2972 results about "Stacker" patented technology

The invention provides a digital twinning-based stereoscopic warehouse goods allocation and sorting scheduling method and system, and relates to the technical field of digital twinning, and the method comprises the steps: constructing a three-dimensional digital model of a stereoscopic warehouse; goods allocation is carried out based on a deep reinforcement learning algorithm, the goods access frequency, the associated purchase probability and the seasonal demand prediction are used as input parameters, and a goods allocation instruction is generated by taking the shortest sorting path and the associated goods centralized storage as optimization targets; warehousing operation is executed, and a sorting order is received; constructing a virtual potential field in the model, and when the repulsive force between stackers exceeds a threshold value, determining a task priority based on the order emergency degree and triggering obstacle avoidance; and calculating an obstacle avoidance track and generating a cooperative scheduling instruction to execute picking operation. According to the invention, efficient goods allocation and intelligent multi-stacker collaborative scheduling are realized.

The invention discloses a stacking machine motion speed parabolic trajectory deviation correction comprehensive method, and relates to the technical field of stacking machine trajectory deviation correction, and the method comprises the following steps: carrying out the data collection of the real-time motion trajectory of a stacking machine through an acceleration sensor, an encoder and a visual recognition system, building a trajectory deviation detection model, and carrying out the calculation of the trajectory deviation detection model; the motion speed, the acceleration and the position information are extracted, and the deviation value of the current trajectory deviating from the ideal parabolic trajectory is calculated. According to the invention, through multi-sensor fusion and Kalman filtering, the accuracy and stability of track correction of the stacker are improved; an LSTM neural network is adopted to predict inertial errors, and correction failures are reduced in combination with an adaptive compensation strategy; a double-closed-loop control and anomaly detection mechanism is introduced, intelligent safety protection is achieved, the fault recovery capacity is improved, it is ensured that the stacking machine stably operates in a complex environment, and the reliability and working efficiency of an automatic warehousing system are enhanced.

The invention discloses a three-dimensional warehouse stacker driving motor health state diagnosis method based on a knowledge graph, and the method comprises the steps: obtaining sample data of a to-be-diagnosed three-dimensional warehouse stacker, and carrying out the preprocessing of the sample data, and obtaining target domain data; inputting the target domain data into a target domain convolutional neural network, and outputting a system layer fault type; based on the fault type of the system layer and abnormal data in the sample data of the to-be-diagnosed three-dimensional warehouse stacker, a reasoning traceability report is obtained; wherein the construction of the target domain convolutional neural network comprises the following steps: constructing a knowledge graph based on unstructured knowledge data of a three-dimensional stocker, and generating a knowledge graph attention mechanism; constructing a teacher model and a student model based on the source domain structured data of the general motor fault data set; in the knowledge distillation process, knowledge graph rule guidance is carried out on the student model through a knowledge graph attention mechanism; and irrelevant feature migration is inhibited through a knowledge graph attention mechanism, and a student model is migrated to a model of a target domain convolutional neural network.

The invention relates to the technical field of stacking, in particular to a stacking-based distributed scheduling system and a path planning method thereof, comprising a distributed scheduling architecture, an autonomous task allocation module, a cooperative work module and a load balancing module, the distributed scheduling architecture comprises a task management layer capable of dynamically adjusting a task allocation strategy according to real-time order data and a scheduling layer composed of a plurality of scheduling nodes, and each scheduling node can monitor the state and task progress of the stacker in real time and dynamically adjust task allocation and path planning according to a monitoring result. The stackers execute according to task allocation and path planning instructions of a scheduling layer, the autonomous task allocation module configured to each stacker can independently decide task paths and execution sequences according to task priorities, stacker positions and current states, so that the stackers can quickly respond to task changes, and dependence on a central scheduling system is reduced.

