CN118637248A - A kind of aisle type palletizer for intelligent stereoscopic warehouse - Google Patents

Abstract

The invention relates to the technical field of roadway stacker, in particular to a roadway stacker for an intelligent stereoscopic warehouse, which comprises a trolley and further comprises: the identification head is fixed with the bottom of the trolley through an electric cylinder; the marking code is arranged on one side of the trolley track; the trigger box is covered on the outer side of the marking code, two sides of the trigger box are provided with overturning plates, and the overturning plates are provided with elastic components which are used for maintaining the inclined state of the overturning plates; the sensor is used for detecting the overturning state of the overturning plate when the identification head presses the overturning plate downwards; a controller for comparing the flipped states of the two flipping plates to determine whether the position of the recognition head is shifted; according to the invention, the trolley is controlled by the controller to automatically move to one side of the turnover plate with a small turnover angle, and when the turnover angles of the two turnover plates are the same, the automatic calibration of the trolley is completed, the automatic calibration is convenient and quick, and manual operation is not needed.

Description

A kind of aisle type palletizer for intelligent stereoscopic warehouse

Technical Field

The invention relates to the field of aisle type stacker cranes, and in particular to an aisle type stacker crane for an intelligent stereoscopic warehouse.

Background Art

The aisle stacker is a machine equipment evolved from forklift and bridge stacker.

Some patent documents related to aisle stackers are disclosed in the prior art. A utility model patent with publication number CN218453661U discloses an aisle stacker including a device body, which relates to the technical field of stackers. The device body includes a base, a driving device, a first support plate, a threaded rod and a sliding rod. A base is welded to the bottom of the device body, a driving device is installed inside the base, tracks are provided at the bottom of the driving device and the top of the device body, a driving motor is installed on the top of the device body, a winch is mounted on the outside of the output end of the driving motor, a noose is provided inside the device body, one end of the noose is connected to the winch, and the other end of the noose is connected to one end of the first support plate, and the first support plate is slidably connected to the device body.

When the aisle-type palletizer is in operation, it presets a distance in the controller and picks up or delivers goods after moving to the specified distance. However, when the traveling device is worn or damaged due to other reasons, a slight deviation may occur after moving to the pickup position, causing the trolley to be misplaced when picking up goods. In the prior art, the marking code on one side of the shelf is mostly identified by an identification head, and a secondary determination is performed before picking up goods. When the identification head cannot detect the marking code, it indicates that the position is offset. However, when recalibrating, professionals are often required to manually adjust the trolley position while looking at the screen to perform calibration operations, which is highly technical.

Summary of the invention

The purpose of the present invention is to solve the shortcomings of the prior art and to propose an intelligent lane type stacker for stereoscopic warehouses.

To achieve the above objectives, in a first aspect, the present invention provides an aisle type stacker for an intelligent stereoscopic warehouse, comprising a trolley and further comprising:

An identification head, wherein the identification head is fixed to the bottom of the trolley through an electric cylinder;

A marking code, wherein the marking code is arranged on one side of the trolley track;

A trigger box, the trigger box is covered on the outside of the marking code, and both sides of the trigger box are provided with flip plates, and the flip plates are provided with elastic components, and the elastic components are used to maintain the tilt state of the flip plates;

A sensor, when the recognition head presses down the flip plate, the sensor is used to detect the flip state of the flip plate;

A controller, the controller is used to compare the flipping states of the two flip plates to determine whether the position of the recognition head is offset;

Specifically, in the prior art, when the aisle type palletizer is in operation, a distance is preset in the controller, and after moving to the specified distance, the palletizer picks up or delivers goods. However, when the traveling device is worn or damaged due to other reasons, a slight deviation may occur after the palletizer moves to the pickup position, causing the position of the palletizer to be misplaced when the palletizer picks up goods.

In the prior art, the marking code on one side of the shelf is mostly identified by the recognition head, and then the goods can be picked up after a second determination. When the recognition head cannot detect the marking code, it means that the position is offset. However, when recalibrating, professionals are often required to manually adjust the position of the trolley while looking at the screen to perform the calibration operation, which is highly technical.

