A shuttle system capable of autonomous stacking and a method thereof

Abstract

The application discloses a kind of self-stacking shuttle system and method thereof, it is related to logistics storage technical field, wherein a kind of self-stacking shuttle system, including running part and bearing part, the output shaft of the second drive is fixedly connected with the power input end of swing component, the output shaft pulley of the fourth drive is closely attached with the inner wall side of synchronous belt.Through the cooperation between bearing part, swing component, swing arm, goods plate, running part, it can be moved based on the length direction notch of linkage bar, and then drive the goods plate connected to synchronous belt component and placed on the material box on the loading platform based on the length direction of swing arm, reverse repeat the above process in the process of autonomous disassembly, so that trolley can carry material while having the function of moving and carrying material, also can carry and unload goods autonomously and always keep the horizontal state of material, further improve the intelligent and automated operation ability of shuttle car.

Description

Technical Field

[0001] This invention relates to the field of logistics and warehousing technology, specifically to a shuttle system and method capable of autonomous stacking of goods. Background Technology

[0002] In logistics and warehousing systems, shuttle cars can transport and connect materials to improve turnover. However, shuttle cars are passively operated by robotic arms or manual labor to stack materials on the car body and then transfer them. The degree of automation still needs to be further improved. Summary of the Invention

[0003] The purpose of this invention is to provide a shuttle system and method capable of autonomous stacking of goods, in order to solve the problem that in the above-mentioned background technology, shuttle vehicles passively stack materials on the vehicle body by means of robotic arms or manual labor, and then transfer them, and the degree of automation needs to be further improved.

[0004] To achieve the above objectives, the present invention provides the following technical solution: Design a shuttle system capable of autonomous stacking of goods, comprising a running section and a carrying section. Stacking sections are mounted on both sides of the upper part of the carrying section. Each stacking section consists of a swing assembly, a swing arm, and a picking plate. The carrying section includes an opening / closing screw, a first drive, a second drive, a third drive, a platform, a fourth drive, a synchronous belt, and a tray. A tray is fixedly connected to the center of the lower end of the platform. The first drive and the second drive are respectively mounted on both sides of the inner wall of the tray. The output shaft of the first drive is rotatably connected to the opening / closing screw via belt drive. The output shaft of the second drive in the carrying section is fixedly connected to the power input end of the swing assembly. The third drive is mounted on both sides of the lower end of the platform. The power output end of the swing assembly is connected to one end of the swing arm, and the other end of the swing arm is connected to the picking plate. The output shafts of the third drives are all connected to the running section. The fourth drive is mounted on the lower outer wall of the swing arm, and the pulley of the output shaft of the fourth drive is tightly fitted to one side of the inner wall of the synchronous belt for transmission.

[0005] Preferably, the swing arm consists of a linkage rod, a limit cylinder, a telescopic shaft assembly, a moving plate, and a rotating seat; Two symmetrically arranged rotating seats are fixedly connected to the upper part of the movable plate and slidably connected to both sides of the platform. The inner wall of the lower opening of the movable plate is engaged with the opening and closing screw. The outer sides of the two symmetrically arranged telescopic shaft assemblies are fixedly connected to the power output end of the swing assembly. The inner outer wall of the telescopic shaft assembly is rotatably connected to the movable plate through bearings, and the inner end of the telescopic shaft assembly is fixedly connected to the swing arm. A limit cylinder is fixedly connected to the upper outer side of the outer wall of each rotating seat. Linkage rods are distributed on the outer side of the outer wall of each swing arm. The end of the linkage rod is rotatably connected to the rotating seat through a pin.

[0006] Preferably, the rocking assembly specifically consists of a double sprocket, a chain, and a corresponding shaft bearing seat. The internal shaft of the lower sprocket in the rocking assembly is the power input end, and the internal shaft of the upper sprocket in the rocking assembly is the power output end.