The invention discloses a cargo scheduling and distribution management system suitable for a stocker three-dimensional warehouse, and relates to the technical field of logistics warehousing, and the system comprises an intelligent scheduling module which employs a multi-algorithm fusion and dynamic switching mechanism, plans the path of a stocker according to an order and the condition in the warehouse, and distributes tasks; the accurate inventory management module is used for guaranteeing the accuracy of inventory data by applying a multi-sensor fusion and intelligent identification technology and combining environment self-adaption and intelligent auditing; the system integration module is used for realizing multi-system integration through a standardized interface and middleware and has a cluster deployment, fault processing and interface management mechanism; an equipment fault handling module; the energy management module is used for optimizing energy utilization based on an energy-efficiency balance model in combination with hybrid energy and an intelligent switching technology; according to the invention, through close cooperation of a plurality of modules and comprehensive application of innovative technical means, efficient, intelligent and reliable operation of the stacker three-dimensional warehouse cargo scheduling and distribution management system is realized.

The invention discloses a stacking machine for a stereoscopic warehouse, and belongs to the field of stacking machines, the stacking machine comprises a stand column, a cargo carrying table and a lifting mechanism, a walking mechanism is arranged on the lower portion of the stand column, and the lifting mechanism is used for driving the cargo carrying table to ascend and descend on the stand column; the pallet fork is used for forking goods on the goods shelf; the device further comprises a supporting mechanism, the supporting mechanism comprises a first rotating plate, the first rotating plate is rotationally connected with the first connecting plate through a rotating rod, the two ends of the first rotating plate are each in pivot joint with a first driving rod, the other end of each first driving rod is in pivot joint with the middle of the sliding base, a supporting arm is arranged on one side of the sliding base, and one end of the supporting arm is connected with an L-shaped lap joint plate. When the stacking machine takes and places goods, the lap joint plate is in lap joint with one side of the goods shelf. By arranging the supporting mechanism, extra supporting is formed for the stand column, the force borne by the stand column is effectively dispersed, the upsetting moment of the stand column is remarkably reduced, and the structural stability and safety of the stacking machine in the running process are improved.

The invention relates to the technical field of path analysis, and discloses a path planning simulation method and system for operation of a reach stacker in a container yard. The method comprises the following steps: performing multi-scale path topology analysis on a dynamic cost map, a density cost map and a safety cost map to obtain potential path manifold data; non-stationary state quantitative analysis is carried out on the potential path manifold data to obtain path dynamic characteristics, and the path dynamic characteristics comprise path differential geometric characteristics, space-time entropy characteristics and energy gradient characteristics; according to a preset path performance standard, performing multi-modal feature fusion and hierarchical weight distribution on the path dynamic features to obtain an optimal path score and dynamic performance parameters of the operation of the front lifting machine with space-time adaptability; and generating a self-correcting path planning scheme according to the optimal path score and the dynamic performance parameters of the operation of the reach stacker. According to the invention, the accuracy of the path planning simulation of the operation of the reach stacker in the container yard is improved.

The invention discloses an automatic stereoscopic warehouse goods sorting system and method, and relates to the technical field of intelligent sorting, the system comprises an input layer, a storage layer, an execution layer, a control layer and a management layer, the input layer comprises a bar code RFID scanning system, a machine vision identification system, a sensor and an input terminal, the storage layer comprises a three-dimensional goods shelf, a tray goods shelf system and a storage management system, the execution layer comprises a stacking machine, a conveying belt, a sorting robot and a carrying vehicle, and the control layer comprises a programmable logic controller, a monitoring and data acquisition system and a communication network. According to the automatic stereoscopic warehouse goods sorting system and method, efficient cooperative work among equipment can be achieved, and the goods processing speed and efficiency can be improved.

The invention provides a stacker high-precision motion control method and system based on a fuzzy immune algorithm, belongs to the field of stacker control, and solves the problems that an existing stacker is low in operation precision, poor in control efficiency and the like. The system comprises a multi-axis motion control module, a double-closed-loop feedback module, a parameter self-learning module, a safety protection and diagnosis module, a positioning detection module, a path planning module, an environment and maintenance management module and a stacking machine. The method comprises the following steps: constructing a three-level control architecture; adjusting an integral coefficient and a differential coefficient; establishing a feedback quantity calculation model; constructing machine learning parameters; and optimizing a parameter input system. The system is based on a fuzzy immune algorithm, high precision, strong adaptability and high reliability of motion control of the stacker are realized, and the failure rate is reduced. The stacker adopts a modular design, integrates an intelligent control system, and is efficient and stable. According to the method, fuzzy logic and an immune algorithm are combined, the stacker is endowed with intelligent decision ability, and the method adapts to different warehouses.