In the present invention, when the identification head cannot detect the marking code and an alarm occurs, the controller can automatically control the electric cylinder to push the identification head downward to advance the first stroke. Since the offset distance of the trolley is generally short, the identification head can directly contact the flip plate when it descends. Since both flip plates are in an inclined state and in an inverted figure eight shape, the identification head can directly push the flip plate to flip after contacting the flip plate.

The flip angles of the two flip plates are detected by sensors and compared. When the flip angles of the two flip plates are different, it means that the position of the trolley has shifted. When the flip angles of the two flip plates are similar, it means that the position of the trolley is correct.

When the flip angles of the two flip plates are different, the trolley will inevitably deviate to the side of the flip plate with the larger flip angle. At this time, the controller controls the trolley to automatically move to the side of the flip plate with the smaller flip angle. When the flip angles of the two flip plates are similar, it stops automatically, thereby completing the automatic calibration of the trolley. It is convenient and quick, and no manual operation is required.

Preferably, a transparent dust shielding component is provided inside the trigger box, and the transparent dust shielding component comprises:

A transparent tape, the transparent tape being arranged above the marking code;

Specifically, the existing marking code can use a barcode, and the recognition head uses a corresponding barcode scanning head. By setting a transparent belt to shield it, there is no need to wipe the marking code directly when cleaning dust later, which is conducive to extending the life of the marking code.

Preferably, there are two transparent belts, and pulling components are provided on both sides of the two transparent belts, and the pulling components are used to pull the two transparent belts away from each other to expose the marking code, and the pulling components include:

Sliding plates, which are symmetrically arranged on both sides of the transparent belt and are slidably connected to the trigger box;

A transmission assembly, wherein the transmission assembly is used to drive the sliding plate to slide during the flipping process of the flip plate;

A pressing component, which is arranged above the transparent belt and is used to push the transparent belt downward when the sliding plate moves horizontally;

A sliding connector, the sliding connector is fixed to the end of the transparent belt, and when the pressing assembly pushes the transparent belt downward, the sliding connector slides on the sliding plate to give way;

Specifically, in the prior art, in addition to the deviation of the position of the trolley affecting the recognition head's inability to detect the marking code, there may also be contamination of the marking code or damage to the recognition head. In the existing equipment, it is difficult to accurately determine the above situation;

In view of this, the present invention blocks the marking code by setting two transparent belts to prevent the marking code from being contaminated by external pollutants. When the recognition head descends, it can determine whether the position is offset by detecting the flip angle of the flip plate. When the trolley is in the accurate position, the recognition head cannot recognize the marking code, which can only mean that the marking code is contaminated or the recognition head is damaged. The recognition head is pushed down again by the electric cylinder, and the sliding plate is driven to move by the transmission assembly, so that the pressing assembly presses down the transparent belt, so that the two transparent belts move away from each other, thereby leaking the marking code. Since the marking code is always in a shielded and protected state, there will be no contamination. Therefore, if the recognition head can recognize it at this time, it means that the transparent belt is contaminated. If the recognition head cannot recognize it, it means that the recognition head is damaged.

Compared with the prior art, the present invention has the following beneficial effects:

1. The present invention detects the flip angles of the two flip plates through sensors and compares the flip angles of the two flip plates. When the flip angles of the two flip plates are different, it indicates that the position of the trolley has shifted. When the flip angles of the two flip plates are similar, it indicates that the position of the trolley is correct. When the flip angles of the two flip plates are different, the trolley must be offset to the side of the flip plate with a larger flip angle. At this time, the trolley is controlled by a controller to automatically move to the side of the flip plate with a smaller flip angle. When the trolley moves to the point where the flip angles of the two flip plates are similar, it stops automatically, thereby completing the automatic calibration of the trolley. This is convenient and quick, and does not require manual operation.

