frame that moves along the X-axis, and the docking plate is installed at the bottom of the docking frame. The docking plate is connected to the telescopic structure.

[0009] Specifically, the telescopic structure includes a sliding frame, two sliding rods, a first rack, a rotating shaft, and a first gear. The docking plate is fixed to the top of one of the sliding rods. Both sliding rods are slidably connected to the sliding frame. The opposite ends of the two sliding rods are equipped with first racks. The sliding frame is rotatably provided with a rotating shaft. The rotating shaft is fixed with a first gear. The two first racks mesh with the first gear. The two first racks are symmetrically arranged on both sides of the first gear.

[0010] Specifically, the sliding frame is provided with four second slide rails inside, and each slide rod is provided with two second slide rails on both sides, and the slide rod is slidably connected to the second slide rails.

[0011] Specifically, a drive structure is installed on the slide frame. The drive structure includes a fixed base, a third drive component, a third gear, a fourth gear, and a protective cover. The fixed base is fixed to the side wall of the slide frame. The third drive component is installed on the fixed base. The third gear is fixed on the output shaft of the third drive component. The fourth gear is fixed on the rotating shaft. The third gear and the fourth gear mesh. A protective cover for protecting the third gear and the fourth gear is installed on the slide frame.

[0012] Specifically, the sliding structure includes a slider, a lead screw, a first driving member, and a guide rod. An L-shaped slider is slidably mounted on the side wall of a slider away from the docking plate. The slider is slidably connected to the guide rod, and the guide rod is fixed on the slider. The first driving member is mounted on the slider, and a lead screw is rotatably mounted on it. The lead screw is threadedly connected to the slider, and the output shaft of the first driving member is fixedly connected to the lead screw.

[0013] Specifically, the fork structure includes a fixed frame, the bottom end of the slider is equipped with a fixed frame, two first slide rails are installed on the fixed frame, and two forks are symmetrically slidably arranged on each first slide rail.

[0014] Specifically, a connecting rod is fixed to the opposite end of the first slide rail, and a telescopic component is installed on the connecting rod. The piston rod of the telescopic component is fixed to the push rod, and the two push rods are respectively fixed between the two forks at both ends. The push rod is provided with a misalignment hole, and the telescopic component is located in the misalignment hole.

[0015] The beneficial effects of this invention are: (1) The bidirectional double fork synchronous storage and retrieval stacker of the present invention adopts a top-mounted guide structure and is driven by gear and rack meshing. The walking frame moves smoothly and is accurately positioned on the hanger. Compared with the ground roller method, it is less affected by the flatness of the ground and the walking accuracy and dynamic response speed are significantly improved.

[0016] (2) The bidirectional double fork synchronous storage and retrieval stacker of the present invention achieves Z-axis movement through the opposing sliding of the double sliding rods of the telescopic structure, without the need for vertical installation of the lead screw, which greatly reduces the overall height of the stacker and lowers the center of gravity of the equipment. During high-speed lifting and translation, there is little sway, and the storage and retrieval of goods is more stable and reliable. The two sliding rods achieve opposing synchronous extension and retraction through the meshing of the same first gear rack, which increases the range of motion and has a fast response.

[0017] (3) The bidirectional double fork synchronous storage and retrieval stacker of the present invention has a sliding structure that facilitates precise adjustment of the Z-axis movement height; it has a compact structure and a high degree of modularity, making it easy to install, maintain and replace, thus reducing manufacturing and operation costs. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 for Figure 1 The enlarged view of part A shown; Figure 3 This is a schematic diagram of the telescopic structure and the driving structure of the present invention; Figure 4 This is a schematic diagram of the guiding structure and the walking structure of the present invention; Figure 5 This is a schematic diagram of the structure of the second gear and the second rack of the present invention; Figure 6 This is a schematic diagram of the sliding frame and sliding rod of the present invention; Figure 7 for Figure 6 The diagram shows the structural schematic of the driving structure. Figure 8 for Figure 7 The enlarged view of section B shown; Figure 9 for Figure 7 Cross-sectional view; Figure 10 This is a schematic diagram of the fork structure of the present invention.