The invention relates to the technical field of industrial control, in particular to an industrial stacker intelligent control system based on machine vision, and the system comprises a state resolving module which is used for carrying out the feature region decoupling of original observation data, and resolving a position deviation matrix and a deformation state variable for a rigid subspace and a flexible subspace respectively; the dynamic modeling module is used for identifying the first-order inherent frequency and the damping ratio of the mechanical structure on line and establishing a second-order impedance contact model; the impedance control module is used for generating an expected speed based on the position deviation and adaptively adjusting an impedance parameter according to a deformation state so as to carry out compliant modulation on a speed vector; and the estimation shaping module is used for correcting system time lag by using a Kalman observer and inhibiting residual vibration in combination with a zero-vibration input shaper. Through multi-dimensional physical field fusion and dynamic modeling, the problem that a rigid control model is mismatched with a flexible operation object is solved, and self-adaptive compliant control and vibration-free accurate operation of the stacking machine in the unstructured environment are achieved.

The automatic high-speed stacking machine with the sudden stop buffering function comprises a base, a vertical rail is fixedly connected to the top of the base, a carrying table is arranged on one side of the vertical rail in a sliding mode, a buffering plate is arranged on the carrying table in a sliding mode, an electromagnetic induction device is arranged between the buffering plate and the carrying table, and a bearing box is arranged on the other side of the vertical rail; a balancing weight is arranged in the bearing box, a linkage assembly is arranged in the vertical rail, and the linkage assembly is used for driving the buffer plate and the balancing weight to move relative to each other or move away from each other. When the stacking machine suddenly stops, goods on the carrying table can generate impact force due to inertia, so that electromagnetic induction is cut off, when the buffer plate slides on the carrying table, under the driving of the linkage assembly, the balancing weight moves in the opposite direction, the forward impact force of the goods is balanced, the stacking machine is prevented from toppling over, and the stability of the goods is guaranteed.

A stacker crane, comprising: a traveling device, which comprises a traveling box (100), a friction transmission mechanism (200) mounted in the traveling box (100), and a horizontal locating assembly (101) used for locating a traveling position, wherein the friction transmission mechanism (200) comprises a friction driving wheel (201) matching a friction rail (901), and a traveling power mechanism (202); a lifting / lowering device, which comprises a lifting / lowering frame (300) mounted at the top of the traveling box (100), a mechanical arm carrying assembly (400) mounted on the lifting / lowering frame (300), a lifting / lowering transmission assembly used for driving the mechanical arm carrying assembly (400) to lift / lower, a lifting power mechanism, and a vertical locating assembly (401) used for locating a lifting / lowering position of the mechanical arm carrying assembly (400); and a control device (600), which is used for controlling, on the basis of the traveling position fed back by the horizontal locating assembly (101), the traveling power mechanism (202) to drive the traveling device to run to a target traveling position, and is further used for controlling, on the basis of the lifting / lowering position fed back by the vertical locating assembly (401), the lifting power mechanism (501) to drive the mechanical arm carrying assembly (400) to run to a target lifting / lowering position. The stacker crane can realize accurate locating of the stacker crane in a traveling direction and a lifting direction.

The invention relates to the technical field of roadway stacking machines, in particular to a roadway stacking machine which comprises a stacking machine body and a fork for taking goods. The pallet fork comprises a cargo carrying table, a protection plate fixedly installed on the cargo carrying table, a cargo taking assembly for taking cargoes, a weighing table for obtaining cargo weight information and a labeling assembly for labeling different labels according to the cargo information. The bottom plate is fixedly installed on the cargo carrying table, and the weighing table is fixedly installed on the bottom plate. According to the invention, a pressure distribution measuring pad is fixedly installed on the weighing platform, the pressure distribution measuring pad obtains the weight of goods from the weighing platform in the transportation process and feeds back the weight to the electric control cabinet, and the electric control cabinet matches the type of the goods through the weight of the goods according to preset information and matches the position of the goods stacked on the goods shelf. The proper stacking mode and height are selected according to the weight of the goods, more accurate stacking of the goods is facilitated, stability and safety of the stored goods are guaranteed, and the phenomena of sinking, skewing or collapsing are avoided.

