Anti-overturning loading platform of transfer track stacker

Abstract

The utility model discloses a kind of anti-toppling loading platform of transfer rail stacker, it is related to the technical field of stacking equipment, for the problem that tray abnormal displacement and tobacco box toppling are prone to appear when current transfer rail stacker takes and places tobacco box tray, only a small amount of laser range finder is set on the U-shaped frame of loading platform, greatly reduce the number of detection components, avoid the energy supply, wiring and data transmission problem of a large number of components, laser range finder directly acts on tobacco box, indirectly judges tray abnormal displacement by tobacco box displacement, detection is direct and sensitive, can quickly respond to abnormal situation in the process of fork action, after timely identification tray abnormal displacement, can be intervened fork action by control system, avoid tobacco box toppling due to tray displacement from source, guarantee the stability and safety of taking and placing goods operation.

Description

Technical Field

[0001] This utility model relates to the field of stacking equipment technology, and in particular to an anti-tipping loading platform for a rail-mounted stacker crane. Background Technology

[0002] Currently, when autonomous transfer stacker cranes are used to pick up and place pallets with cigarette boxes in elevated automated warehouses, some pallets have been placed for a long time and bear a large load, causing the crossbeams to deform. This causes the stacker crane forks to come into contact with the pallets during the extension or retraction process, resulting in abnormal displacement of the pallets and the cigarette boxes tipping over.

[0003] The method of using cameras to acquire images of pallets and identify pallets and cigarette boxes, and then determining whether abnormal displacement has occurred, relies on high-precision cameras and complex algorithm configurations. In addition, it requires a large amount of data for training, resulting in high overall implementation difficulty and cost. Alternatively, by setting up detection elements at each storage location in the automated storage and retrieval system to measure the positional changes of pallets during the picking and placing process and to identify abnormal pallet displacement, a large number of detection elements need to be configured. The power supply, data transmission, and wiring of the detection elements are quite complicated. Due to the high density of racking and the limited space in the automated storage and retrieval system, it is difficult to install and maintain the long-term stable operation of the detection elements. Utility Model Content

[0004] The purpose of this utility model is to address the shortcomings of existing technologies by providing an anti-tipping loading platform for a transfer stacker crane. A laser rangefinder is installed on the loading platform to determine abnormal pallet displacement based on the smoke box displacement when the fork arms extend and retract, thereby reducing the number of detection elements required.

[0005] To achieve the above objectives, the following technical solution is adopted: A tilt-proof loading platform for a stacker crane includes a U-shaped frame, forks, and laser rangefinders. The U-shaped frame forms a load-bearing area to accommodate a pallet. Two spaced-apart forks are mounted on the bottom surface of the load-bearing area. Each fork includes a slide rail and fork arms. One end of each fork arm slides along the slide rail, while the other end extends beyond the load-bearing area or retracts into it to adjust the position of the pallet. A drive assembly is provided for each fork arm to move relative to the slide rail. Laser rangefinders are installed on the U-shaped frame on both sides of the forks, spaced apart from the bottom surface of the load-bearing area. The detection light from the laser rangefinders passes through the load-bearing area and acts on the cigarette box on the pallet.

[0006] As a further preferred embodiment, a rack is mounted on the bottom surface of the fork arm, and a drive gear is mounted on the output end of the drive assembly. The drive gear cooperates with the rack to drive the fork arm to slide.

[0007] As a further preferred embodiment, the drive assembly includes two drive gears, which are respectively mounted on the U-shaped frame via supports. The two drive gears are connected by a transmission shaft to rotate synchronously. The two fork arms corresponding to the two forks are matched one-to-one with the two drive gears of the same drive assembly to enable the two forks to move synchronously.

[0008] As a further preferred embodiment, the drive assembly is provided in two parts and operates synchronously. The two drive assemblies are respectively connected to the rack on the fork arm by drive gears, and each rack is connected to the drive gears of two different drive assemblies.

