CN111717848A

CN111717848A - Stacking machine

Info

Publication number: CN111717848A
Application number: CN202010564322.4A
Authority: CN
Inventors: 苑春晓; 刘涛
Original assignee: GOLTEC SYSTEM (SHENZHEN) Ltd
Current assignee: GOLTEC SYSTEM (SHENZHEN) Ltd
Priority date: 2020-06-19
Filing date: 2020-06-19
Publication date: 2020-09-29
Anticipated expiration: 2040-06-19
Also published as: CN111717848B

Abstract

A stacker is arranged between double rows of three-dimensional goods shelves and can transfer a cargo pallet on the three-dimensional goods shelf on one side of the two rows of three-dimensional goods shelves to the three-dimensional goods shelf on the other side of the two rows of three-dimensional goods shelves. The upper surface of the trolley of the stacker is a transfer exchange platform which can enable the cargo pallet to move from one side of the cargo platform to the other side, a pallet transposition mechanism is arranged between the transfer exchange platform and the hook push-pull mechanism, and the pallet transposition mechanism can transfer the cargo pallet from any storage position on the three-dimensional goods shelf on one side of the stacker to any storage position on the three-dimensional goods shelf on the other side of the stacker through the ascending of the cargo platform. The structure can enable one stacker to serve multiple rows of three-dimensional goods shelves at the same time, and the stacker can reciprocate in a roadway between the multiple rows of three-dimensional goods shelves to finish the work of automatically storing and taking goods carrying trays and transferring between the two rows of three-dimensional goods shelves. The stacker has the advantages of simple and compact structure, high utilization rate of the stacker, strong overall stability, high safety and easy installation and maintenance.

Description

Stacking machine

Technical Field

The invention relates to the field of logistics storage, in particular to an exchange mechanism of a bidirectional stacker.

Background

The invention patent application (the name of the invention is: automatic three-dimensional storage equipment, the publication number is CN106081453A, the application number is 201610592537.X) which is submitted to the national intellectual property office in 2016, 7, 26 by the applicant discloses a stacker which is composed of a trolley capable of moving horizontally, an upright post arranged on the trolley, a lifting mechanism capable of moving up and down along the upright post and a tray arranged on the lifting mechanism, and sheet metal materials for further processing are placed on the tray. The stacker automatically conveys the trays to a stereoscopic warehouse or takes away the trays on the stereoscopic warehouse, solves the problems of raw material storage and automatic material distribution for enterprises, and is butted with the existing numerical control punch of a user to form an automatic production line. Although the stacker has several advantages in the aspects of automatic material storage and enterprise management, such as effectively reducing the layer height of each storage position of the three-dimensional goods shelf and improving the space utilization rate of the three-dimensional goods shelf, the stacker still has the following disadvantages: the stacker can only be used for a three-dimensional goods shelf arranged on one side, and the utilization rate of the stacker is not fully improved relatively.

Disclosure of Invention

The invention aims to provide a stacker which is arranged between double rows of three-dimensional goods shelves and can transfer a cargo pallet on one side of the three-dimensional goods shelf to the other side of the three-dimensional goods shelf.

In order to solve the technical problems, the technical scheme adopted by the invention is as follows:

the stacker of the invention comprises a trolley, at least two upright posts arranged on the trolley, a cargo carrying platform which is arranged between the two upright posts and can move up and down along the upright posts, two supporting guide rails which are fixedly arranged on the cargo carrying platform and used for supporting a cargo carrying tray and providing a horizontal moving path for the cargo carrying tray, and a hook push-pull mechanism which can synchronously lift along with the cargo carrying platform and can drive the cargo carrying tray to linearly roll on the supporting guide rails, and is characterized in that: the upper surface of the trolley is a transfer exchange platform which can enable the goods carrying tray to move from one side of the goods carrying platform to the other side, a tray transposition mechanism is arranged between the transfer exchange platform and the hook push-pull mechanism, and the tray transposition mechanism can transfer the goods carrying tray from any storage position on the three-dimensional goods shelf on one side of the stacker to any storage position on the three-dimensional goods shelf on the other side of the stacker through the ascending of the goods carrying platform.

