2358 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 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 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.

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 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 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 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 invention relates to the technical field of obstacle avoidance control, and particularly discloses a high-precision stacker intelligent obstacle avoidance system and method.The system remarkably improves operation safety and efficiency through a triple intelligent adjustment mechanism, firstly, laser reflection parameters are collected in real time, the reflection process is dynamically optimized, and environment sensing precision is ensured; then, high-density point cloud mapping is generated, space obstacle distribution is precisely restored, a mapping algorithm is automatically calibrated through parameter analysis, and the scene restoration degree is improved; finally, multi-source data are fused, a hybrid guidance strategy is adopted to generate an obstacle avoidance path, abnormal fluctuation of decision parameters is synchronously monitored, and closed-loop optimization of path planning is achieved, the technology breaks through static response limitation of a traditional obstacle avoidance system, centimeter-level obstacle avoidance precision is achieved in a complex storage environment through laser-point cloud-decision three-level self-adaptive adjustment, and the method is suitable for large-scale popularization and application. The collision risk is effectively reduced, and the intelligence and reliability of warehouse logistics are improved.

The invention relates to the field of obstacle detection, and particularly discloses a dynamic obstacle detection warning system for a reach stacker, comprising: an obstacle detection module for capturing environmental data in a working area of the reach stacker in real time by using a sensor technology, the environmental data comprising position, speed, acceleration and direction information, potential obstacles are identified and analyzed, and data acquisition and primary processing are carried out; by capturing and analyzing environmental data in a working area in real time, the system can accurately identify potential obstacles and predict future motion trails of the obstacles, and once a collision risk is predicted, the system immediately triggers a warning signal and provides detailed obstacle information through a user interface, so that an operator can quickly make a response; the control interface and the reach stacker control system are seamlessly integrated, so that the obstacle avoidance operation can be automatically executed according to the emergency degree of the warning signal, the occurrence of collision accidents is effectively avoided, and the operation safety is remarkably improved.

The invention relates to the technical field of carton stacking and packaging, in particular to a full-automatic carton classifying and stacking machine which comprises a feeding conveying belt, a first packaging machine, an adjusting mechanism, a transfer conveying belt, a second packaging machine and a discharging conveying belt which are connected end to end in sequence, the adjusting mechanism comprises a rack, a top plate is arranged at the top of the rack, and a moving seat is arranged on the top plate; a lifting seat capable of vertically lifting is arranged at the bottom of the moving seat, at least two pressing plates horizontally extending in the direction perpendicular to the bundling direction of the first packaging machine are slidably mounted on the lifting seat, a vertical shaft rod is arranged at the top of the moving seat, and the shaft rod is inserted into an arc-shaped groove formed in the top plate. According to the technical scheme, carton boxes are pressed through the pressing plate during bundling, first bundling is firmer, 90-degree reversing is conducted on the stacked carton boxes after bundling, the overall bundling effect is ensured, and the accuracy of cross-shaped bundling is achieved.

The anti-falling overspeed protection device comprises the cargo carrying table and a guide seat, safety tongs are arranged on the cargo carrying table, the safety tongs are connected with a safety tongs connecting plate, and the safety tongs connecting plate is fixedly connected with a connecting rod and an overspeed connecting rod; the overspeed connecting rod is fixedly connected with the middle of the safety gear connecting plate, one end of the overspeed connecting rod is hinged to the cargo carrying table mounting plate, and the other end of the overspeed connecting rod is fixed to the overspeed protection steel wire rope. The upper end of the compression rod penetrates through the supporting spring and is fixed at the lower end of the guide seat through a locking nut; a guide rod is further fixed to the lower end of the guide seat through a nut, the guide rod penetrates through the spring support and the compression spring, a pulley shaft penetrates through the upper end of the guide seat, and the pulley shaft further penetrates through the pulley and the pulley bearing and is fixed to the pulley mounting plate through an end cover. The safety protection device is used for safety protection when rope breaking, rope loosening or stalling and overspeed happen to the cargo carrying table of the stacking machine.