The invention relates to a warehouse inventory management and optimization method based on artificial intelligence, and the method comprises the steps: constructing a novel mathematical model through comprehensive consideration of the storage position of a commodity, tray partition, order priority, system state and other factors, solving through employing a deep reinforcement learning DQN network, achieving the intelligent decision of a commodity pickup position, and generating an optimal picking path; according to the method provided by the invention, the order processing time can be effectively shortened, aiming at the requirements of small-batch and multi-category orders, the storage efficiency is improved, the movement distance of a stacker and the number of goods taking times are reduced, the operation cost is reduced, and flexible scheduling can be performed according to the priority to adapt to the real-time state change of the system; compared with a traditional method, after the optimization strategy is adopted, the number of times of taking out the trays is remarkably reduced, and the method has the remarkable beneficial effects, can be widely applied to the field of intelligent warehousing, improves the automation, informatization and intelligentization levels of warehousing management and meets the requirements of the modern logistics industry for an efficient warehousing system.

The invention relates to the technical field of logistics storage, and particularly discloses a conveying device penetrating through a stacker roadway, which comprises a storage shelf, a stacking access mechanism, a forklift robot, a dispatching mechanism, a transfer mechanism and a main control platform, the stacking and storing mechanism is arranged in front of the outer side of the storage goods shelf, and the stacking and storing mechanism can achieve penetrating type stacking operation in different directions among the multiple goods shelves; the dispatching mechanism can identify and dispatch the goods to a specified position; the transfer mechanism can achieve transfer and transportation of goods between the dispatching mechanism and the stacking and storing mechanism. According to the conveying device penetrating through the stacker roadway, through cooperative work of automatic equipment, full-process automatic treatment of carrying, sorting and storing of goods is completed, manual intervention is reduced, efficiency is greatly improved, the moving path of the conveying device is optimized, a single conveying device can conduct stacking and storing according to goods shelves in different directions, and the conveying efficiency is improved. And the number and cost of conveying devices are reduced.

A refrigerated portable room system including a refrigerated room, air conditioning unit, insulated supply and exhaust hoses, and bumpers that are situated around the perimeter of the floor of the refrigerated room. The air conditioning unit supplies cooled air to the refrigerated room, which is sealed as to the exterior environment. The walls, floor and roof of the refrigerated room are comprised of two layers of a vinyl-coated polyester material with a continuous filament insulation batting contained between them. The inner structure is made up of modules, each module being comprised of a plurality of vertically aligned horizontal shelves that are connected by stackers and legs to form horizontal levels and aligned so as to form longitudinally oriented compartments. The front wall has a front flap for each horizontal level, and the front surface of each front flap has one or more windows that are configured to receive documents.

The invention discloses a mattress roadway stacking machine for bamboo mattress production and processing, and relates to the technical field of automatic storage and logistics, the mattress roadway stacking machine comprises a frame, a base plate, a conveying belt, a mattress, a stacking frame and a fixing frame, a stacking device is arranged in the stacking frame, a conveying device is arranged above the conveying belt, and the fixing frame is arranged above the conveying belt. An auxiliary device is arranged above the fixing frame, a base plate is pushed to move along a sliding rail rod through a servo motor, a conveying belt and a push plate, mattresses can be more easily aligned and stacked in the follow-up stacking process through the base plate, the base plate is moved upwards through an air cylinder and a top plate, the base plate is placed at the top of the placing frame through the placing frame and a check rod, and therefore the mattresses can be conveniently stacked. Stacking of the base plate is completed at the moment, stacking of the base plate is gradually conducted upwards, stacking of the mattresses can be more stable, the collapse risk is reduced, storage and management of the mattresses can be more orderly through the stacking mode, and the mattresses are convenient to check and take for use.

The invention relates to the technical field of stackers, in particular to a rigid anti-swing device of a stacker for an automatic stereoscopic warehouse, which comprises the stacker, a first-stage moving platform and a second-stage moving platform arranged on one side of the stacker, an objective table arranged above the second-stage moving platform, a scissor-fork type connecting rod mechanism, a buffer mechanism and a protection mechanism, the scissors fork type connecting rod mechanism is connected between the first-stage moving platform and the second-stage moving platform of the stacking machine. The shear fork type connecting rod mechanism is additionally arranged between the first-stage moving platform and the second-stage moving platform, the relative motion between the two platforms is forced to be single and determined linear motion, the connecting rigidity in the transverse direction and the vertical direction is greatly enhanced, and therefore basic shaking caused by sudden acceleration change and structural elastic deformation is restrained.