Second, the recognition head is pushed down again by the electric cylinder, and the sliding plate is driven to move by the transmission component, so that the pressing component presses down the transparent belt, so that the two transparent belts move away from each other, thereby leaking the marking code. Since the marking code is always in a shielded and protected state, there will be no contamination. Therefore, if the recognition head can recognize it at this time, it means that the transparent belt is contaminated. If the recognition head cannot recognize it, it means that the recognition head is damaged.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of the overall structure of the present invention.

FIG. 2 is an enlarged structural schematic diagram of point A in FIG. 1 of the present invention.

FIG. 3 is an enlarged structural schematic diagram of point B in FIG. 2 of the present invention.

FIG. 4 is a schematic diagram of the structure of the flip plate, torsion spring, and sensor of the present invention.

FIG. 5 is a schematic diagram of the trigger box and the sliding plate structure of the present invention.

FIG. 6 is a schematic diagram of the cross-sectional structure of the trigger box of the present invention.

FIG. 7 is a schematic diagram of the structure of the trigger box of the present invention (with the transparent belt on the right side removed).

FIG. 8 is a schematic diagram of the sliding plate structure of the present invention.

FIG. 9 is a second schematic diagram of the overall structure of the present invention.

FIG. 10 is a flow chart of the control method of the present invention.

In the figure: 1. trolley; 2. identification head; 3. marking code; 4. trigger box; 5. flip plate; 6. controller; 7. torsion spring; 8. limit block; 9. transparent belt; 10. sliding plate; 11. arc groove; 12. slide groove; 13. sliding pin; 14. lower pressure roller; 15. inclined groove; 16. fixed block; 17. slider; 18. electric cylinder; 19. spring; 20. sensor.

DETAILED DESCRIPTION

The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art may think of other obvious variations.

As shown in FIGS. 1 to 10 , an aisle type stacker for an intelligent stereoscopic warehouse includes a trolley 1 and further includes:

Identification head 2, which is fixed to the bottom of the trolley 1 through an electric cylinder 18;

Marking code 3, marking code 3 is set on one side of the track of trolley 1;

A trigger box 4, the trigger box 4 is covered on the outside of the marking code 3, and flip plates 5 are arranged on both sides of the trigger box 4, and elastic components are arranged on the flip plates 5, and the elastic components are used to maintain the tilt state of the flip plates 5;

The sensor 20 is used to detect the flipping state of the flipping plate 5 when the recognition head 2 presses down the flipping plate 5;

A controller 6, the controller 6 is used to compare the flipping states of the two flip plates 5 to determine whether the position of the recognition head 2 is offset;

Specifically, in the prior art, when the aisle type palletizer is in operation, a distance is preset in the controller 6, and after moving to the specified distance, the palletizer picks up or delivers goods. However, when the traveling device is worn or damaged due to other reasons, a slight deviation may occur after the palletizer moves to the pickup position, causing the position of the trolley 1 to be misplaced when the palletizer picks up goods.

In the prior art, the marking code 3 on one side of the shelf is mostly identified by the recognition head 2, and then the goods can be picked up after a second determination. When the recognition head 2 cannot detect the marking code 3, it means that the position is offset. However, when recalibrating, professionals are often required to manually adjust the position of the trolley 1 while looking at the screen to perform the calibration operation, which is highly technical.

In the present invention, when the identification head 2 cannot detect the marking code 3 and an alarm occurs, the controller 6 can automatically control the electric cylinder 18 to push the identification head 2 downward to advance the first stroke. Since the offset distance of the trolley 1 is generally short, the identification head 2 can directly contact the flip plate 5 when it descends. Since the two flip plates 5 are both in an inclined state and in an inverted eight-shaped shape, the identification head 2 can directly push the flip plate 5 to flip after contacting the flip plate 5.

In the process of the identification head 2 contacting the flip plate 5, wear may occur between the flip plate 5. In order to better implement the present invention, wear-resistant materials or rollers may be installed on the outer shell of the identification head 2 to reduce friction. This is an existing conventional technology and will not be described in detail here.

The flip angles of the two flip plates 5 are detected by the sensor 20, and the flip angles of the two flip plates 5 are compared. When the flip angles of the two flip plates 5 are different, it means that the position of the trolley 1 has shifted. When the flip angles of the two flip plates 5 are similar, it means that the position of the trolley 1 is correct.