The invention provides an energy optimization type motion control system for an unmanned factory, belongs to the field of unmanned factory control, and solves the problems of low motion control integration efficiency, poor transfer precision, poor energy distribution effect and the like of an existing unmanned factory. Comprising a load detection module, a self-adaptive control module, a regenerative braking module, a cooperative scheduling module, an Internet of Things communication module, a positioning detection module, a path planning module, an intelligent decision and optimization module, a safety and fault tolerance module, a man-machine interaction and monitoring module and a stacking machine, a movable frame mechanism is arranged between the ground rail and the sky rail, a cargo carrying table mechanism is arranged on the movable frame mechanism in a transmission mode, a lifting transverse movement fine adjustment mechanism is arranged at the upper end of the cargo carrying table mechanism, a rotating position fine adjustment mechanism is arranged at the upper end of the lifting transverse movement fine adjustment mechanism, and a telescopic fork plate mechanism is arranged at the upper end of the rotating position fine adjustment mechanism. According to the system, multiple modules are intelligently integrated for cooperative work, energy distribution is optimized, and the three-dimensional space pallet forks are accurately aligned with the goods locations.

The utility model provides a stereoscopic warehouse which comprises a goods shelf, a plurality of storage layers arranged in the vertical direction, each storage layer is provided with a plurality of containing cavities arranged in the horizontal direction, the storage layers comprise a refrigerating layer used for refrigerating, a variable layer used for refrigerating or heating and a heating layer used for heating, and in the vertical direction, each storage layer is provided with a plurality of containing cavities arranged in the horizontal direction. The refrigerating layer is lower than the variable layer, and the heating layer is higher than the variable layer; the stacking machine is arranged on one side of the goods shelf, and the stacking machine can move relative to the goods shelf so as to store and take materials in the containing cavities; the first heat exchange mechanisms are arranged in the multiple containing cavities of the at least one material storage layer, and the first heat exchange mechanisms are located at the tops or the bottoms of the containing cavities; the first heat exchange pipeline is arranged on the side, close to the stacking machine, of the goods shelf and used for communicating with the first heat exchange mechanism; the second heat exchange mechanisms are arranged in the multiple containing cavities of the at least one storage layer, and the second heat exchange mechanisms are located at the ends, away from the stacking machine, of the containing cavities; the second heat exchange pipeline is arranged on the side, away from the stacking machine, of the goods shelf and used for communicating with the second heat exchange mechanism.

The invention relates to a stacking machine, and belongs to the technical field of logistics transfer equipment. The stacking machine comprises a stand column, a bearing assembly, a lifting mechanism and a lubricating mechanism. The bearing assembly comprises a tray, a supporting frame and a first elastic piece. The tray is used for bearing goods. The lifting mechanism comprises a rack arranged on the stand column and a gear arranged on the supporting frame and is used for driving the bearing assembly to ascend and descend along the stand column. The lubricating mechanism is used for spraying lubricating oil to the rack; the first elastic piece is arranged on the supporting frame and supports the tray. The first elastic piece can contract under the extrusion of goods carried by the tray so as to enable the tray to descend; according to the stacking machine, the quantity of the lubricating oil sprayed by the lubricating mechanism is increased along with descending of the tray, the descending distance of the tray is in direct proportion to the increment of the lubricating oil sprayed by the lubricating mechanism, and the stacking machine can stably and effectively guarantee that the lifting mechanism is lubricated.

The invention discloses a roadway stacking machine for food production, and belongs to the field of roadway stacking machines, the roadway stacking machine comprises a lifting frame, a moving frame is arranged on the inner surface of the lifting frame, an electric push rod is fixedly connected to the inner surface of the moving frame, and a clamping plate is fixedly connected to the output end of the electric push rod; a lifting assembly used for lifting the lifting frame is assembled behind the lifting frame, and an adjusting assembly used for adjusting the position of the moving frame is assembled between the lifting frame and the moving frame. Materials are placed by arranging the bearing assembly, when the materials need to be placed, the movable frame drives the clamping plates to move to clamp the materials, the adsorption assembly can be adsorbed to the surfaces of the materials to improve the grabbing force during clamping, and when the materials are placed on the bearing assembly by clamping the materials, the air pressure assembly can gradually improve the suction force of the adsorption assembly; and the suction force is automatically relieved until the materials are placed on the bearing assembly, and the effect of conveniently taking the materials is achieved.