The tray transposition mechanism consists of at least two tray supporting columns, a hook correlation component, a hook guide rail and a hook driving mechanism, wherein,

the pallet supporting column is vertically arranged, the lower end of the pallet supporting column is fixedly connected to the trolley, and the upper end of the pallet supporting column can penetrate through the cargo platform to abut against the alignment area arranged on the bottom surface of the cross beam of the cargo pallet when the cargo platform is descended onto the transfer exchange platform and push the cargo pallet to be high so as to be separated from the contact with the supporting guide rail;

the hook related assembly consists of a hook hanger, wedge buckle parts arranged on the side faces of two long frames of the cargo pallet and rolling bearings arranged on four corners of the cargo pallet, the hook hanger is of a long strip-shaped frame structure, the two side faces of the frames are side plates, a plurality of rolling wheels are arranged on the outer surfaces of the side plates, wedge hook parts are arranged at the front end part and the rear end part of each side plate, the wedge hook parts can be inserted into the corresponding wedge buckle parts from bottom to top, and the rolling bearings can roll on the supporting guide rails;

the hook-and-hanger guide rails are two rails parallel to the support guide rail, the rollers on the hook-and-hanger side plates are supported or clamped on the corresponding rails, and the hook-and-hanger can reciprocate along the hook-and-hanger guide rails under the driving of the hook-and-hanger driving mechanism;

the hook hanging piece driving mechanism comprises a push-pull motor and a chain transmission mechanism, wherein the push-pull motor drives the chain transmission mechanism, and the chain transmission mechanism drives the hook hanging piece to move.

The number of the supporting disc columns is four, and the cross section of each supporting disc column is square, oval or rectangular; or the two supporting disc columns are arranged, the cross section of each supporting disc column is rectangular, the long edge of the rectangle is parallel to the supporting guide rail, and the length of the long edge of the rectangle is basically consistent with that of the short edge of the cargo pallet.

The hook piece is composed of two rectangular pipes which are parallel to each other and two side plates which are parallel to each other, the surface of each side plate is perpendicular to the corresponding rectangular pipe, the side plates are fixedly connected to the end faces of the rectangular pipes, four idler wheels are arranged on the outer surfaces of the side plates, the shape of the four idler wheels in a surrounding mode is a rectangle, and the wedge hook portions are arranged on the upper portions of the front side face and the rear side face of each side plate.

The hook member guide rail is composed of a rail frame with a rectangular cross section and an outer convex guide rail arranged on the inner side surface of the rail frame, the upper surface of the rail frame is a smooth surface beneficial to the movement of the cargo pallet, and the four rollers are clamped on the upper surface and the lower surface of the outer convex guide rail.

And an unpowered chain loop line which is favorable for the movement of the cargo pallet is arranged on the outer side surface of the rail frame.

The wedge buckle part is a concave cavity which is arranged on the long-edge frame beam of the cargo pallet and is concave inwards.

And anti-skid cushion blocks for preventing the cargo pallet from freely sliding on the storage positions of the three-dimensional goods shelf and the supporting guide rail respectively are arranged between the two rolling bearings on the bottom surface of the cross beam on the outer side of the cargo pallet.

The method is characterized in that: the trolley is arranged on a ground rail platform which can enable the trolley to horizontally move along the long side direction of the three-dimensional goods shelf.

The invention adds a transfer exchange platform on the stacker in the prior art, and the position of the cargo pallet on the cargo platform can be exchanged between one side and the other side of the cargo platform as required through the pallet transposition mechanism. The structure can enable one stacker to serve multiple rows of three-dimensional goods shelves at the same time, and the stacker can reciprocate in a roadway between the multiple rows of three-dimensional goods shelves to finish the work of automatically storing and taking goods carrying trays and transferring between the two rows of three-dimensional goods shelves. That is, the stacker can transfer the cargo pallet in any storage position on the three-dimensional goods shelf on one side of the stacker to any storage position on the three-dimensional goods shelf on the other side (the other side opposite to the three-dimensional goods shelf on one side) of the stacker through the transfer exchange platform according to the requirement. The stacker has the advantages of simple and compact structure, high utilization rate of the stacker, strong overall stability, high safety and easy installation and maintenance.

Drawings

FIG. 1 is a schematic view of the stacker of the present invention applied to a double-row three-dimensional shelf.