[0007] Preferably, the picking plate includes an ear plate, a base plate, a connecting rod, a pulley, a hinge rod, a guide groove, a moving frame, a buffer, a slide rail assembly, a limiting cylinder, and a rectangular through groove; The guide groove and rectangular through groove are respectively machined on both sides of the center of the outer wall of the swing arm. Multiple movable frames are distributed at the ends of the outer wall of the swing arm. A hinge rod is provided on the outer side of the movable frame. Both sides of the hinge rod are rotatably connected to the connecting rod and the movable frame respectively by pins. One side of the outer wall of the connecting rod is slidably connected to the inner wall of the linkage rod. The other end of the connecting rod is fixedly connected to the ear plate. The outer wall of the ear plate is rotatably pressed against the base plate. Multiple buffers are installed on the upper and lower parts of the outer wall of the base plate. One side of the buffer is fixedly connected to the base plate. The support part of one side is set on the upper part of the slider of the slide rail assembly. The fixed part of the slide rail assembly is fixedly connected to one side of the outer wall of the swing arm. The pulley is rotatably connected to the inner wall of the end of the swing arm. The outer wall of the pulley is tightly fitted to the other side of the inner wall of the synchronous belt. The center of the inner wall of the base plate is fixedly connected to the outer wall of the synchronous belt. Multiple limit cylinders are respectively fixedly connected to both sides of the outer wall of the end of the linkage rod. The output shaft of the limit cylinder is inserted into the connecting rod.

[0008] Preferably, the pulley includes a timing belt assembly, the buffer includes a movable frame assembly, the main body of the movable frame assembly is fixedly connected to the movable frame, the inner wall of the movable frame assembly includes a slide rod penetrating its main body, the end of the slide rod is slidably connected to the swing arm, and the other side of the buffer is slidably connected to the main body of the movable frame assembly.

[0009] Preferably, the plurality of the operating parts are distributed on both sides of the lower end of the stage.

[0010] Preferably, the platform is located at the upper center of the bearing part, the platform is disposed on the upper part of the support plate, the support plate has a through slot for installing the opening and closing screw along the length direction at the center, and the two inner side walls of the through slot are respectively provided with sliding grooves to assist the displacement of the moving plate, and a transmission wheel is provided in the middle of the opening and closing screw.

[0011] Preferably, a method of using a shuttle system capable of autonomous stacking of goods is as follows: First, the shuttle trolley of this invention can load and transport material boxes on both sides of the vehicle body. The picking plate can move based on the length direction of the swing arm. The hinge rod, swing arm, linkage rod and rotating seat are hinged to form a parallelogram structure. This invention utilizes this mechanism and combines it with other auxiliary structures to achieve the horizontal holding of the picking plate, so that the clamped material box can be kept in a horizontal state continuously. To avoid occupying too much lateral space, the initial state of the trolley's swing arm is vertical. The shuttle trolley first runs along the track. When autonomously picking up goods, the second drive controls the swing assembly to turn the swing arm to the side of the goods to be picked up. Then, the first drive controls the opening and closing screw to rotate, and the moving plate meshing with the screw moves, bringing the entire swing arm and picking plate together to clamp the material box. After picking up the goods, the swing assembly controls the swing arm to rotate back to the vertical state. During this process, the material box will remain horizontal under the clamping action of the picking plate. After reaching the vertical state, firstly, limit cylinder one extends a limiting rod to restrict the linkage rod, ensuring that it can only be in a vertical state to guarantee the stability of the picking plate. Then, limit cylinder two releases the hinge restriction on the connecting rod, allowing it to move based on the slot along the length of the linkage rod. Under the action of the fourth drive, the synchronous pulley rotates, which in turn drives the picking plate connected to the synchronous belt assembly and the picking plate connected to it to place the material box on the platform according to the length direction of the swing arm. After a single material box is picked up and placed, the synchronous pulley rotates in the opposite direction under the action of the fourth drive, which drives the picking plate connected to the synchronous belt assembly and the picking plate connected to it to return the connecting rod to the initial position (a position away from the rotating fixed end) according to the length direction of the swing arm. Then, the second limit cylinder locks the connecting rod, so that it can only perform hinge rotation. Then, the first limit cylinder retracts the limit rod, so that the linkage rod returns to the swingable state. At this point, the shuttle car can perform the next material box handling action as described above, and stack the newly picked material box on top of the previously placed material box, realizing the autonomous stacking of material boxes. When the shuttle trolley disassembles the material boxes stacked on its body, the swing arm initially remains vertical. Limit cylinder one extends a limiting rod to restrict the linkage rod. Then, limit cylinder two releases the hinge restriction on the connecting rod, allowing it to move along the slot along the length of the linkage rod. Next, under the action of the fourth drive, the synchronous pulley rotates, driving the picking plate connected to the synchronous belt assembly and attached to it to move along the length of the swing arm until it reaches the middle of the uppermost material box. Afterward, the first drive controls the opening and closing screw to rotate, causing the moving plate meshing with the screw to move, thus gripping the material box with the entire swing arm and picking plate. After the material is picked up, the synchronous pulley rotates in the opposite direction under the action of the fourth drive, which drives the picking plate connected to the synchronous belt assembly and the picking plate connected to it to return the connecting rod to the initial position (away from the rotating fixed end) based on the length direction of the swing arm. Then, the second limit cylinder locks the connecting rod, so that it can only perform hinge rotation. Next, the first limit cylinder retracts the limiting rod, so that the linkage rod returns to the swingable state. Finally, under the control of the swing assembly, the material box is placed horizontally on the designated side of the trolley. At this point, the shuttle trolley can perform the next material box disassembly and transportation action as described above, realizing the autonomous disassembly and placement of the material box. When the trolley swing assembly is running, limit cylinder two is locked and limit cylinder one is retracted to ensure the normal rotation of the swing arm and linkage rod. When the trolley is in the vertical position at the loading / unloading swing arm, limit cylinder two is unlocked and limit cylinder one is locked to ensure the stability of the picking plate and the smooth loading / unloading action of the picking plate. A buffer assembly is provided at the connection between the picking plate and the timing belt assembly to protect the integrity of the material box.