[0009] As a further preferred embodiment, the drive assembly includes a servo motor, a reducer, and a transmission gear set, with the output end of the servo motor connected to the reducer, the output end of the reducer connected to the transmission gear set, and the transmission gear set cooperating with the drive gear.

[0010] As a further preferred embodiment, the top surface of the fork arm is a bearing surface for contacting and bearing the pallet.

[0011] As a further preferred embodiment, the laser rangefinder is mounted on a U-shaped frame via a bracket, the bracket being able to adjust its position relative to the U-shaped bracket to change the height of the laser rangefinder.

[0012] As a further preferred embodiment, the U-shaped frame is provided with side frames on both sides, the side frames including H-shaped frames and diagonal braces, and the two sides of the H-shaped frames are respectively connected to the bottom surface of the U-shaped frame through diagonal braces.

[0013] As a further preferred embodiment, the side frames on both sides of the U-shaped frame are connected by a frame-type auxiliary frame, on which a camera is installed.

[0014] As a further preferred embodiment, the side of the side frame away from the load-bearing area is provided with a guide wheel, which is used to cooperate with the external stacker crane guide rail to guide the movement of the U-shaped frame.

[0015] Compared with the prior art, the beneficial effects of this utility model are: To address the issues of abnormal pallet displacement and cigarette box tipping that often occur when loading and unloading pallets with cigarette boxes on transfer stacker cranes, only a small number of laser rangefinders are installed on the U-shaped frame of the loading platform. This significantly reduces the number of detection components and avoids the challenges of powering, wiring, and data transmission for a large number of components. The laser rangefinders act directly on the cigarette box, indirectly determining abnormal pallet displacement through cigarette box displacement. The detection is direct and sensitive, enabling rapid response to abnormal situations during fork movements. Once abnormal pallet displacement is identified, the control system can intervene in the fork movements to prevent cigarette boxes from tipping over due to pallet displacement, ensuring the stability and safety of loading and unloading operations.

[0016] The drive assembly uses two drive gears, which are mounted on the U-shaped frame via supports and connected by a drive shaft. The drive shaft synchronously transmits the rotational motion of one drive gear to the other, allowing them to rotate at the same speed and direction. By having the two drive gears engage with the racks on the corresponding fork arms of the two forks, it ensures that the two forks move in unison during extension, retraction, or lifting, avoiding problems such as cargo tilting or falling due to asynchronous fork movements, thus improving the stability and safety of cargo handling. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the anti-tipping loading platform of the transfer stacker in this embodiment of the present invention.

[0018] Figure 2 This is a schematic diagram of the drive assembly of the anti-tipping loading platform of the transfer stacker in this embodiment of the present invention.

[0019] Labeling descriptions (in order of first appearance): 1. U-shaped frame; 2. Laser rangefinder; 3. Fork arm; 4. Camera; 5. Auxiliary frame; 6. Guide wheel; 7. H-shaped frame; 8. Diagonal brace; 9. Support; 10. Servo motor; 11. Reducer; 12. Transmission gear set; 13. Drive shaft; 14. Slide rail; 15. Load-bearing area. Detailed Implementation

[0020] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0021] When a transfer stacker crane retrieves or places pallets containing cigarette boxes in an automated warehouse, deformation of the pallet beam can cause the forks to come into contact with the pallet during extension / retraction, leading to abnormal pallet displacement and cigarette box tipping. Therefore, this embodiment provides an anti-tipping loading platform for the transfer stacker crane, which can detect the cigarette boxes on the pallet during fork extension and retraction, thereby preventing cigarette box tipping caused by abnormal pallet displacement.

[0022] like Figure 1 As shown, the anti-tipping loading platform of the stacker crane includes a U-shaped frame 1, forks, and a laser rangefinder 2. The U-shaped frame 1 serves as the basic load-bearing structure, forming a load-bearing area 15 for accommodating pallets. Two spaced-apart forks are mounted on the bottom surface of the load-bearing area 15. The forks consist of a slide rail 14, fork arms 3, and a drive assembly. The fork arms 3 can slide along the slide rail 14, enabling them to extend out of the load-bearing area 15 to pick up or place pallets, or retract into the load-bearing area 15 to hold pallets.