When the flipping angles of the two flip plates 5 are different, the trolley 1 will inevitably deviate to the side of the flip plate 5 with the larger flipping angle. At this time, the trolley 1 is controlled by the controller 6 to automatically move to the side of the flip plate 5 with the smaller flipping angle. When the flipping angles of the two flip plates 5 are similar, it stops automatically, thereby completing the detection and automatic calibration of the left and right position offset of the trolley 1, which is convenient and quick, and does not require manual operation.

As a further embodiment of the present invention, the elastic component comprises:

A torsion spring 7, wherein the torsion spring 7 is sleeved and mounted on the turning shaft of the turning plate 5;

A limit block 8, which is fixed on the inner wall of the trigger box 4;

Specifically, by setting the torsion spring 7, it can be ensured that the flip plate 5 always has a tendency to flip toward the inside of the trigger box 4. By setting the limit block 8 to limit the flip plate 5, the tilted state of the flip plate 5 is maintained, and the two flip plates 5 are in an inverted figure eight shape, so that it is convenient to squeeze the flip plate 5 to flip it when the identification head 2 descends.

As a further embodiment of the present invention, a transparent dust shielding component is provided inside the trigger box 4, and the transparent dust shielding component includes:

A transparent tape 9 is arranged above the marking code 3;

Specifically, the existing marking code 3 can use a barcode, and the recognition head 2 uses a corresponding barcode scanning head. By setting a transparent tape 9 to shield it, there is no need to directly wipe the marking code 3 when cleaning dust later, which is beneficial to extending the life of the marking code 3.

As a further embodiment of the present invention, there are two transparent tapes 9, and both sides of the two transparent tapes 9 are provided with a pulling assembly, which is used to pull the two transparent tapes 9 away from each other to expose the marking code 3, and the pulling assembly includes:

Sliding plates 10, which are symmetrically arranged on both sides of the transparent belt 9, and are slidably connected to the trigger box 4;

A transmission assembly, which is used to drive the sliding plate 10 to slide during the flipping process of the flip plate 5;

A pressing component, which is arranged above the transparent belt 9 and is used to push the transparent belt 9 downward when the sliding plate 10 moves horizontally;

A sliding connector, which is fixed to the end of the transparent belt 9. When the pressing assembly pushes the transparent belt 9 downward, the sliding connector slides on the sliding plate 10 to give way;

Specifically, in the prior art, in addition to the deviation of the position of the trolley 1 affecting the recognition head 2 from detecting the marking code 3, there may also be contamination of the marking code 3 or damage to the recognition head 2. In the existing equipment, it is difficult to accurately determine the above situation;

In view of this, the present invention blocks the marking code 3 by setting two transparent belts 9 to prevent the marking code 3 from being contaminated by external pollutants. In the above embodiment, when the identification head 2 descends, it can determine whether the position is offset by detecting the flip angle of the flip plate 5. When the position of the trolley 1 is accurate, the identification head 2 cannot recognize the marking code 3, which can only mean that the marking code 3 is contaminated or the identification head 2 is damaged. The electric cylinder 18 pushes the identification head 2 to descend again, and the sliding plate 10 is driven to move by the transmission assembly, so that the pressing assembly presses down the transparent belt 9, so that the two transparent belts 9 move away from each other, thereby leaking the marking code 3. Since the marking code 3 is always in a shielded and protected state, there will be no contamination. Therefore, if the identification head 2 can be identified at this time, it means that the transparent belt 9 is contaminated. If the identification head 2 cannot be identified, it means that the identification head 2 is damaged.