[0012] The present invention proposes a shuttle system capable of autonomous stacking of goods, which has the following advantages: Through the coordination of the load-bearing unit, the swing assembly, the swing arm, the picking plate, and the running unit, after the goods are picked up, the swing assembly controls the swing arm to rotate and return to the vertical state. During this process, the material box will remain horizontal under the clamping action of the picking plate. After it is in the vertical state, the first limit cylinder will extend the limit rod to restrict the linkage rod, so that it can only be in the vertical state to ensure the stability of the picking plate. Then, the second limit cylinder will release the hinge restriction on the connecting rod, so that it can move based on the slot in the length direction of the linkage rod. Then, under the action of the fourth drive, the synchronous belt pulley will rotate, which will drive the picking plate connected to the synchronous belt assembly and connected to it to place the material box on the platform based on the length direction of the swing arm. The autonomous disassembly process repeats the above process in reverse. In this way, the trolley can not only transfer and transport materials, but also autonomously stack / unload goods and always keep the materials in a horizontal state, which further improves the intelligent and automated operation capabilities of the shuttle. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the vertical structure of the present invention; Figure 2 This is a schematic diagram of the tilted structure of the present invention; Figure 3 For the present invention Figure 2 Schematic diagram of the structure at point A; Figure 4 For the present invention Figure 1 A schematic diagram of the main view structure in the image; Figure 5 For the present invention Figure 4 A schematic diagram of a local structure.

[0014] In the diagram: 1. Running section, 2. Bearing section, 21. Opening and closing screw, 22. First drive, 23. Second drive, 24. Third drive, 25. Carrying platform, 26. Fourth drive, 27. Synchronous belt, 28. Pallet, 3. Stacking section, 31. Swing assembly, 32. Swing arm, 321. Linkage rod, 322. Limit cylinder one, 323. Telescopic shaft assembly, 324. Moving plate, 325. Rotary seat, 33. Picking plate, 331. Ear plate, 332. Base plate, 333. Connecting rod, 334. Pulley, 3341. Synchronous belt assembly, 335. Hinge rod, 336. Guide groove, 337. Moving frame, 338. Buffer, 3381. Moving frame assembly, 339. Slide rail assembly, 3310. Limit cylinder two, 3311. Rectangular through groove. Detailed Implementation