[0023] Laser rangefinders 2 are installed on the U-shaped frame 1 on both sides of the fork. The laser rangefinders 2 are distributed at intervals with the bottom surface of the load area 15. The detection light can pass through the load area 15 and act directly on the smoke box on the pallet.

[0024] Utilizing the ranging characteristics of the laser rangefinder 2, the distance data between it and the surface of the cigarette box is acquired in real time. During the extension or retraction of the fork arm 3, the drive component moves the fork arm 3, simultaneously triggering the laser rangefinder 2 to continuously detect.

[0025] If the pallet experiences abnormal displacement due to crossbeam deformation and contact with the forks, the smoke box will move synchronously with the pallet, causing an abnormal change in the distance value detected by the laser rangefinder 2. This abnormal change indicates that the pallet has experienced abnormal displacement. Based on the detected abnormal displacement signal, the stacker crane control system can be activated to adjust the fork extension / retraction speed and force, or pause the operation, to prevent the smoke box from tipping over.

[0026] In this embodiment, only a small number of laser rangefinders 2 are installed on the U-shaped frame 1 of the loading platform, significantly reducing the number of detection elements and avoiding the problems of power supply, wiring, and data transmission for a large number of elements. It does not rely on high-precision cameras 4, complex algorithms, and a large amount of training data, nor does it require the installation of detection elements at each storage location on the shelf. It is suitable for the environment of densely packed shelves and confined space in high-bay automated warehouses, is easy to install, and can operate stably for a long time.

[0027] The laser rangefinder 2 acts directly on the smoke box, indirectly detecting abnormal pallet displacement through smoke box movement. This direct and sensitive detection allows for rapid response to anomalies during fork movements. Timely identification of abnormal pallet displacement enables intervention in fork movements via the control system, preventing the smoke box from tipping over due to pallet displacement and ensuring the stability and safety of loading and unloading operations.

[0028] In the anti-tipping loading platform of the transfer stacker crane, a rack is mounted on the bottom surface of the fork arm 3, and a drive gear is mounted on the output end of the drive component. The drive gear, in conjunction with the rack, drives the fork arm 3 to slide. The rack mounted on the bottom surface of the fork arm 3 and the drive gear at the output end of the drive component constitute a rack and pinion transmission system. When the drive gear rotates under the drive of the drive component, the teeth of the gear mesh with the teeth of the rack. According to the principle of rack and pinion transmission, the circular motion of the gear is converted into the linear motion of the rack, thereby realizing the sliding of the fork arm 3 along a specific direction.

[0029] Rack and pinion drives have advantages such as high transmission accuracy, smooth movement, and strong load-bearing capacity. They can meet the precise position adjustment requirements of the fork arm 3 when carrying goods. Compared with other methods such as belt drives, rack and pinion drives are suitable for heavy-duty scenarios such as turntable stackers that require precise position control.

[0030] The drive assembly includes two drive gears, which are respectively mounted on the U-shaped frame 1 via supports. The two drive gears are connected by a transmission shaft 13 to rotate synchronously. The two fork arms 3 corresponding to the two forks are matched one-to-one with the two drive gears of the same drive assembly to make the two forks move synchronously.

[0031] The function of the drive shaft 13 is to synchronously transmit the rotational motion of one drive gear to another, enabling them to rotate at the same speed and direction. In scenarios where the synchronous movement of two forks is required, the two drive gears, respectively engaged with the racks on the corresponding fork arms 3 of the two forks, ensure that the two forks move in unison during extension, retraction, or lifting, avoiding problems such as cargo tilting or falling due to asynchronous fork movements, thus improving the stability and safety of cargo handling.