The utility model discloses a stacking mechanism and a conveying device, relates to the technical field of material stacking, and solves the problem that an existing stacking mechanism is inconvenient to be directly applied to a small automatic production line. The device comprises a placing frame, a tray, a jacking assembly, a limiting assembly and a control module, the control module is electrically connected with the jacking assembly and the limiting assembly, the placing frame is fixed through a supporting frame, the control module is fixed to the supporting frame, the tray is in contact connection with the placing frame, the jacking assembly is vertically arranged below the placing frame, and the limiting assembly is arranged below the tray. The limiting assemblies are horizontally arranged above the placing frame, the limiting assemblies are symmetrically arranged on the two sides of the placing frame, and the jacking assemblies and the limiting assemblies are fixed to the supporting frame; during stacking, the trays are placed on the containing frame, the limiting assembly retracts, then the jacking assembly stretches out to jack up the trays, when the trays are higher than the limiting assembly, the limiting assembly stretches out to support the trays, then the jacking assembly retracts, and stacking of the trays is completed.

The invention relates to the technical field of automatic warehouse material, and discloses an intelligent goods allocation distribution system for automatic warehouse logistics, and the system comprises a goods allocation data collection module; a dynamic state detector; a multi-source data fusion unit; a three-dimensional storage modeling module; intelligently distributing a strategy engine; and a PLC control interface. According to the intelligent goods allocation allocation and scheduling system for automatic warehouse logistics, a goods allocation allocation scheme is generated through a multi-target Pareto optimization algorithm, the balance between carrying distance minimization min sigma alpha * Di and space utilization rate maximization Ut is achieved, and compared with a proportional static allocation rule, the warehouse space utilization rate is increased to 82%; a dynamic grid map technology is integrated, and a track cross risk area (red early warning grid) of the stacker and the AGV is marked in real time, so that the equipment collision probability is reduced by 90%; and in combination with a goods relevance knowledge graph, special goods such as medicines are clustered and stored according to temperature zones, and the energy consumption of cross-temperature-zone operation of equipment is reduced by 35%.

The invention relates to a stacking path planning method, system and equipment based on multiple stackers and a medium, and relates to the technical field of workshop transportation, and the method comprises the steps that a dynamic risk hot area map is generated through the real-time personnel density, a two-dimensional map is updated in combination with the positions of idle stackers, and the shortest obstacle avoidance path is planned; and candidate stackers meeting a return electric quantity safety threshold value are screened based on a motion energy consumption model, the moving distance and time consumption of the candidate stackers are calculated, a weighted scoring model fusing the distance, time and path risk values is constructed, and the stacker with the optimal comprehensive score is selected to execute an emergency task. According to the method, the path planning of the stacker crane executing the emergency task and other stacker cranes can be optimized, and the continuity of executing multiple stacking tasks by the stacker cranes is improved.

The intelligent cargo transportation system for the stereoscopic warehouse comprises a super high-rise stacking machine module, the super high-rise stacking machine module comprises a stacking machine body, a horizontal shaft walking mechanism and a lifting shaft lifting mechanism, the horizontal shaft walking mechanism and the lifting shaft lifting mechanism are arranged on the stacking machine body, and the height of a stand column of the stacking machine body exceeds 30 m; the dynamic anti-swing control module comprises a synchronous and isochronous mode switching unit, an S-shaped curve compensation unit and a motion time sequence decoupling unit; the S-shaped curve compensation unit is used for generating an S-shaped speed regulation curve of the horizontal shaft walking mechanism and the lifting shaft lifting mechanism; the motion time sequence decoupling unit is used for calculating the delay starting time of the horizontal shaft walking mechanism relative to the lifting shaft lifting mechanism, and time sequence coordination of motion of the two shafts is achieved; and the self-adaptive PID controller is used for dynamically adjusting control parameters based on the real-time data of the multi-mode sensing module and compensating the running posture of the stacking machine in real time so as to restrain swinging. The method has the effect of effectively improving the super high-rise transportation stability of the stereoscopic warehouse.