[0015] The present invention will be further described below with reference to the accompanying drawings: See attached document Figure 1-5 In this embodiment, a shuttle system capable of autonomous stacking includes a running unit 1 and a carrying unit 2. Stacking units 3 are installed on both sides of the upper part of the carrying unit 2. The stacking units 3 consist of a swing assembly 31, a swing arm 32, and a picking plate 33. The carrying unit 2 includes an opening and closing screw 21, a first drive 22, a second drive 23, a third drive 24, a platform 25, a fourth drive 26, a synchronous belt 27, and a tray 28. The tray 28 is fixedly connected to the lower center of the platform 25. The first drive 22 and the second drive 23 are respectively installed on both sides of the inner wall of the tray 28. The output shaft of the first drive 22 is rotatably connected to the opening and closing screw 21 through belt drive. The two sides of the opening and closing screw 21 have opposite inclination angles, that is, the rotation of the opening and closing screw 21 can control the two sides. The moving plate 324 moves synchronously inward or outward. The output shaft of the second drive 23 in the bearing part 2 is fixedly connected to the power input end of the swing assembly 31. The lower end of the platform 25 is equipped with the third drive 24 on both sides. The power output end of the swing assembly 31 is connected to one end of the swing arm 32. The other end of the swing arm 32 is connected to the picking plate 33. The output shafts of the third drive 24 are all connected to the running part 1. The fourth drive 26 is installed on the lower outer wall of the swing arm 32. The output shaft pulley of the fourth drive 26 is tightly fitted to one side of the inner wall of the synchronous belt 27 for transmission. The first drive 22, the second drive 23, the third drive 24 and the fourth drive 26 are all motor structures. The specific model can be determined according to the specific application.

[0016] The platform 25 is located at the upper center of the bearing part 2. The platform 25 is set on the upper part of the support plate. The support plate has a through slot for the installation of the opening and closing screw 21 along the length direction at the center. The two inner side walls of the through slot are respectively provided with sliding grooves for the displacement of the auxiliary moving plate 324. A transmission wheel is set in the middle of the opening and closing screw 21.

[0017] See attached document Figure 1-5In this embodiment, the swing arm 32 consists of a linkage rod 321, a limiting cylinder 322, a telescopic shaft assembly 323, a moving plate 324, and a rotating seat 325. Two symmetrically arranged rotary seats 325 are fixedly connected to the upper part of the movable plate 324 and slidably connected to both sides of the platform 25. The inner wall of the lower opening of the movable plate 324 meshes with the opening and closing screw 21. The model of the limit cylinder 322 can be determined according to the specific application. Its purpose is to pass through the hole provided on the linkage rod 321 when the output shaft extends, thereby limiting the swing of the linkage rod 321. The outer sides of the two symmetrically arranged telescopic shaft assemblies 323 are fixedly connected to the power output end of the swing assembly 31. The inner outer wall of the telescopic shaft assembly 323 is connected by a shaft. The bearing is rotatably connected to the movable plate 324, and the inner end of the telescopic shaft assembly 323 is fixedly connected to the swing arm 32. The telescopic shaft assembly 323 is specifically a rotating shaft with a key bar and a sleeve with a keyway. The rotating shaft is inserted into the inner wall of the sleeve through a key. It can move on the inner wall of the sleeve during use. When rotating, the torque can be transmitted through the action of the key. The upper outer side of the outer wall of the rotating seat 325 is fixedly connected to the limit cylinder 322. The outer side of the outer wall of the swing arm 32 is distributed with linkage rods 321. The end of the linkage rod 321 is rotatably connected to the rotating seat 325 through a pin.

[0018] See attached document Figure 1-5 In this embodiment, the rocking assembly 31 is specifically composed of a double sprocket, a chain, and a corresponding shaft bearing seat. The internal shaft of the lower sprocket in the rocking assembly 31 is the power input end, and the internal shaft of the upper sprocket in the rocking assembly 31 is the power output end.

[0019] See attached document Figure 1-5 In this embodiment, the picking plate 33 includes an ear plate 331, a base plate 332, a connecting rod 333, a pulley 334, a hinge rod 335, a guide groove 336, a moving frame 337, a buffer 338, a slide rail assembly 339, a limiting cylinder 3310, and a rectangular through groove 3311. Guide groove 336 and rectangular through groove 3311 are respectively machined on both sides of the center of the outer wall of swing arm 32. Multiple movable frames 337 are distributed at the ends of the outer wall of swing arm 32. A hinge rod 335 is provided on the outer side of the movable frame 337. Both sides of the hinge rod 335 are rotatably connected to the connecting rod 333 and the movable frame 337 respectively by pins. One side of the outer wall of the connecting rod 333 is slidably connected to the inner wall of the linkage rod 321. The other end of the connecting rod 333 is fixedly connected to the ear plate 331. The outer wall of the ear plate 331 is rotatably pressed against the base plate 332. Multiple buffers 338 are installed on the upper and lower parts of the outer wall of the base plate 332. One side of the buffer 338 is fixedly connected to the base plate 332. The side support is located on the upper part of the slider of the slide rail assembly 339. The fixed part of the slide rail assembly 339 is fixedly connected to one side of the outer wall of the swing arm 32. The pulley 334 is rotatably connected to the inner wall of the end of the swing arm 32. The outer wall of the pulley 334 is tightly fitted to the other side of the inner wall of the synchronous belt 27. The center of the inner wall of the base plate 332 is fixedly connected to the outer wall of the synchronous belt 27. Multiple limit cylinders 3310 are fixedly connected to both sides of the outer wall of the end of the linkage rod 321. The output shaft of the limit cylinder 3310 is inserted into the connecting rod 333. The synchronous belt 27 is an open loop, and its two ends are fixedly connected to the base plate 332 after being wound around. The model of the limit cylinder 3310 can be determined according to the specific application.