FIG. 2 is a schematic diagram of a stacker of the present invention.

Fig. 3 is a schematic view of the pallet of fig. 2.

Fig. 4 is a schematic diagram of the transit exchange platform in fig. 2.

Fig. 5 is a schematic view of a stay disc column in the tray indexing mechanism.

Fig. 6 is a schematic view of a hooking linkage assembly in the tray indexing mechanism.

Fig. 7 is a schematic view of a hook guide rail in the tray indexing mechanism.

Fig. 8 is a schematic view of the hook driving mechanism in the tray indexing mechanism.

The reference numbers are as follows:

the device comprises a stand column 1, a transfer exchange platform 2, a support disc column 21, a cargo carrying platform 3, a support guide rail 4, a straight sliding surface 41, a cargo carrying tray 5, a longitudinal beam 51, a cross beam 52, a frame 53, a wedge buckle part 54, a rolling bearing 55, a hook 6, a rectangular tube 61, a side plate 62, a wedge hook part 63, a roller 64, a hook guide rail 7, a rail frame 71, a convex guide rail 72, an unpowered chain loop wire 73, a stacker 8, a trolley 81, a lifting motor 82, a walking motor 83, a push-pull motor 84, a chain transmission mechanism 85 and a three-dimensional shelf 9.

The specific implementation mode is as follows:

the stacker 8 of the present invention is a stacker 8 that can exchange positions of pallets 5 on a cargo platform 3 in two directions, and when the stacker 8 is applied between two rows of three-dimensional racks 9 (see fig. 1), it can not only transport a pallet 5 in any storage position on any one of two rows of three-dimensional racks 9 to any other storage position on the row of three-dimensional racks 9, but also can transport a pallet 5 in any storage position on any one of two rows of three-dimensional racks 9 to any storage position on another row of three-dimensional racks 9 without changing the direction of the cargo platform 3 of the stacker 8.

When the ground rail platform is arranged at the bottom of the stacker 8, the stacker 8 can be applied between two rows of three-dimensional goods shelves 9, namely, the stacker 8 can not only move up and down, but also move back and forth along the long edge direction of the three-dimensional goods shelves 9 in a narrow moving channel formed between the two rows of three-dimensional goods shelves 9.

The present invention will be described in detail below by taking the stacker 8 applied between the double-row stereoscopic racks 9 as an example.

As shown in fig. 1 to 8, the stacker crane 8 of the present invention is composed of a trolley 81, at least two upright posts 1, a transfer exchange platform 2, a cargo platform 3, a support guide rail 4, a cargo pallet 5, a hook push-pull mechanism, a pallet transposition mechanism, a lifting motor 82, a traveling motor 83, a push-pull motor 84, and an electric control system.

1. Trolley 81

As shown in fig. 1 and 2, the three-dimensional goods shelf comprises two parallel top and bottom rails, the top and bottom rails are mounted on a ground rail platform through a trolley 81 positioning structure consisting of friction traveling wheels, lateral guide wheels and related fasteners, the ground rail platform is arranged in a narrow passage formed between two rows of three-dimensional goods shelves 9, a traveling motor 83 is arranged on the side of the trolley 81, the traveling motor 83 is started, and the trolley 81 can horizontally move along the ground rail platform in the narrow passage.

2. Column 1

As shown in figures 2, 4 and 5, the invention selects two upright posts 1, the two upright posts 1 are formed by welding square tubes and are respectively fixedly connected with two sides of a trolley 81, a lifting motor 82 is arranged at the side of one upright post 1, the lifting motor 82 and a cargo platform 3 form an annular chain transmission mechanism through a chain, and the cargo platform 3 can move up and down along the upright posts 1 by starting the lifting motor 82.

3. Transfer platform 2

As shown in fig. 4 and 5, is the upper surface of the trolley 81, i.e. the platform between the bases of the two uprights 1. When it is desired to move the pallets 5 on the loading platform 3 from one side of the loading platform 3 to the other, lowering of the loading platform 3 onto the upper surface of the trolley 81, i.e. onto the transfer exchange platform 2, is only accomplished.

4. Cargo platform 3

As shown in fig. 2, 4 and 5, the platform consists of a steel structure frame and a vertical guide wheel system, which is arranged between two upright posts 1 and is connected with a lifting motor 82 through a chain transmission mechanism, and the platform can move up and down along the upright posts 1 by starting the lifting motor 82.