[0020] In the diagram: 1. Fork structure; 101. Fixed frame; 102. First slide rail; 103. Fork; 104. Push rod; 105. Telescopic component; 106. Connecting rod; 2. Sliding structure; 201. Slider; 202. Lead screw; 203. First driving component; 204. Guide rod; 3. Telescopic structure; 301. Slide frame; 302. Slide rod; 303. First rack; 304. Rotating shaft; 305. First gear; 30 6. Second slide rail; 4. Guide structure; 401. Hanger; 402. Second rack; 5. Traveling structure; 501. Traveling frame; 502. Second gear; 503. Second drive component; 504. Guide wheel; 505. Groove; 506. Connecting frame; 507. Connecting plate; 6. Drive structure; 601. Fixed base; 602. Third drive component; 603. Third gear; 604. Fourth gear; 605. Protective cover. Detailed Implementation

[0021] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0022] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, the bidirectional dual-fork synchronous storage and retrieval stacker crane of the present invention includes three guide structures 4 located at the top of the storage room. Each guide structure 4 includes a hanger 401. Two hangers 401 installed at the top of the storage room form a Y-axis moving guide rail, and the other hanger 401 forms an X-axis guide rail. A second rack 402 is provided on the hanger 401. A traveling structure 5 is slidably installed on the hanger 401. The traveling structure 5 includes a traveling frame 501, a moving component, a guide component, and a docking component. The top of the hanger 401 is provided with the traveling frame 501. The two ends of the hanger 401 forming the X-axis guide rail are fixed to two traveling frames 501 that move along the Y-axis. A docking component is installed at the bottom of the traveling frame 501 that moves along the X-axis. The traveling frame 501 is provided with a moving component and a guide component. The moving component drives the traveling frame 501 to move on the hanger 401. A telescopic structure 3 is installed at the bottom of the docking component. A sliding structure 2 is provided on the side wall of the telescopic structure 3. A fork structure 1 is provided at the bottom of the sliding structure 2. The moving component includes a second gear 502 and a second drive component 503. The second gear 502 is rotatably mounted on the traveling frame 501 and meshes with the second rack 402. The second drive component 503 is mounted on the traveling frame 501, and the drive shaft of the second drive component 503 is fixedly connected to the second gear 502. The second drive component 503 drives the second gear 502 to rotate, and the second gear 502 rolls on the second rack 402, thereby realizing the movement of the traveling frame 501. By driving the second gear 502 to rotate through the second drive component 503, the second gear 502 meshes with the second rack 402 on the hanger 401, thereby driving the traveling frame 501 to move along the two parallel Y-axis hangers 401 on the top of the storage room, realizing the position adjustment in the Y-axis direction. At the same time, the two ends of the hanger 401 in the X-axis direction are fixed to the Y-axis traveling frame 501 and move with the Y-axis. Subsequently, the controller controls the second drive unit 503 in the X-axis direction, causing the X-axis traveling frame 501 to move along the corresponding hanger 401, achieving precise positioning in the X-axis direction and moving the fork structure 1 to the front of the target cargo position.

[0023] Specifically, such as Figure 1 , Figure 2 , Figure 4 and Figure 5As shown, the guide component includes a guide wheel 504 and a groove 505. The guide wheel 504 rolls with the hanger 401. The guide wheel 504 has a groove 505, and the second rack 402 is located in the groove 505. The traveling frame 501 drives the guide wheel 504 to roll with the hanger 401. During the travel, the guide wheel 504 rolls in contact with the hanger 401. The groove 505 on the guide wheel cooperates with the second rack 402 to laterally limit the traveling frame 501, ensuring smooth travel without deviation from the track. The docking component includes a docking frame 506 and a docking plate 507. The docking frame 506 is installed at the bottom of the traveling frame 501 that moves along the X-axis, and the docking plate 507 is installed at the bottom of the docking frame 506. The docking plate 507 is connected to the telescopic structure 3.