A sensory play system can include one or more stackers, each stacker comprises two walls connected at a hinge and designed to be moved between open and closed positions, one or both of the two walls comprising a transparent panel, wherein in the closed position an interior region is defined between the two walls; and a modeling compound to be received in the interior region.

The invention discloses a goods yard container positioning and identification system based on Beidou RTK positioning, the management level of a container goods yard is remarkably improved by applying Beidou RTK positioning, container number identification and visual analysis modules, the accurate position information of a gantry crane or a reach stacker is obtained in real time through the Beidou RTK technology, the positioning accuracy reaches the sub-meter level, and the positioning accuracy reaches the sub-meter level. The container number identification module uses a camera and a machine learning technology to automatically identify container numbers and replace manual input, the accuracy and efficiency of data entry are improved, informatization management of containers is realized, and the visual analysis module draws a goods allocation electronic map, so that the management efficiency of the containers is improved. Information such as the position, the container number, the size and the weight of the container is visually displayed, the state of the container position is monitored in real time, managers are assisted to optimize operation plans, and problems are found and solved in time.

The invention relates to the technical field of material transfer equipment, in particular to a double-station stacking machine and a control method thereof. The double-station stacking machine comprises a track module and a stacking module. The rail module comprises a sky rail and a ground rail, the stacking module comprises two stacking units, and the stacking units are located between the sky rail and the ground rail; the stacking unit comprises a material carrying frame and two stand columns, the material carrying frame is arranged between the two stand columns, the upper ends of the stand columns are slidably connected with the sky rail, the lower ends of the stand columns are slidably connected with the ground rail, and the two sides of the material carrying frame are slidably connected with the corresponding stand columns correspondingly so that the material carrying frame can move in the extending direction of the stand columns. Telescopic forks are arranged on the two sides of the material carrying frame correspondingly and can stretch out and draw back in the direction perpendicular to the sky rail or the ground rail. According to the double-station stacking machine and the control method thereof, the defects that an existing stacking machine is low in operation efficiency, the goods warehouse-in and warehouse-out speed is low, and the ever-increasing logistics requirement is difficult to meet are overcome.

The utility model discloses a safety protection system for a standing driving type piling car, which belongs to the technical field of storage car safety protection and comprises a controller, an interlocking switch, a lifting buffer switch, a descending buffer switch, an OPS switch, a transportation safety switch, a high-position speed limiting switch, an arm protection switch, a standing plate sensing switch and a handle. The lifting height H of the portal frame is judged through the controller, and the driving motor and the pump motor are controlled to work according to the signal states of the handle, the standing plate sensing switch, the OPS switch, the arm protection switch, the transportation safety switch, the high-position speed limiting switch, the lifting buffer switch and the descending buffer switch. According to the utility model, the associated control of the running speed and the lifting and stacking height of the standing type stacking vehicle can be realized.

Provided are a control method of a stacker and a three-dimensional warehouse automation system, relating to the field of chemical fiber intellectualization technology. The method includes: acquiring an intermediate table in response to receiving a task allocation request sent from the stacker; recognizing images in a first lane of a three-dimensional warehouse through an image recognition model to obtain warehouse state information of warehouse locations in the first lane; determining a temporary work task of the stacker based on the intermediate table; determining, based on the warehouse state information of the warehouse locations in the first lane, a position of a target warehouse location corresponding to the temporary work task; and sending the temporary work task and the position of the target warehouse location to the stacker, so that the stacker executes the temporary work task based on the position of the target warehouse location.

The invention discloses a material returning control method of an automobile wire harness production line. The method comprises the steps that after a target raw material is used on a target production line, the target raw material is placed on a conveying belt of the target production line; the target raw materials are conveyed to a wharf area of the target production line through a conveying belt of the target production line; the target raw materials are weighed in the wharf area of the target production line, and the weight of the target raw materials is determined; determining a target goods shelf and a target layer number of the target goods shelf according to the weight of the target raw material and the wire harness type of the target raw material; the target raw materials are conveyed to the target goods shelf through the first conveying belt; and the target raw materials are taken down from the first conveying belt through a stacking machine corresponding to the target goods shelf and stored in the target layer number of the target goods shelf.