5. Support rail 4

As shown in fig. 7 and 8, the two long angle steels are respectively installed on two sides of the cargo platform 3, the distance between the two supporting rails 4 is slightly larger than the longitudinal length of the cargo pallet 5 (the distance between the two uprights 1 is longitudinal, the plane perpendicular to the two uprights 1 is horizontal, and the same applies below), and the transverse length of the supporting rails 4 is slightly larger than the sum of the transverse length of the cargo pallet 5 and the transverse length of the two hook pieces 6.

When the cargo platform 3 is raised, the two short sides of the pallet 5 rest on the flat sliding surfaces 41 of the support rails 4.

6. Cargo pallet 5

As shown in fig. 3 and 6, it is used for carrying the material to be processed and moving the material to a designated storage position on the stereoscopic shelf 9.

The pallet 5 is a rectangular frame structure formed by fixedly connecting longitudinal beams 51, cross beams 52 and side frames 53, each side frame 53 is formed by two short side frames 53 and two long side frames 53, the two short side frames 53 can be supported on the corresponding support guide rails 4 respectively as described above, and the two long side frames 53 are divided into a front side and a rear side (with the direction of fig. 2 as reference, the direction close to the viewer is the front, and the direction far away from the viewer is the rear, and the lower direction is the same).

Rolling bearings 55 are provided on both side surfaces of the two short frames 53, the axis of the rolling bearing 55 is perpendicular to the corresponding short frame 53, and when the front side of the pallet 5 is lifted up to make the pallet 5 in an inclined state with the front side high and the rear side low, the rolling bearings 55 provided on the two short frames 53 on the rear side touch the straight sliding surface 41 of the support rail 4 and roll along the straight sliding surface 41. Similarly, when the rear side of the pallet 5 is lifted, the rolling bearings 55 provided on the two short rims 53 of the front side can also roll along the flat sliding surface 41.

The bottom surfaces of the two short frames 53 are provided with anti-slip pads (not shown in the figure) with a thickness slightly larger than the diameter of the rolling bearings 55, the anti-slip pads are positioned between the two rolling bearings 55 on the corresponding short frames 53, and the anti-slip pads are used for preventing the cargo pallet 5 from freely sliding on the sliding rails in the storage position when the cargo pallet 5 is sent into the storage position of the three-dimensional shelf 9, that is, the rolling bearings 55 on the cargo pallet 5 are in a suspended state. When the front or rear side of the pallet 5 is lifted up in an inclined position, the rolling bearing 55 will only be connected to the slide rail.

In order to facilitate lifting of the front side or the rear side of the pallet 5, at least two wedge portions 54 are provided on the sides of the front side and the rear side, the wedge portions 54 are recessed cavities into the long side frame 53, the recessed cavities may be recessed cavities cut into the long side frame 53, or a recessed notch may be formed in the long side frame 53, and then a metal plate is fixedly connected to the opening of the side of the notch.

The purpose of the above-described configuration of the wedge portion 54 is to enable the hook pushing and pulling mechanism to push or pull the pallet 5 outward or inward when the wedge portion 63 provided on the hook member 6 is inserted into the wedge portion 54 from below.

7. Hook push-pull mechanism

As shown in fig. 6, 7 and 8, which is mounted on the cargo platform 3 and is synchronously raised and lowered with the cargo platform 3. The hook push-pull mechanism is a mechanism formed by combining a plurality of parts and some specific structures on part of the parts. The function of which is to drive the pallet 5 to roll linearly on the support rails 4 and to transfer the pallet 5 onto the space frame 9 or to pull the pallet 5 on the space frame 9 onto the cargo platform 3.

A number of components and some specific structures are mainly embodied in the tray indexing mechanism described.

8. Tray transposition mechanism

As shown in fig. 6, 7 and 8, the tray transposition mechanism is composed of at least two tray supporting columns 21, a hook related component, a hook guide rail 7 and a hook 6 driving mechanism.