[0024] Specifically, such as Figure 1 , Figure 2 , Figure 3 , Figure 6 , Figure 7 , Figure 8 and Figure 9 As shown, the telescopic structure 3 includes a sliding frame 301, two sliding rods 302, a first rack 303, a rotating shaft 304, and a first gear 305. A docking plate 507 is fixed to the top of one of the sliding rods 302. Both sliding rods 302 are slidably connected to the sliding frame 301. First racks 303 are mounted on opposite ends of the two sliding rods 302. A rotating shaft 304 is rotatably mounted on the sliding frame 301, and a first gear 305 is fixed on the rotating shaft 304. The two first racks 303 mesh with the first gear 305. The two first racks 303 are symmetrically arranged... On both sides of the first gear 305; the rotating shaft 304 rotates, and the first gear 305 on the rotating shaft simultaneously meshes with the first rack 303 on the two slide rods 302, driving the two slide rods 302 to slide in opposite directions along the second slide rail 306 inside the slide frame 301. One slide rod 302 extends downward, and the other slide rod 302 retracts upward in sync, thereby realizing the overall lifting and lowering of the fork structure 1, so that the height of the forks is aligned with the target cargo position; since the two slide rods 302 move in opposite directions in sync, the lifting and lowering process is smooth and fast, reducing the overall length when stored.

[0025] Specifically, such as Figure 7 , Figure 8 and Figure 9 As shown, the sliding frame 301 has four second slide rails 306 inside, and each slide rod 302 has two second slide rails 306 on both sides. The slide rod 302 is slidably connected to the second slide rails 306, making the slide rod 302 slide more stably.

[0026] Specifically, such as Figure 3 , Figure 6 and Figure 7As shown, the drive structure 6 includes a fixed base 601, a third drive member 602, a third gear 603, a fourth gear 604, and a protective cover 605. The fixed base 601 is fixed to the side wall of the slide frame 301. The third drive member 602 is mounted on the fixed base 601. The third gear 603 is fixed on the output shaft of the third drive member 602. The fourth gear 604 is fixed on the rotating shaft 304. The third gear 603 and the fourth gear 604 mesh. The protective cover 605 is mounted on the slide frame 301 to protect the third gear 603 and the fourth gear 604. The third drive member 602 drives the rotating shaft 304 to rotate through the meshing of the third gear 603 and the fourth gear 604.

[0027] Specifically, such as Figure 6 , Figure 7 , Figure 8 and Figure 9 As shown, the sliding structure 2 includes a slider 201, a lead screw 202, a first driving member 203, and a guide rod 204. An L-shaped slider 201 is slidably mounted on the side wall of a slider 302 away from the docking plate 507. The slider 201 is slidably connected to the guide rod 204, which is fixed to the slider 302. The first driving member 203 is mounted on the slider 302, and the lead screw 202 is rotatably mounted thereon. The lead screw 202 is threadedly connected to the slider 201, and the output shaft of the first driving member 203 is fixedly connected to the lead screw 202. The first driving member drives the lead screw 202 to rotate, which in turn drives the L-shaped slider 201 to move along the direction of the guide rod 204. The slider 201 causes the entire fork structure 1 to move up and down, controlling the docking accuracy between the fork structure 1 and the goods, while further increasing the range of motion of the fork structure 1.

[0028] Specifically, such as Figure 3 , Figure 7 and Figure 10 As shown, the fork structure 1 includes a fixed frame 101. The fixed frame 101 is installed at the bottom end of the slider 201. Two first slide rails 102 are installed on the fixed frame 101, and two forks 103 are symmetrically slidably mounted on each first slide rail 102. A connecting rod 106 is fixed to the opposite end of the first slide rails 102. A telescopic member 105 is installed on the connecting rod 106. The piston rod of the telescopic member 105 is fixed to a push rod 104. The two push rods 104 are respectively fixed between the two forks 103 at both ends. The push rod 104 is provided with a misalignment hole, and the telescopic member 105 is located in the misalignment hole; to prevent the push rod 104 from colliding with the telescopic member 105, when the fork 103 corresponds to the goods, the controller sends a command to the telescopic member 105, the telescopic member 105 pushes the push rod 104, the push rod 104 drives the two forks 103 at the same end to slide along the first slide rail 102 toward the goods, so that the forks 103 slide to the bottom of the goods, and then the sliding structure 2 or the telescopic structure 3 drives the forks 103 to lift the goods.

[0029] In use, the entire system's walking, lifting, and docking actions are uniformly controlled by a PLC controller. The controller is electrically connected to the first drive component 203, the second drive component 503, the third drive component 602, and the telescopic component 105. The drive components are preferably servo motors, and the telescopic component 105 is preferably a hydraulic cylinder. The hydraulic cylinders are connected to an external hydraulic station via oil pipes. The hydraulic station includes an oil pump, an oil tank, and an electromagnetic directional valve. The inlet of the electromagnetic directional valve is connected to the outlet of the oil pump, and the return port is connected to the oil tank. The two working ports are respectively connected to the rodless chamber and the rod chamber of the hydraulic cylinder. The electromagnetic directional valve is electrically connected to the PLC controller. The PLC controller controls the valve core of the electromagnetic directional valve to switch directions by outputting electrical signals, thereby controlling the extension or retraction of the piston rod of the hydraulic cylinder.