The utility model provides a stacking machine which comprises a walking vehicle, a cargo carrying platform and a lifting mechanism. A lifting guide wheel is installed on the cargo carrying platform and arranged on a lifting guide rail of the walking vehicle in a lifting and sliding mode, so that the cargo carrying platform can do lifting motion relative to the walking vehicle. The lifting mechanism comprises a first movable chain wheel, a second movable chain wheel, a third movable chain wheel, a fourth movable chain wheel, a first fixed chain wheel, a second fixed chain wheel set, a third fixed chain wheel set, a tensioning chain wheel, a driving motor, a fourth fixed chain wheel set, a fifth fixed chain wheel set, a sixth fixed chain wheel, a first chain, a second chain and a balance weight piece. The first movable chain wheel and the second movable chain wheel are horizontally mounted on left and right sides of the top of the cargo platform; the third movable chain wheel and the fourth movable chain wheel are horizontally mounted on left and right sides of the bottom of the cargo platform; the first fixed chain wheel is installed on the upper left corner of the walking vehicle, the second fixed chain wheel set and the third fixed chain wheel set are installed on the upper right corner of the walking vehicle, and each of the second fixed chain wheel set and the third fixed chain wheel set is provided with two parallel fixed chain wheels. The two tensioning chain wheels arranged up and down are installed on the right side of the walking vehicle, the driving motor is installed on the walking vehicle, and a driving chain wheel of the driving motor and the two tensioning chain wheels are arranged in a triangular mode. A fourth fixed chain wheel group and a fifth fixed chain wheel group are mounted at the lower right corner of the walking vehicle, and each of the fourth fixed chain wheel group and the fifth fixed chain wheel group is provided with two parallel fixed chain wheels; the sixth fixed chain wheel is mounted at the lower left corner of the walking vehicle; one end of a first chain is connected to the upper left corner of the walking vehicle, sequentially bypasses a first movable chain wheel, a first fixed chain wheel, a second fixed chain wheel set, a third fixed chain wheel set, a tensioning chain wheel, a driving chain wheel of a driving motor, a fourth fixed chain wheel set, a fifth fixed chain wheel set, a sixth fixed chain wheel and a third movable chain wheel and is connected to the lower left corner of the walking vehicle. One end of a second chain is connected to the upper right corner of the walking vehicle, sequentially bypasses a second movable chain wheel, a second fixed chain wheel group, a third fixed chain wheel group, a tensioning chain wheel, a driving chain wheel of the driving motor, a fourth fixed chain wheel group, a fifth fixed chain wheel group and a fourth movable chain wheel and is connected to the lower right corner of the walking vehicle; the counterweight parts are wound on a fixed pulley at the top of the walking vehicle through a traction rope and then connected to the cargo carrying platform, and the two counterweight parts are oppositely arranged on the left side and the right side of the walking vehicle. According to the stacking machine, efficient and stable lifting of the cargo carrying platform can be achieved, stability and safety of cargos in the lifting process are guaranteed, the stacking machine is suitable for stacking operation of long and heavy cargos, and reliability and stability of a lifting system are further improved.

The utility model provides a stacker crane and a production line, the stacker crane comprises a fixed frame, a movable frame, a bottom support and a swing assembly, a product stacking position and a product lifting position are arranged in the fixed frame, a forced pushing piece is arranged on the fixed frame, the movable frame and the fixed frame are in sliding fit in the vertical direction, the bottom support is rotatably connected with the movable frame, and the swing assembly is arranged on the bottom support. A product containing position is formed above the bottom supporting support, a bottom opening is formed below the product containing position, the bottom supporting support can rotate around the first rotating axis between the closing position for closing the bottom opening and the opening position for opening the bottom opening, and the swing assembly is rotationally connected with the movable frame. In the initial state, the swing assembly is in limiting fit with the bottom supporting support, and the bottom supporting support is kept at the closed position. When the movable frame moves upwards in the vertical direction relative to the fixed frame, the forced pushing piece applies acting force to the top of the swing assembly, the swing assembly is forced to rotate, the swing assembly applies acting force to the bottom supporting support, limiting between the swing assembly and the bottom supporting support is relieved, and the bottom supporting support rotates around the first rotating axis to the opening position. The stacker crane can achieve stacking of multiple layers of box bodies, and is simple in structure, low in cost and small in occupied space.