As a further embodiment of the present invention, the transmission assembly comprises:

An arc groove 11, which is provided on the sliding plate 10, and is coaxial with the turning axis of the turning plate 5;

A chute 12, which is provided on the side wall of the flip plate 5;

A sliding pin 13, the sliding pin 13 is slidably connected inside the arc groove 11 and the sliding groove 12;

Specifically, when the identification head 2 just contacts the flip plate 5 and pushes the flip plate 5 to flip, if the sliding plate 10 is directly driven to move, the two transparent belts 9 will be separated in advance, which is not conducive to the subsequent identification of whether the identification head 2 is damaged;

Therefore, by setting the arc groove 11 to give way, when the identification head 2 just contacts and pushes the flip plate 5, the flip plate 5 drives the sliding pin 13 to slide in the arc groove 11, and the sliding plate 10 does not move at this time, thereby providing sufficient time for the early identification of whether the trolley 1 is offset;

When the identification head 2 continues to move downward, the sliding pin 13 moves to the other end of the arc groove 11 and then pushes the sliding plate 10 to move.

As a further embodiment of the present invention, the pressing assembly comprises:

A lower pressing roller 14, which is arranged above the transparent belt 9, and a mounting seat of the lower pressing roller 14 is vertically slidably connected with the sliding plate 10;

An inclined groove 15 is provided on the surface of the trigger box 4, and one end of the lower pressing roller 14 passes through the sliding plate 10 and is inserted into the inclined groove 15;

Specifically, when the sliding plate 10 moves, it can drive the lower pressing roller 14 to move synchronously. Since the lower pressing roller 14 is inserted in the inclined groove 15, during the movement, the lower pressing roller 14 can move downward along the inclined groove 15 synchronously to press down the transparent belt 9.

By flipping the flip plate 5, the transmission sliding plate 10 moves. The moving distance of the sliding plate 10 is short. If the transparent belt 9 is directly pulled by the sliding plate 10, the separation distance will be insufficient, and the marking code 3 will be difficult to completely leak out. Since the transparent belt 9 is made of a flexible material with a certain elasticity, the present invention separates by pressing down the transparent belt 9, which can not only extend the separation distance of the two transparent belts 9 and completely leak out the marking code 3, but also make the impurities on the surface of the flexible transparent belt 9 have a tendency to move to the recessed position during the separation process, thereby reducing the occurrence of impurities falling onto the marking code 3 during the movement.

As a further embodiment of the present invention, the sliding connection comprises:

A fixing block 16, the fixing block 16 is fixed to the side wall of the transparent belt 9;

A slider 17, the slider 17 is rotatably connected to the fixed block 16, the slider 17 is slidably connected to the sliding plate 10, and a spring 19 is fixed to the back of the slider 17;

It should be noted that one end of the transparent tape 9 is fixed to the surface of the flip plate 5, and the other end of the transparent tape 9 is fixed to the fixing block 16;

Specifically, by setting a slider 17, one end of the transparent belt 9 with a certain elasticity can slide on the surface of the sliding plate 10, and under the push of the elastic force of the spring 19, the two sliders 17 always have a tendency to approach each other, so that when the lower pressure roller 14 rises, the two sliders 17 can pull the transparent belt 9 to reset.

As a further embodiment of the present invention, the sensor 20 is an angle sensor, and the specific control method of the controller 6 includes the following steps:

The controller 6 obtains a first flip angle value of the left flip plate 5, and the first flip angle value is generated after the angle sensor obtains the angle information of the left flip plate 5;

The controller 6 obtains a second flip angle value of the flip plate 5 on the right side, and the second flip angle value is generated after the angle sensor obtains the angle information of the flip plate 5 on the right side;

The controller 6 calculates the difference between the first flip angle value and the second flip angle value. When the difference reaches a preset range and the recognition head 2 cannot detect the marking code 3, the controller 6 generates first control information, and the first control information is used to control the electric cylinder 18 to push the second stroke;

The controller 6 sends the first control information to the electric cylinder 18;

Among them, the flip angle value of the corresponding flip plate 5 is detected by the angle sensor. When the difference reaches the preset range, it means that the flip angles of the two flip plates 5 are similar, so that it is determined that the recognition head 2 is not offset, and it also shows that the position of the trolley 1 is accurate. At this time, the recognition head 2 still cannot detect the information, which means that the recognition head 2 is damaged, or the transparent tape 9 on the marking code 3 is contaminated, and then, the electric cylinder 18 is needed to further push the recognition head 2 down for subsequent detection. Therefore, the controller 6 controls the electric cylinder 18 to push the second stroke.