[0032] Furthermore, the simultaneous action of dual drive gears on the same fork arm 3 can distribute the load, reducing the torque and pressure borne by a single drive gear, thereby reducing wear on the drive gears and extending the service life of the drive gears and the entire drive assembly. In large warehousing and logistics equipment such as stacker cranes, the weight of goods is usually large, making this load-sharing advantage of dual drive gears particularly important.

[0033] like Figure 2 As shown, there are two drive components that operate synchronously. Each drive component engages with a rack on the fork arm 3 via a drive gear. Each rack engages with the drive gears of two different drive components. When the system has two drive components operating synchronously, each drive component engages with the rack on the fork arm 3 via its own drive gear. During actual operation, the two drive components receive the same command signals from the control system to ensure consistency in speed, direction, and action time.

[0034] The drive assembly includes a servo motor 10, a reducer 11, and a transmission gear set 12. The output of the servo motor 10 is connected to the reducer 11, and the output of the reducer 11 is connected to the transmission gear set 12. The transmission gear set 12 engages with the drive gear. When the control system issues a forward command, the servo motors 10 of both drive assemblies start simultaneously. Through the action of the reducer 11 and the transmission gear set 12, power is transmitted to the drive gear. The two drive gears mesh with the rack on the fork arm 3 at the same speed and direction, thereby allowing the fork arm 3 to slide forward smoothly.

[0035] Two synchronously operating drive components can provide balanced driving force. When handling heavy goods, a single drive component may experience insufficient power or unstable operation due to excessive load. However, the coordinated operation of two drive components can effectively distribute the load, with each drive component only needing to bear a portion of the load, reducing the workload of a single drive component and enabling the entire drive system to maintain stable operation even under heavy loads. Taking a warehousing scenario involving the handling of large mechanical equipment as an example, these devices are often quite heavy. If only a single drive component is used to drive the forklift 3 for handling, it may cause the forklift 3 to jam, vibrate, or even fail to function properly. However, by using the synchronous operation of the dual drive components in this embodiment, the handling task can be completed, ensuring the smoothness of the goods handling process.

[0036] Synchronized operation of the two drive components further improves the positioning accuracy of the forklift 3. Because the two drive components move in unison, the driving force on the forklift 3 is more even during movement, reducing the likelihood of offset or deviation due to uneven force distribution. In some automated warehousing systems with high requirements for precise cargo placement, the synchronous operation of the dual drive components ensures that the forklift 3 accurately places the cargo in the designated location, meeting the demands of high-precision operations.

[0037] For more precise control of the movement of the forklift 3, various complex movement modes, such as variable speed movement and curvilinear movement, can be achieved by adjusting the control strategies of different drive components. In automated warehouses, stacker cranes need to flexibly adjust the movement trajectory of the forklift 3 according to different goods storage locations and retrieval requirements. The design of multiple drive components enables stacker cranes to complete goods entry and exit operations more efficiently and accurately, improving the overall operational efficiency of the warehousing system.

[0038] The servo motor 10 serves as the power source for the drive assembly. Its internal rotor is typically a permanent magnet. The three-phase U / V / W power supplied by the driver creates an electromagnetic field, causing the rotor to rotate. Simultaneously, the motor's built-in encoder provides real-time feedback to the driver. The driver compares the feedback value with the target value and adjusts the rotor's rotation angle accordingly, achieving precise position and speed control. The servo motor 10 features a fast response time, rapidly adjusting its speed and direction based on changes in the control signal. When the forklift 3 needs to extend or retract quickly for rapid cargo handling, the servo motor 10 responds quickly to the control system's commands, providing the necessary power to enable the forklift 3 to complete the action in a short time, improving work efficiency. The servo motor 10 also boasts high positioning accuracy, precisely controlling the position of the forklift 3 to ensure the cargo is accurately placed at the target location.