[0020] See attached document Figure 1-5 In this embodiment, the pulley 334 includes a timing belt assembly 3341, and the buffer 338 includes a movable frame assembly 3381. The main body of the movable frame assembly 3381 is fixedly connected to the movable frame 337. The inner wall of the movable frame assembly 3381 includes a slide rod that passes through its main body. The end of the slide rod is slidably connected to the swing arm 32. The other side of the buffer 338 is slidably connected to the main body of the movable frame assembly 3381. The movable frame assembly 3381 serves as the mounting and buffering base for the base plate 332 and the ear plate 331 and slides with the operation of the timing belt 27.

[0021] Through the cooperation between the bearing unit 2, the swing assembly 31, the swing arm 32, the picking plate 33, and the running unit 1, after the picking is completed, the swing assembly 31 controls the swing arm 32 to rotate back to the vertical state. During this process, the material box will remain horizontal under the clamping action of the picking plate. After it is in the vertical state, the first limit cylinder 322 extends a limit rod to restrict the linkage rod 321, so that it can only be in the vertical state to ensure the stability of the picking plate 33. Then, the second limit cylinder 3310 releases the hinge restriction on the connecting rod 333, allowing it to... Based on the slot along the length of the linkage 321, the shuttle moves and then, under the action of the fourth drive 26, the synchronous pulley rotates, thereby driving the material box to be placed on the loading platform 25 along the length of the swing arm 32 by the synchronous belt assembly 3341 and the picking plate 33 connected thereto. The autonomous disassembly process repeats the above process in reverse. In this way, the shuttle can not only transfer and transport materials, but also autonomously stack / unload goods and always keep the materials in a horizontal state, further improving the intelligent and automated operation capabilities of the shuttle.