1) Stay disc column 21

Is made of rigid material with higher strength. The transfer platform is vertically arranged on the transfer platform 2, the lower end of the transfer platform is fixedly connected to the trolley 81, the upper end of the transfer platform extends upwards, and when the cargo platform 3 descends to the transfer platform 2, the upper end of the transfer platform can penetrate through the cargo carrying platform 3 to abut against the bottom surface of the cross beam 52 of the cargo carrying tray 5 and support the cargo carrying tray 5, so that the cargo carrying tray 5 is separated from the contact with the straight sliding surface 41 of the support guide rail 4, and the vertical distance between the bottom surface of the supported cargo carrying tray 5 and the straight sliding surface 41 of the support guide rail 4 is 55mm-70 mm.

The number of the supporting disc columns 21 can be four, and the cross section of each supporting disc column 21 is square, oval or rectangular.

The invention selects two supporting plate columns 21, the cross section of each supporting plate column 21 is rectangular, the long side of the rectangle is parallel to the supporting guide rail 4, and the length of the rectangle is basically consistent with the length of the short side of the pallet 5.

2) Hook association assembly

Consists of the hook member 6, the wedge portion 54 provided on the pallet 5, and the rolling bearing 55 provided on the pallet 5.

The hooking member 6 is composed of two parallel rectangular tubes 61 and two parallel side plates 62, the plate surfaces of the side plates 62 are perpendicular to the rectangular tubes 61, and the two side plates 62 are respectively and fixedly connected to two end surfaces of the rectangular tubes 61.

Each side plate 62 is shaped like a deformed steel plate, a V-shaped notch is respectively formed in the positions, close to the front side and the rear side, of the top edge of each side plate 62, a wedge-shaped plate formed between the front notch and the front side and a wedge-shaped plate formed between the rear notch and the rear side on each side plate 62 are wedge-hook portions 63, and the wedge-hook portions 63 are arranged in the vertical direction and correspond to the wedge-hook portions 54 arranged on the pallet 5. That is, when the cargo platform 3 with the hook 6 is slowly raised from the transfer platform 2 and the pallet 5 is dropped on the support rail 4, the hook portion 63 of the hook 6 is inserted into the corresponding wedge portion 54 and lifts the front side or the rear side of the pallet 5, so that the pallet 5 is tilted. The tilting angle of the pallet 5 is now 1-2 degrees.

Four rollers 64 are disposed on the outer surface of each side plate 62, and the shape enclosed by the four rollers 64 is a rectangle, i.e., each roller 64 is located at one corner of the rectangle.

3) Hook guide rail 7

The two hook guide rails 7 are respectively arranged on the inner sides of the two support guide rails 4 (the center between the two upright posts 1 is directed inwards, the center between the two upright posts 1 is back outwards, and the lower part is the same) and are parallel to the support guide rails 4. The hanger guide rail 7 is composed of a rail frame 71 with a rectangular cross section and a convex guide rail 72 arranged on the inner side surface of the rail frame 71, the rail frame 71 can be a rectangular pipe, and the convex guide rail 72 extends along the long side direction of the rail frame 71.

The upper surface of the rail frame 71 is a smooth surface having a height flush with the flat sliding surface 41 of the support rail 4. The pallet 5 can be moved over the smooth surface, the four rollers 64 of the hook 6 being clamped on the upper and lower surfaces of the outer convex rail 72, the wedge 63 of the hook 6 being slightly further than the smooth surface than the vertical distance between the underside of the pallet 5 and the flat sliding surface 41 of the support rail 4 when the pallet 5 is resting on the pallet column 21. The height of the wedge hook part 63 of the hook 6 is higher than that of the structure on the smooth surface, so that when the cargo platform 3 rises from the transfer platform 2, the wedge hook part 63 is inserted into the wedge part 54 arranged on the cargo pallet 5, and with the continuous rising of the cargo platform 3, the side where the wedge hook part 63 on the hook 6 and the wedge part 54 on the cargo pallet 5 are hooked together is lifted, while the pallet 5 on the other side, with the further lifting of the cargo platform 3, falls onto the flat sliding surface 41 of the support rail 4, at which point the pallet 5 assumes a front-to-rear or rear-to-front tilted position, the side of the pallet 5 which is not lifted is supported on the flat sliding surface 41 by the rolling bearing 55 arranged on this side, and if this is the case, a front-to-rear or rear-to-front force is applied to the pallet 5, and the pallet 5 rolls on the flat sliding surface 41 of the support rail 4.