[0039] However, the servo motor 10 typically outputs a high speed but relatively low torque, making it difficult to directly meet the actual driving requirements of the forklift 3. Therefore, a reducer 11 is used for speed reduction and torque increase. The working principle of the reducer 11 is based on gear transmission, such as a small gear driving a large gear. Since the large gear has more teeth than the small gear, and according to the inverse relationship between gear transmission speed and the number of teeth, the large gear rotates slower than the small gear, thus achieving a speed reduction effect. During the speed reduction process, the torque increases accordingly. The planetary reducer 11 consists of a sun gear, planet gears, an internal gear ring, and a planet carrier. When the servo motor 10 drives the sun gear to rotate, the planet gears revolve around the sun gear and also rotate on their own axes, outputting power through the planet carrier. This structure can achieve a large transmission ratio while ensuring high transmission efficiency and load-bearing capacity. In the forklift 3 drive system, the reducer 11 can reduce the high speed of the servo motor 10 to a suitable level while increasing the output torque, enabling the drive components to provide sufficient force to drive the forklift 3 and the goods carried on it, ensuring that the forklift 3 moves smoothly and powerfully.

[0040] The transmission gear set 12 connects the reducer 11 and the drive gear, transmitting the power output from the reducer 11 to the drive gear to drive the fork arm 3. The transmission gear set 12 consists of multiple gears with different numbers of teeth and modules. Through the meshing of these gears, power transmission and readjustment of speed and torque are achieved. When designing the transmission gear set 12, the gear parameters, such as the number of teeth, module, and tooth profile, need to be rationally selected according to the specific requirements of the system to ensure high transmission efficiency, smooth transmission, and low noise.

[0041] Different gear ratios can be achieved by meshing gears with different numbers of teeth. Based on the movement speed and load requirements of the fork arm 3, the transmission ratio of the transmission gear set 12 can be adjusted to allow the drive assembly to output appropriate speed and torque to meet the needs of actual operation. When the fork arm 3 needs to move quickly but the load is light, a smaller transmission ratio can be selected, allowing the drive gear to drive the fork arm 3 at a higher speed. However, when handling heavy loads, a larger transmission ratio needs to be selected to increase the torque of the drive gear and ensure that the fork arm 3 can be smoothly driven to carry the load.

[0042] The top surface of the fork arm 3 serves as the load-bearing surface, allowing the weight of the goods to be evenly distributed across it. The structure of the fork arm 3 is better able to withstand the pressure from the goods. The fork arm 3 is made of high-strength and rigid materials, such as high-quality steel, ensuring that it will not deform or be damaged due to excessive pressure when carrying goods, thus guaranteeing the safety of the goods handling process.

[0043] In practical applications, the contact area between the fork arm 3's bearing surface and the goods also affects the stability of the goods. A larger contact area between the fork arm 3 and the pallet increases the friction between the goods and the fork arm 3, improving the stability of the goods during handling. When handling large palletized goods, the size and shape of the fork arm 3's bearing surface are designed according to the pallet's dimensions to ensure that the pallet can be stably placed on the fork arm 3 and will not move during handling.

[0044] The laser rangefinder 2 is mounted on the U-shaped frame 1 via a bracket 9. The bracket 9 has a telescopic or rotatable structure. By adjusting the length or angle of the bracket 9, the position of the laser rangefinder 2 relative to the U-shaped bracket 9 is changed, thereby achieving height adjustment. In this embodiment, the bracket 9 adjustment methods include threaded adjustment, hydraulic adjustment, and electric adjustment. Threaded adjustment involves rotating a threaded shaft to change the length of the bracket 9, thus adjusting the height of the laser rangefinder 2. Hydraulic adjustment utilizes the pressure of a hydraulic system to extend or retract the bracket 9. Electric adjustment uses a motor to drive mechanical components such as lead screws or gears to achieve precise adjustment of the bracket 9.

[0045] The laser rangefinder 2 operates primarily based on the principles of measuring the speed of light and time. When the laser rangefinder 2 emits a laser beam towards a target object, the laser beam travels through the air, strikes the target object, and is then reflected back and received by the laser rangefinder 2. Since the speed of light in air is known, by measuring the time it takes for the laser beam to travel from emission to reception, the distance between the laser rangefinder 2 and the target object can be calculated using the formula "distance = speed of light × time ÷ 2".