[0022] Working principle: First, the shuttle trolley in this case can load and transport material boxes on both sides of the vehicle body. The picking plate can move based on the length direction of the swing arm 32. The hinge rod 335, the swing arm 32, the linkage rod 321 and the rotating seat 325 are hinged to form a parallelogram structure. This invention utilizes this mechanism and combines it with other auxiliary structures to achieve the horizontal holding of the picking plate 33, so that the clamped material box can be kept in a horizontal state continuously. To avoid occupying too much lateral space, the initial state of the trolley swing arm 32 is vertical. The shuttle trolley initially runs along the track. When autonomously picking up goods, the second drive 23 controls the swing assembly 31 to turn the swing arm 32 to the side of the goods to be picked up. Then, the first drive 22 controls the opening and closing screw 21 to rotate, and the moving plate 324, which meshes with the screw, moves, causing the entire swing arm 32 and the picking plate 33 to clamp the material box. After picking up the goods, the swing assembly 31 controls the swing arm 32 to rotate back to the vertical state. During this process, the material box will remain horizontal under the clamping action of the picking plate. After reaching the vertical state, the first limit cylinder 322 extends a limiting rod to restrict the linkage rod 321, ensuring that it can only be in a vertical state to guarantee the stability of the picking plate 33. Then, the second limit cylinder 3310 releases the hinge restriction on the connecting rod 333, allowing it to move based on the slot in the length direction of the linkage rod 321. Then, under the action of the fourth drive 26, the synchronous pulley rotates, which in turn drives the synchronous belt assembly 3341 and the picking plate 33 connected to it to place the material box on the platform 25 according to the length direction of the swing arm 32. After a single material box is picked up and placed, the synchronous pulley rotates in the opposite direction under the action of the fourth drive 26, which drives the synchronous belt assembly 3341 and the picking plate 33 connected to it to return the connecting rod 333 to the initial position away from the rotating fixed end according to the length direction of the swing arm 32. Then, the second limit cylinder 3310 locks the connecting rod 333, so that it can only perform hinge rotation. Then, the first limit cylinder 322 retracts the limit rod, so that the linkage rod 321 returns to the swingable state. At this point, the shuttle car can perform the next material box handling action as above, and stack the newly picked material box on the previously placed material box to realize the autonomous stacking of material boxes. When the shuttle trolley disassembles the material boxes stacked on its body, the swing arm 32 initially remains vertical. Limit cylinder 1 322 extends a limiting rod to restrict the linkage rod 321. Then, limit cylinder 2 3310 releases the hinge restriction on the connecting rod 333, allowing it to move based on the slot along the length of the linkage rod 321. Next, under the action of the fourth drive 26, the synchronous pulley rotates, driving the synchronous belt assembly 3341 and the picking plate 33 connected to it to move along the length of the swing arm 32 until it reaches the middle of the uppermost material box. Afterwards, the first drive 22 controls the opening and closing screw 21 to rotate, causing the moving plate 324, which meshes with the screw, to move, thus moving the entire swing arm 32 and picking plate 33. After the material box is picked up, the synchronous pulley rotates in the opposite direction under the action of the fourth drive 26, which drives the connecting rod 333, which is connected to the synchronous belt assembly 3341 and the picking plate 33 connected to it, to return the connecting rod 333 to the initial position away from the rotating fixed end based on the length direction of the swing arm 32. Then, the second limit cylinder 3310 locks the connecting rod 333, so that it can only perform the hinge rotation action. Then, the first limit cylinder 322 retracts the limit rod, so that the linkage rod 321 returns to the swingable state. Finally, under the control of the swing assembly 31, the material box is placed horizontally on the designated side of the trolley. At this point, the shuttle trolley can perform the next material box disassembly and transportation action as described above, realizing the autonomous disassembly and placement of the material box. When the trolley swing assembly 31 is running, limit cylinder 2 3310 is in the locked state and limit cylinder 1 322 is in the retracted state to ensure the normal rotation of the swing arm 32 and the linkage rod 321. When the trolley loading / unloading swing arm 32 is in the vertical state, limit cylinder 2 3310 is in the unlocked state and limit cylinder 1 322 is in the locked state to ensure the stability of the picking plate 33 and the smooth implementation of the loading / unloading action of the picking plate 33; A buffer assembly is provided at the connection between the picking plate 33 and the timing belt assembly 3341 to protect the integrity of the material box.

[0023] Compared with existing technologies, it has the following advantages: This case involves loading and unloading goods at different heights on both sides of the vehicle body, which has a wide range of applications and strong adaptability. In this case, the goods can be kept in a horizontal position throughout the process of picking up and placing them. This invention enables the autonomous stacking and disassembly of material boxes; The swing arm assembly in this case can block the material box and play a protective role against inertia. The cargo gripping component in this invention has a cushioning function, which can protect the material box. Although the invention has been illustrated and described with reference to preferred embodiments, those skilled in the art will understand that various changes in form and detail are possible within the scope of the claims.

Claims

1. A shuttle system capable of autonomous stacking of goods, comprising an operating unit (1) and a carrying unit (2), characterized in that: Stacking sections (3) are installed on both sides above the carrying part (2). The stacking section (3) consists of a swing assembly (31), a swing arm (32), and a picking plate (33). The carrying part (2) includes an opening and closing screw (21), a first drive (22), a second drive (23), a third drive (24), a platform (25), a fourth drive (26), a synchronous belt (27), and a tray (28). The tray (28) is fixedly connected to the center of the lower end of the platform (25). The first drive (22) and the second drive (23) are respectively installed on both sides of the inner wall of the tray (28). The output shaft of the first drive (22) is rotatably connected to the opening and closing screw (21) through belt drive. The output of the second drive (23) in the carrying part (2) is... The shaft is fixedly connected to the power input end of the swing assembly (31). The lower end of the platform (25) is equipped with a third drive (24). The power output end of the swing assembly (31) is connected to one end of the swing arm (32). The other end of the swing arm (32) is connected to the picking plate (33). The output shaft of the third drive (24) is connected to the running part (1). The fourth drive (26) is installed on the lower outer wall of the swing arm (32). The output shaft pulley of the fourth drive (26) is closely fitted to the inner wall of the synchronous belt (27) for transmission. The swing arm (32) is composed of a linkage rod (321), a limit cylinder (322), a telescopic shaft assembly (323), a moving plate (324), and a rotating seat (325). Two symmetrically arranged rotating seats (325) are respectively fixed to the upper part of the moving plate (324) and slidably connected to both sides of the platform (25). The inner wall of the lower opening of the moving plate (324) is engaged with the opening and closing screw (21). The outer sides of the two symmetrically arranged telescopic shaft assemblies (323) are fixedly connected to the power output end of the swing assembly (31). The inner outer wall of the telescopic shaft assembly (323) is rotatably connected to the moving plate (324) through bearings, and the inner end of the telescopic shaft assembly (323) is fixedly connected to the swing arm (32). The upper outer side of the outer wall of the rotating seat (325) is fixedly connected to the limit cylinder (322). The outer side of the swing arm (32) is distributed with linkage rods (321). The end of the linkage rod (321) is rotatably connected to the rotating seat (325) through a pin.