In order to facilitate a smooth transition of the pallet 5 from the loading platform 3 to the space frame 9, unpowered chain loops 73 capable of lifting the pallet 5 for movement are provided on the outer side surfaces of both ends of the rail frame 71.

4) Hook member 6 driving mechanism

The hook member 6 driving mechanism includes a push-pull motor 84 and a chain transmission mechanism 85.

The rectangular tube 61 of the hook member 6 is provided with a chain fixing position, the push-pull motor 84 drives the chain transmission mechanism 85, and the chain transmission mechanism 85 drives the hook member 6 to move.

The chain transmission mechanism 85 and the hook member 6 are connected by an open chain, and the push-pull motor 84 rotates in the forward direction or the reverse direction to reciprocate the hook member 6 between the front side and the rear side of the cargo platform 3. That is, the pallet 5 moves in the same direction as the hook member 6 moves.

9. Electric control system

The sensor system comprises a main control circuit, a plurality of sensor systems, wherein the sensor systems can collect the position information of the lifting of the cargo platform 3, the information of the existence of the cargo carrying tray 5 on the cargo platform 3 and the moving position of the cargo carrying tray 5, the hooking state of a wedge hook part 63 on the hook-and-hook part 6 and a wedge buckle part 54 on the cargo carrying tray 5, the position information of the hook-and-hook part 6 moving from one side of the cargo platform 3 to the other side and the rotation information of a related motor.

10. Pallet 5 changing position action

1) The cargo platform 3 is stopped beside a target storage position of the three-dimensional shelf 9 on one side by the lifting motor 82, at the moment, the wedge hook part 63 on one side of the hook-and-hook member 6 is hooked in the wedge buckle part 54 on one side of the cargo pallet 5 in the target storage position, and the push-pull motor 84 is started to pull the cargo pallet 5 into the cargo platform 3;

2) the cargo platform 3 descends, and when the cargo pallet 5 falls on the pallet supporting columns 21 on the transfer exchange platform 2, the cargo pallet 5 stops descending;

3) the cargo platform 3 is not lowered in place and continues to descend until the cargo platform descends to the transfer exchange platform 2;

4) at this time, a height space is formed between the smooth surface of the rail frame 71 of the hook guide rail 7 and the lower surface of the cargo pallet 5, which allows the hook 6 to move from one side of the cargo platform 3 to the other;

5) the push-pull motor 84 is started to move the hook 6 from the original side to the other side of the cargo platform 3;

6) the lifting motor 82 is started to lift the cargo platform 3, and as the cargo platform 3 rises, the wedge hook part 63 on the other side of the hook hanger 6 is hooked with the wedge buckle part 54 on the other side of the cargo pallet 5, and the cargo pallet 5 on the side is lifted;

7) starting the lifting motor 82 to lift the cargo platform 3 to the side of the target storage position of the three-dimensional shelf 9 on the other side;

8) starting the push-pull motor 84 to make the hook member 6 push the cargo pallet 5 to move to the target storage position of another three-dimensional shelf 9;

9) the raising motor 82 is activated to lower the cargo platform 3, thereby disengaging the hook portion 63 of the hook member 6 from the wedging portion 54, thereby completing the exchange of the pallet 5.

Claims

1. The utility model provides a stacker, includes dolly (81), install two piece at least stand (1) on dolly (81), between two stand (1) and can follow cargo platform (3) that stand (1) reciprocated, fixed mounting is used for bearing cargo tray (5) and for two support rails (4) of this cargo tray (5) provide the horizontal migration route and can be along with cargo platform (3) synchronous lift and can carry cargo and order about tray (5) straight line rolling couple push-and-pull mechanism on support rail (4), its characterized in that: the upper surface of dolly (81) is for can making cargo pallet (5) by the transfer exchange platform (2) of opposite side is removed to one side of cargo platform (3), at transfer exchange platform (2) with be equipped with tray transposition mechanism between the couple push-and-pull institution, at transfer exchange platform (2), this tray transposition mechanism can be from cargo pallet (5) of arbitrary storehouse stock position on stereoscopic goods shelves (9) of this stacker (8) one side and transfer to arbitrary storehouse stock position on stereoscopic goods shelves (9) of this stacker (8) opposite side through the rising of this cargo platform (3).