[0030] The controller sends commands to the two second drive members 503 in the Y-axis direction. The second drive members 503 drive the second gear 502 to rotate. The second gear 502 meshes with the second rack 402 on the hanger 401, thereby driving the traveling frame 501 to move along the two parallel hangers 401 on the top of the storage room, realizing position adjustment in the Y-axis direction. At the same time, the hangers 401 in the X-axis direction are fixed at both ends to the Y-axis traveling frame 501 and move with the Y-axis. Subsequently, the controller controls the second drive members 503 in the X-axis direction to make the X-axis traveling frame 501 move along the corresponding hanger 401, realizing precise positioning in the X-axis direction and moving the fork structure 1 to the front of the target storage location. During the movement, the guide wheel 504 rolls in contact with the hanger 401, and the groove 505 on the guide wheel cooperates with the second rack 402 to laterally limit the traveling frame 501, ensuring smooth movement without deviation.

[0031] Once the stacker crane is positioned at the target location, the controller activates the third drive unit 602. The third drive unit 602 meshes with the fourth gear 604 via the third gear 603, driving the rotating shaft 304 to rotate. The first gear 305 on the rotating shaft simultaneously meshes with the first rack 303 on the two slide rods 302, driving the two slide rods 302 to slide in opposite directions along the second slide rail 306 within the slide frame 301. One slide rod 302 extends downwards, while the other slide rod 302 retracts upwards synchronously, thereby achieving the overall lifting and lowering of the fork structure 1, aligning the forks with the target location. Because the two slide rods 302 move in opposite directions synchronously, the lifting and lowering process is smooth and fast, reducing the overall length during storage.

[0032] The first driving component drives the lead screw 202 to rotate, and the lead screw 202 drives the L-shaped slider 201 to move along the guide rod 204. The slider 201 drives the entire fork structure 1 to move up and down, controlling the docking accuracy between the fork structure 1 and the goods, and further increasing the movement range of the fork structure 1. Once the forks 103 are aligned with the goods, the controller sends a command to the telescopic component 105. The telescopic component 105 pushes the push rod 104, which in turn causes the two forks 103 at the same end to slide along the first slide rail 102 toward the goods, so that the forks 103 slide to the bottom of the goods. Then, the sliding structure 2 or the telescopic structure 3 drives the forks 103 to lift the goods. After the goods are lifted, the telescopic component 105 pulls the push rod 104, which in turn causes the two forks 103 at the same end to slide along the first slide rail 102 toward the slide frame 301, so that the goods are removed from the shelf. Then, the height of the fork structure 1 is adjusted by the sliding structure 2 or the telescopic structure 3, and the goods are moved to the designated position by the traveling structure 5 in conjunction with the guide structure 4.

[0033] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0034] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A two-way, dual-fork synchronous storage and retrieval automated warehouse stacker crane, characterized in that: The system includes three guide structures (4) located at the top of the storage room. Each guide structure (4) includes a hanger (401). Two hangers (401) installed at the top of the storage room form a Y-axis moving guide rail, and the other hanger (401) forms an X-axis guide rail. A second rack (402) is provided on each hanger (401). A traveling structure (5) is slidably installed on each hanger (401). The traveling structure (5) includes a traveling frame (501), a moving part, a guide part, and a docking part. The traveling frame is located at the top of each hanger (401). (501), the two ends of the hanger (401) constituting the X-axis guide rail are fixed to two traveling frames (501) that move along the Y-axis; a docking part is installed at the bottom of the traveling frame (501) that moves along the X-axis, and a moving part and a guide part are provided on the traveling frame (501), and the moving part drives the traveling frame (501) to move on the hanger (401); a telescopic structure (3) is installed at the bottom of the docking part, and a sliding structure (2) is provided on the side wall of the telescopic structure (3), and a fork structure (1) is provided at the bottom of the sliding structure (2).