As a further embodiment of the present invention, the specific control method of the controller 6 further includes the following steps:

When the difference does not reach the preset range, the controller 6 compares the first flip angle value with the second flip angle value and generates moving direction information;

When the first flip angle value is greater than the second flip angle value, the moving direction information is used to control the vehicle 1 to move to the right;

When the first flip angle value is smaller than the second flip angle value, the moving direction information is used to control the vehicle 1 to move to the left;

The controller 6 sends the moving direction information to the car 1;

Among them, when the position of the trolley 1 is offset, when the identification head 2 squeezes the flip plate 5, the flip angles of the two flip plates 5 are different, and the offset direction of the trolley 1 is located on the side of the flip plate 5 with a larger flip angle. Therefore, by identifying which flip plate 5 has a larger flip angle, the moving direction information of the trolley 1 is generated.

As a further embodiment of the present invention, the specific control method of the controller 6 further includes the following steps:

The controller 6 obtains a third flip angle value, which is generated by the angle sensor after obtaining the angle information of the flip plate 5 in the moving direction during the movement of the trolley 1;

When the third flip angle value reaches the preset flip angle value, the controller 6 generates second control information, and the second control information is used to control the vehicle 1 to stop moving;

The controller 6 sends the second control information to the car 1;

Among them, when the trolley 1 is moving, if the micro-deviation does not reach the specified range, it will not affect the pickup and delivery functions. Therefore, in the previous step, when judging whether the trolley 1 is in the standard position, the difference between the flip angles of the two flip plates 5 is calculated for identification, so that when the trolley 1 deviates within a certain range, it will not trigger subsequent operations;

In this embodiment, the trolley 1 is in the calibration process. It is difficult to achieve accurate calibration of the trolley 1 by using the above identification method. Therefore, by setting a fixed value, that is, a preset flip angle value, to identify whether the trolley 1 has reached the standard position, it is conducive to achieving accurate calibration of the trolley 1.

Specifically, during the movement calibration process of the trolley 1, the flip angle of the flip plate 5 is synchronously detected. When the detected angle reaches a fixed value of a preset flip angle value, it indicates that the position calibration of the trolley 1 is completed, thereby synchronously controlling the trolley 1 to stop moving, which is conducive to the precise correction of the trolley 1.

The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions only describe the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention, and these changes and improvements fall within the scope of the present invention to be protected.

Claims (10)