2. The stacker according to claim 1, wherein: the tray transposition mechanism consists of at least two tray supporting columns (21), a hook related component, a hook guide rail (7) and a hook (6) driving mechanism, wherein,

the pallet supporting column (21) is vertically arranged, the lower end of the pallet supporting column is fixedly connected to a trolley (81), and the upper end of the pallet supporting column can penetrate through the cargo carrying platform (3) to abut against an alignment area arranged on the bottom surface of the cross beam (52) of the cargo carrying pallet (5) when the cargo carrying platform (3) is descended onto the transfer exchange platform (2) and push the cargo carrying pallet (5) to be high so as to be separated from the contact with the supporting guide rail (4);

the hook related assembly is composed of a hook hanger (6), wedge buckle parts (54) arranged on the side faces of two long frames (53) of the cargo pallet (5) and rolling bearings (55) arranged on four corners of the cargo pallet (5), the hook hanger (6) is of a long strip-shaped frame (53) structure, two side faces of the frame (53) are side plates (62), a plurality of rolling wheels are arranged on the outer surface of each side plate (62), wedge hook parts (63) are arranged at the front end part and the rear end part of each side plate (62), the wedge hook parts (63) can be inserted into the corresponding wedge buckle parts (54) from bottom to top, and the rolling bearings (55) can roll on the supporting guide rails (4);

the hook guide rails (7) are two rails parallel to the support guide rail (4), the rollers (64) on the side plates (62) of the hook (6) are supported or clamped on the corresponding rails, and the hook (6) can reciprocate along the hook guide rails (7) under the driving of the hook (6) driving mechanism;

the hook hanging piece (6) driving mechanism comprises a push-pull motor (84) and a chain transmission mechanism (85), the push-pull motor (84) drives the chain transmission mechanism (85), and the chain transmission mechanism (85) drives the hook hanging piece (6) to move.

3. The stacker according to claim 2, wherein: the number of the supporting disc columns (21) is four, and the cross section of each supporting disc column (21) is square, oval or rectangular; or the number of the supporting plate columns (21) is two, the cross section of each supporting plate column (21) is rectangular, the long side of the rectangle is parallel to the supporting guide rail (4), and the length of the rectangle is basically consistent with that of the short side of the cargo pallet (5).

4. The stacker according to claim 3, wherein: the hook hanger (6) is composed of two rectangular pipes (61) which are parallel to each other and two side plates (62) which are parallel to each other, the surface of each side plate (62) is perpendicular to the rectangular pipes (61), the side plates (62) are fixedly connected to the end surfaces of the rectangular pipes (61), four rollers (64) are arranged on the outer surfaces of the side plates (62), the shape of the four rollers (64) is rectangular, and the wedge hook parts (63) are arranged on the upper portions of the front side surface and the rear side surface of the side plates (62).

5. The stacker according to claim 4, wherein: the hook guide rail (7) is composed of a rail frame (71) with a rectangular cross section and an outer convex guide rail (72) arranged on the inner side surface of the rail frame (71), the upper surface of the rail frame (71) is a smooth surface beneficial to the movement of the cargo pallet (5), and the four rollers (64) are clamped on the upper surface and the lower surface of the outer convex guide rail (72).

6. The stacker according to claim 5, wherein: an unpowered chain loop (73) which is beneficial to the movement of the cargo pallet (5) is arranged on the outer side surface of the rail frame (71).

7. The stacker according to claim 6, wherein: the wedge buckle part (54) is a concave cavity which is arranged on the beam of the long frame (53) of the cargo pallet (5) and is concave inwards.

8. The stacker according to claim 6, wherein: anti-skid cushion blocks for preventing the cargo pallet (5) from freely sliding on the storage position of the three-dimensional goods shelf (9) and the support guide rail (4) respectively are arranged between the two rolling bearings (55) on the bottom surface of the cross beam (52) on the outer side of the cargo pallet (5).

9. The stacker according to any one of claims 6 to 8, wherein: the trolley (81) is arranged on a ground rail platform which can enable the trolley (81) to horizontally move along the long side direction of the three-dimensional goods shelf (9).