2. The bidirectional dual-fork synchronous storage and retrieval stacker crane according to claim 1, characterized in that: The moving component includes a second gear (502) and a second drive component (503). The second gear (502) is rotatably mounted on the walking frame (501). The second gear (502) meshes with the second rack (402). The second drive component (503) is mounted on the walking frame (501). The drive shaft of the second drive component (503) is fixedly connected to the second gear (502). The second drive component (503) drives the second gear (502) to rotate. The second gear (502) rolls on the second rack (402), thereby realizing the movement of the walking frame (501).

3. The bidirectional dual-fork synchronous storage and retrieval stacker crane according to claim 1, characterized in that: The guide includes a guide wheel (504) and a groove (505). The guide wheel (504) rolls with the hanger (401). The guide wheel (504) has a groove (505) and the second rack (402) is located in the groove (505). The traveling frame (501) drives the guide wheel (504) to roll with the hanger (401).

4. The bidirectional dual-fork synchronous storage and retrieval stacker crane according to claim 1, characterized in that: The docking component includes a docking frame (506) and a docking plate (507). The docking frame (506) is installed at the bottom of the traveling frame (501) that moves along the X-axis, and the docking plate (507) is installed at the bottom of the docking frame (506). The docking plate (507) is connected to the telescopic structure (3).

5. The bidirectional dual-fork synchronous storage and retrieval automated warehouse stacker crane according to claim 4, characterized in that: The telescopic structure (3) includes a sliding frame (301), two sliding rods (302), a first rack (303), a rotating shaft (304), and a first gear (305). The docking plate (507) is fixed to the top of one of the sliding rods (302). Both sliding rods (302) are slidably connected to the sliding frame (301). The opposite ends of the two sliding rods (302) are equipped with first racks (303). The rotating shaft (304) is rotatably mounted on the sliding frame (301). The first gear (305) is fixed on the rotating shaft (304). The two first racks (303) mesh with the first gear (305). The two first racks (303) are symmetrically arranged on both sides of the first gear (305).

6. The bidirectional dual-fork synchronous storage and retrieval stacker crane according to claim 5, characterized in that: The sliding frame (301) is provided with four second slide rails (306) inside, and each slide rod (302) is provided with two second slide rails (306) on both sides. The slide rod (302) is slidably connected to the second slide rails (306).

7. The bidirectional dual-fork synchronous storage and retrieval stacker crane according to claim 5, characterized in that: A drive structure (6) is installed on the slide frame (301). The drive structure (6) includes a fixed base (601), a third drive member (602), a third gear (603), a fourth gear (604), and a protective cover (605). The fixed base (601) is fixed to the side wall of the slide frame (301). The third drive member (602) is installed on the fixed base (601). The third gear (603) is fixed on the output shaft of the third drive member (602). The fourth gear (604) is fixed on the rotating shaft (304). The third gear (603) meshes with the fourth gear (604). A protective cover (605) is installed on the slide frame (301) to protect the third gear (603) and the fourth gear (604).

8. The bidirectional dual-fork synchronous storage and retrieval stacker crane according to claim 5, characterized in that: The sliding structure (2) includes a slider (201), a lead screw (202), a first driving member (203), and a guide rod (204). The slider (201) with an L-shaped structure is slidably provided on the side wall of a slider (302) away from the docking plate (507). The slider (201) is slidably connected to the guide rod (204). The guide rod (204) is fixed on the slider (302). The first driving member (203) is installed on the slider (302), and the lead screw (202) is rotatably provided. The lead screw (202) is threadedly connected to the slider (201). The output shaft of the first driving member (203) is fixedly connected to the lead screw (202).

9. The bidirectional dual-fork synchronous storage and retrieval stacker crane according to claim 8, characterized in that: The fork structure (1) includes a fixed frame (101), the bottom end of the slider (201) is equipped with a fixed frame (101), and two first slide rails (102) are installed on the fixed frame (101). Two forks (103) are symmetrically slidably arranged on each first slide rail (102).

10. The bidirectional dual-fork synchronous storage and retrieval stacker crane according to claim 9, characterized in that: A connecting rod (106) is fixed to the opposite end of the first slide rail (102). A telescopic member (105) is installed on the connecting rod (106). The piston rod of the telescopic member (105) is fixed to the push rod (104). The two push rods (104) are respectively fixed between the two forks (103) at both ends. The push rod (104) is provided with a misalignment hole, and the telescopic member (105) is located in the misalignment hole.

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