1. An aisle type stacker for an intelligent three-dimensional warehouse, comprising a trolley (1), characterized in that it also comprises: An identification head (2), wherein the identification head (2) is fixed to the bottom of the trolley (1) via an electric cylinder (18); A marking code (3), wherein the marking code (3) is arranged on one side of the track of the trolley (1); A trigger box (4), the trigger box (4) covering the outside of the marking code (3), flip plates (5) being arranged on both sides of the trigger box (4), and elastic components being arranged on the flip plates (5), and the elastic components being used to maintain the tilted state of the flip plates (5); a sensor (20), which is used to detect the flipping state of the flipping plate (5) when the recognition head (2) presses down the flipping plate (5); A controller (6) is used to compare the flipping states of the two flip plates (5) to determine whether the position of the recognition head (2) is offset. 2. The aisle type stacker for intelligent stereoscopic warehouse according to claim 1, characterized in that the elastic component comprises: A torsion spring (7), wherein the torsion spring (7) is sleeved and mounted on the turning shaft of the turning plate (5); A limit block (8), wherein the limit block (8) is fixed on the inner wall of the trigger box (4). 3. The aisle type palletizer for intelligent stereoscopic warehouse according to claim 1, characterized in that a transparent dust shielding component is arranged inside the trigger box (4), and the transparent dust shielding component comprises: A transparent tape (9), wherein the transparent tape (9) is arranged above the marking code (3). 4. The aisle type palletizer for intelligent stereoscopic warehouse according to claim 3, characterized in that there are two transparent belts (9), and both sides of the two transparent belts (9) are provided with pulling components, and the pulling components are used to pull the two transparent belts (9) away from each other to expose the marking code (3), and the pulling components include: A sliding plate (10), the sliding plate (10) being symmetrically arranged on both sides of the transparent belt (9), and the sliding plate (10) being slidably connected to the trigger box (4); A transmission assembly, the transmission assembly being used to drive the sliding plate (10) to slide during the process of the flipping plate (5) flipping; A pressing component, the pressing component being arranged above the transparent belt (9) and being used to push the transparent belt (9) downward when the sliding plate (10) moves horizontally; A sliding connection piece is fixed to the end of the transparent belt (9), and when the pressing assembly pushes the transparent belt (9) downward, the sliding connection piece slides on the sliding plate (10) to give way. 5. The aisle type stacker for intelligent stereoscopic warehouse according to claim 4, characterized in that the transmission assembly comprises: An arc groove (11), wherein the arc groove (11) is formed on the sliding plate (10), and the arc groove (11) is coaxial with the turning axis of the turning plate (5); A slide groove (12), wherein the slide groove (12) is formed on a side wall of the flip plate (5); A sliding pin (13) is slidably connected inside the arc groove (11) and the sliding groove (12). 6. The aisle type stacker for intelligent stereoscopic warehouse according to claim 4, characterized in that the pressing component comprises: A lower pressing roller (14), the lower pressing roller (14) being arranged above the transparent belt (9), and a mounting seat of the lower pressing roller (14) being vertically slidably connected to the sliding plate (10); An inclined groove (15) is provided on the surface of the trigger box (4); one end of the lower pressing roller (14) passes through the sliding plate (10) and is inserted into the inclined groove (15). 7. The aisle type stacker for intelligent stereoscopic warehouse according to claim 4, characterized in that the sliding connection comprises: A fixing block (16), wherein the fixing block (16) is fixed to a side wall of the transparent belt (9); A slider (17), the slider (17) being rotatably connected to the fixed block (16), the slider (17) being slidably connected to the sliding plate (10), and a spring (19) being fixed to a side wall of the slider (17). 8. The aisle stacker for an intelligent stereoscopic warehouse according to claim 1, characterized in that the sensor (20) is an angle sensor, and the specific control method of the controller (6) comprises the following steps: The controller (6) obtains a first flip angle value of the flip plate (5) on the left side, wherein the first flip angle value is generated after the angle sensor obtains angle information of the flip plate (5) on the left side; The controller (6) obtains a second flip angle value of the flip plate (5) on the right side, wherein the second flip angle value is generated after the angle sensor obtains angle information of the flip plate (5) on the right side; The controller (6) calculates a difference between the first flip angle value and the second flip angle value, and when the difference reaches a preset range and the identification head (2) cannot detect the marking code (3), the controller (6) generates first control information, and the first control information is used to control the electric cylinder (18) to push the second stroke; The controller (6) sends first control information to the electric cylinder (18). 9. The aisle stacker for an intelligent stereoscopic warehouse according to claim 8, characterized in that the specific control method of the controller (6) further comprises the following steps: When the difference does not reach a preset range, the controller (6) compares the first flip angle value with the second flip angle value and generates movement direction information; When the first flip angle value is greater than the second flip angle value, the moving direction information is used to control the vehicle (1) to move to the right; When the first flip angle value is smaller than the second flip angle value, the moving direction information is used to control the vehicle (1) to move to the left; The controller (6) sends the moving direction information to the vehicle (1). 10. The aisle stacker for intelligent high-bay warehouse according to claim 9, characterized in that the specific control method of the controller (6) further comprises the following steps: The controller (6) obtains a third flip angle value, wherein the third flip angle value is generated by an angle sensor after obtaining angle information of the flip plate (5) in a moving direction during the movement of the trolley (1); The controller (6) generates second control information when the third flip angle value reaches a preset flip angle value, wherein the second control information is used to control the trolley (1) to stop moving; The controller (6) sends the second control information to the trolley (1).