2. The shuttle system capable of autonomous stacking of goods according to claim 1, characterized in that: The swing assembly (31) is specifically composed of a double sprocket, a chain and a corresponding shaft bearing seat. The internal shaft of the lower sprocket in the swing assembly (31) is the power input end, and the internal shaft of the upper sprocket in the swing assembly (31) is the power output end.

3. The shuttle system capable of autonomous stacking of goods according to claim 1, characterized in that: The picking plate (33) includes an ear plate (331), a base plate (332), a connecting rod (333), a pulley (334), a hinge rod (335), a guide groove (336), a moving frame (337), a buffer (338), a slide rail assembly (339), a limit cylinder (3310), and a rectangular through groove (3311). The guide groove (336) and the rectangular through groove (3311) are respectively machined on both sides of the center of the outer wall of the swing arm (32). Multiple movable frames (337) are distributed at the ends of the outer wall of the swing arm (32). A hinge rod (335) is provided on the outer side of the movable frame (337). Both sides of the hinge rod (335) are rotatably connected to the connecting rod (333) and the movable frame (337) respectively by pins. One side of the outer wall of the connecting rod (333) is slidably connected to the inner wall of the linkage rod (321). The other end of the connecting rod (333) is fixedly connected to the ear plate (331). The outer wall of the ear plate (331) is rotatably pressed against the base plate (332). Multiple buffers are installed on the upper and lower parts of the outer wall of the base plate (332). The shock absorber (338) is fixedly connected to the base plate (332) on one side, and the support part on one side is set on the upper part of the slider of the slide rail assembly (339). The fixed part of the slide rail assembly (339) is fixedly connected to one side of the outer wall of the swing arm (32). The pulley (334) is rotatably connected to the inner wall of the end of the swing arm (32). The outer wall of the pulley (334) is tightly fitted to the other side of the inner wall of the synchronous belt (27). The center of the inner wall of the base plate (332) is fixedly connected to the outer wall of the synchronous belt (27). Multiple limit cylinders (3310) are fixedly connected to both sides of the outer wall of the end of the linkage rod (321). The output shaft of the limit cylinder (3310) is inserted into the connecting rod (333).

4. A shuttle system capable of autonomous stacking of goods according to claim 3, characterized in that: The pulley (334) includes a timing belt assembly (3341), the buffer (338) includes a moving frame assembly (3381), the main body of the moving frame assembly (3381) is fixedly connected to the moving frame (337), the inner wall of the moving frame assembly (3381) includes a slide rod that passes through its main body, the end of the slide rod is slidably connected to the swing arm (32), and the other side of the buffer (338) is slidably connected to the main body of the moving frame assembly (3381).

5. A shuttle system capable of autonomous stacking of goods according to claim 1, characterized in that: Multiple operating units (1) are respectively distributed on both sides of the lower end of the stage (25).

6. A shuttle system capable of autonomous stacking of goods according to claim 1, characterized in that, The platform (25) is located at the upper center of the bearing part (2). The platform (25) is set on the upper part of the support plate. The support plate has a through slot for the installation of the opening and closing screw (21) along the length direction at the center. The two inner side walls of the through slot are respectively provided with sliding grooves for the displacement of the auxiliary moving plate (324). The opening and closing screw (21) is provided with a transmission wheel in the middle.