Personnel saving of a process from a printer to a sheet processing machine is achieved. A general printing management device is connected to be communicable with a conveyance management device that manages a plurality of automatic guided vehicles each conveying a stacker in which paper ejected from a printer is stackable. The general printing management device generates conveyance instruction information for conveying a stacker in which paper ejected from the printer is stacked from a sheet receiving position of the printer to a sheet supply position of a next processing machine, based on job information in which a manufacturing process procedure for manufacturing a printed product is registered, and transmits the conveyance instruction information to the conveyance management device.

The utility model provides an automatic plate stereoscopic warehouse, and belongs to the technical field of stereoscopic warehouses, the automatic plate stereoscopic warehouse comprises a conveying line, a stacking machine, a front goods shelf, a rear goods shelf, a ground guide rail and a control device, and the stacking machine comprises a frame body, a lifting frame, a walking mechanism and a lifting mechanism; the conveying line is provided with a first driving wheel, and the lifting frame is provided with a push-pull mechanism and a second driving wheel. The first driving wheel, a second driving wheel on the stacking machine and the push-pull mechanism are controlled and matched by the control device to achieve movement of the tray, the position of the tray can be stably controlled, and the stability of the in-out warehouse process is guaranteed. The push-pull mechanism can completely push the trays into the front goods shelf or the rear goods shelf. The walking mechanism driven by the gear and the rack can avoid slipping, and the supporting strength is guaranteed through the supporting wheels adjusted in the side direction. The lifting mechanism ensures that the lifting frame does not deflect by synchronously lifting the four corners of the lifting frame. And after the cutting and blanking procedures are integrated, the plate in-out warehouse efficiency and the workpiece circulation efficiency of the warehouse are improved.

The utility model discloses a large-section multi-fork-body heavy-load telescopic pallet fork which comprises a plurality of fork bodies, every two fork bodies are connected through a universal driving shaft, a driving assembly is installed below one fork body, each fork body comprises an upper fork, a middle fork and a lower fork which are movably connected in sequence, universal flange plates are installed at the two ends of each universal driving shaft, and the universal flange plates are connected with the universal driving shafts. The driving assembly comprises a gear motor and a first chain wheel in driving connection with an output shaft of the gear motor, a gear shaft is installed on the lower fork, a torque limiter is installed at one end of the gear shaft, the other end of the gear shaft is connected with a universal flange plate, a second chain wheel is arranged on the torque limiter and connected with the first chain wheel through a chain, and the gear motor drives the torque limiter through the first chain wheel. And the torque limiter and the gear shaft coaxially transmit power to the transmission gear on the lower fork. The automatic picking and placing device is used in cooperation with the stacking machine so as to achieve automatic picking and placing of large-load long goods in the three-dimensional warehouse.

The invention discloses a stacking loading and unloading structure of a stacking machine, comprising: a main body unit comprising a machine body on which two groups of telescopic forks are arranged; the adjusting unit comprises a fixed seat fixedly installed at the telescopic end of the telescopic pallet fork, two sliding parts and a detection unit fixedly connected with the sliding parts are symmetrically arranged on the fixed seat, and the detection unit is controlled to measure the weight of goods at the two ends of the fixed seat through displacement of the two sliding parts; and the limiting assembly comprises a second air bag arranged on the fixing seat and a plurality of clamping pieces inserted into the fixing seat in a sliding mode, and the limiting assembly is used for reinforcing connection between the fixing seat and the freight plate. Through the detection unit and cooperation of the two sets of sliding parts and the detection unit, in the process that the telescopic pallet fork lifts up the freight plate, the weight distribution difference of goods on the freight plate is detected in real time, the position of the telescopic pallet fork relative to the freight plate is judged and adjusted in time, and the situation that due to the unstable gravity center, the goods slide, incline or fall off in the transportation process is avoided.