[0046] During cargo handling, the laser rangefinder 2 can measure the distance between the cargo and surrounding obstacles in real time, providing accurate data support for the motion control of the handling equipment and avoiding collision accidents.

[0047] The working process of laser rangefinder 2 includes: After the stacker crane receives the operation instruction, before the forks perform the extension or retraction action, the PLC triggers the laser rangefinder 2 to start the initial measurement and record the distance value between it and the surface of the smoke box at this time as the reference value. After the forks begin to extend or retract, the laser rangefinder 2 continuously measures the distance to the surface of the smoke box at a frequency of 50ms / time, and transmits the real-time measurement data synchronously to the PLC. Throughout the entire fork movement process, the laser rangefinder 2 maintains high-frequency measurement and data transmission until the fork completes its movement or the PLC issues a stop command.

[0048] Correspondingly, after receiving the operation instruction, the stacker crane's fork arm 3 is in an initial standby state, waiting for the PLC to issue an action signal.

[0049] After the PLC triggers the laser rangefinder 2 to complete the initial measurement and record the reference value, it sends an extension or retraction command to the fork motor control module. The motor drives the fork arm 3 to slide along the slide rail 14 to perform the picking and placing of goods.

[0050] During the execution of the action, the fork arm 3 continuously responds to the power output of the drive component to maintain smooth movement, while cooperating with the real-time detection of the laser rangefinder 2.

[0051] If the PLC detects that the distance difference transmitted by the laser rangefinder 2 exceeds the preset threshold (e.g., 5mm), it immediately receives a stop signal, the contactor cuts off the power to the fork motor, and the fork arm 3 stops all movement.

[0052] After the staff finished handling the on-site problem, they sent a reset command through the warehouse control system. The PLC controlled the fork motor control module to restore power, and the fork arm 3 returned to the initial standby state, waiting to restart the operation.

[0053] like Figure 1 and Figure 2 As shown, in the mechanical structure of the stacker crane, the side frames on both sides of the U-shaped frame 1 are mainly composed of H-shaped frames 7 and diagonal braces 8. The H-shaped frames 7 provide high structural strength and stability for the side frames. The horizontal and vertical beams of the H-shaped frames 7 work together to effectively distribute and bear the gravitational loads from the U-shaped frame 1 and the goods, while resisting various horizontal forces generated during the operation of the stacker crane, such as the inertial forces generated during acceleration, deceleration and turning.

[0054] The diagonal braces 8 enhance the stability of the side frames. They connect the two sides of the H-frame 7 to the bottom of the U-frame 1, respectively. Through the stabilizing principle of a triangle, they transfer part of the load of the U-frame 1 to the side frames. Furthermore, during stacker crane operation, they effectively prevent the U-frame 1 from swaying or tilting, ensuring stable operation of the stacker crane under various working conditions. When the stacker crane is handling heavy goods at high speed, the side frames can withstand significant pressure and torque, ensuring the overall structural stability of the stacker crane and preventing safety accidents and equipment damage caused by structural instability.

[0055] The frame-type auxiliary frame 5 connects to the side frames on both sides of the U-shaped frame 1, enhancing the overall structural integrity and providing a foundation for the installation of the camera 4. After the auxiliary frame 5 is connected to the side frames, it forms a more stable spatial frame structure, enabling the stacker crane to better resist external forces from all directions during operation, thus improving the overall rigidity and stability of the stacker crane. The camera 4, installed on the auxiliary frame 5, can monitor the environmental information around the stacker crane in real time, including the position of goods, the status of the racks, and the operating status of other equipment.