7. A method of using a shuttle system capable of autonomous stacking of goods according to any one of claims 1-6, characterized in that: First, the shuttle car can load and transport the material boxes on both sides of the car body. The picking plate can move based on the length direction of the swing arm (32). The hinge rod (335), swing arm (32), linkage rod (321) and rotating seat (325) are hinged to form a parallelogram structure, which realizes the horizontal holding of the picking plate (33) and can keep the clamped material box in a horizontal state. To avoid occupying too much lateral space, the initial state of the trolley's swing arm (32) is vertical. The shuttle trolley first runs along the track. When picking up goods autonomously, the second drive (23) controls the swing assembly (31) to turn the swing arm (32) to the side of the goods to be picked up. Then, the first drive (22) controls the opening and closing screw (21) to rotate, and the moving plate (324) meshing with the screw moves, bringing the entire swing arm (32) and the picking plate (33) to clamp the material box. After picking up the goods, the swing arm... The swing assembly (31) controls the swing arm (32) to rotate back to the vertical state. During this process, the material box will remain horizontal under the clamping action of the picking plate. After it is in the vertical state, the first limiting cylinder (322) extends the limiting rod to restrict the linkage rod (321) so that it can only be in the vertical state to ensure the stability of the picking plate (33). Then, the second limiting cylinder (3310) releases the hinge restriction on the connecting rod (333) so that it can be based on the length of the linkage rod (321). The material box moves towards the slot, and then the synchronous pulley rotates under the action of the fourth drive (26), which in turn drives the picking plate (33) connected to the synchronous belt assembly (3341) and the picking plate (33) connected to it to place the material box on the platform (25) based on the length direction of the swing arm (32). After a single material box is picked up and placed, the synchronous pulley rotates in the opposite direction under the action of the fourth drive (26), which drives the connecting rod (333) connected to the synchronous belt assembly (3341) and the picking plate (33) connected to it to return to the initial position based on the length direction of the swing arm (32). Then the second limit cylinder (3310) locks the connecting rod (333) so that it can only perform hinge rotation. Then the first limit cylinder (322) retracts the limit rod, so that the linkage rod (321) returns to the swingable state. At this point, the shuttle car can perform the next material box handling action as described above, and stack the newly obtained material box on the previously placed material box to realize the autonomous stacking of the material box. When the shuttle disassembles the material boxes stacked on the vehicle body, the swing arm (32) first remains vertical. The first limiting cylinder (322) extends a limiting rod to restrict the linkage rod (321). Then, the second limiting cylinder (3310) releases the hinge restriction on the connecting rod (333), allowing it to move based on the slot in the length direction of the linkage rod (321). Then, under the action of the fourth drive (26), the synchronous belt pulley rotates, driving the picking plate (33) connected to the synchronous belt assembly (3341) and connected to it to move based on the length direction of the swing arm (32) until it reaches the middle of the uppermost material box. After that, the first drive (22) controls the opening and closing screw (21) to rotate, and the moving plate (324) meshing with the screw moves, driving the entire swing arm (32) and The picking plate (33) picks up the material box. After picking up the material, the synchronous pulley rotates in the opposite direction under the action of the fourth drive (26), which drives the picking plate (33) connected to the synchronous belt assembly (3341) and the picking plate (33) connected to it to return the connecting rod (333) to the initial position based on the length direction of the swing arm (32). Then the second limit cylinder (3310) locks the connecting rod (333) so that it can only perform hinge rotation. Then the first limit cylinder (322) retracts the limit rod, so that the linkage rod (321) returns to the swingable state. Finally, under the control of the swing assembly (31), the material box is placed horizontally on the designated side of the trolley. At this point, the shuttle trolley can perform the next material box disassembly and transportation action as described above, realizing the autonomous disassembly and placement of the material box. When the trolley swing assembly (31) is running, limit cylinder two (3310) is in the locked state and limit cylinder one (322) is in the retracted state to ensure the normal rotation of the swing arm (32) and linkage rod (321). When the trolley loading and unloading swing arm (32) is in the vertical state, limit cylinder two (3310) is in the unlocked state and limit cylinder one (322) is in the locked state to ensure the stability of the picking plate (33) and the smooth realization of the loading / unloading action of the picking plate (33). The connection between the picking plate (33) and the timing belt assembly (3341) is provided with a buffer assembly to protect the integrity of the material box.

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