[0056] like Figure 1 and Figure 2As shown, guide wheel 6 is installed on the side of the side frame away from the load-bearing area 15. It cooperates with the external stacker crane guide rail to guide the movement of the stacker crane. The guiding principle of guide wheel 6 is based on rolling friction and constraint guidance. When the stacker crane moves, guide wheel 6 rolls on the external stacker crane guide rail. Because the rim of guide wheel 6 is in close contact with the side of the guide rail, a constraint is formed, which allows the stacker crane to move only along the direction of the guide rail. This constraint prevents the stacker crane from deviating from the predetermined path during operation, ensuring that the stacker crane can accurately reach the designated position.

[0057] The specific embodiments of the utility model have been described in detail above, but they are only examples, and the utility model is not limited to the specific embodiments described above. For those skilled in the art, any equivalent modifications or substitutions to the utility model are also within the scope of the utility model. Therefore, all equivalent transformations, modifications, and improvements made without departing from the spirit and principles of the utility model should be covered within the scope of the utility model.

Claims

1. A tilt-proof loading platform for a transfer stacker crane, characterized in that, The device includes a U-shaped frame, forks, and laser rangefinders. The U-shaped frame forms a load-bearing area to accommodate the pallet. Two spaced-apart forks are mounted on the bottom surface of the load-bearing area. Each fork includes a slide rail and fork arms. One end of the fork arm slides into the slide rail, while the other end can extend out of the load-bearing area or retract into it to adjust the position of the pallet. The fork arms are equipped with a drive assembly to move relative to the slide rail. Laser rangefinders are installed on the U-shaped frame on both sides of the forks, spaced apart from the bottom surface of the load-bearing area. The detection beams of the laser rangefinders are used to pass through the load-bearing area and act on the cigarette box on the pallet.

2. The anti-tipping loading platform for the transfer stacker crane as described in claim 1, characterized in that, A rack is mounted on the bottom surface of the fork arm, and a drive gear is mounted on the output end of the drive assembly. The drive gear works with the rack to drive the fork arm to slide.

3. The anti-tipping loading platform for the transfer stacker crane as described in claim 2, characterized in that, The drive assembly includes two drive gears, which are respectively mounted on the U-shaped frame via supports. The two drive gears are connected by a transmission shaft to rotate synchronously. The two fork arms of the two forks are matched one-to-one with the two drive gears of the same drive assembly to make the two forks move synchronously.

4. The anti-tipping loading platform for the transfer stacker crane as described in claim 3, characterized in that, The drive assembly consists of two components that operate synchronously. Each drive assembly is connected to a rack on the fork arm via a drive gear. Each rack is connected to the drive gears of two different drive assemblies.

5. The anti-tipping loading platform for a transfer stacker crane as described in claim 2, 3, or 4, characterized in that, The drive assembly includes a servo motor, a reducer, and a transmission gear set. The output end of the servo motor is connected to the reducer, and the output end of the reducer is connected to the transmission gear set. The transmission gear set cooperates with the drive gear.

6. The anti-tipping loading platform for the transfer stacker crane as described in claim 1, characterized in that, The top surface of the fork arm is a bearing surface, which contacts and supports the pallet.

7. The anti-tipping loading platform for the transfer stacker crane as described in claim 1, characterized in that, The laser rangefinder is mounted on a U-shaped frame via a bracket, and the bracket can be adjusted relative to the U-shaped frame to change the height of the laser rangefinder.

8. The anti-tipping loading platform for the transfer stacker crane as described in claim 1, characterized in that, The U-shaped frame is provided with side frames on both sides, and the side frames include H-shaped frames and diagonal braces. The two sides of the H-shaped frames are connected to the bottom surface of the U-shaped frame by diagonal braces.

9. The anti-tipping loading platform for the transfer stacker crane as described in claim 8, characterized in that, The side frames on both sides of the U-shaped frame are connected by a frame-type auxiliary frame, on which a camera is installed.

10. The anti-tipping loading platform for a transfer stacker crane as described in claim 8 or 9, characterized in that, The side frame is equipped with guide wheels on the side away from the load-bearing area. The guide wheels are used to cooperate with the external stacker crane guide rail to guide the movement of the U-shaped frame.

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