Tray lifting device for shuttle vehicle and working method

Abstract

The invention discloses a tray lifting device for a shuttle vehicle and a working method, the tray lifting device comprises the shuttle vehicle and a tray, a lifting plate is arranged on the upper portion of the shuttle vehicle, and a driving device of the shuttle vehicle drives the lifting plate to do lifting motion; a plurality of supporting legs are arranged at the bottom of the tray, and one of the supporting legs close to the center of the tray is marked as an anti-deviation leg; a front clamping jaw and a rear clamping jaw are arranged on the front portion and the rear portion in the advancing direction of the shuttle vehicle and are in linkage connection with a lifting plate through a linkage structure, a tray is placed on the lifting plate, and the lifting action of the lifting plate enables the front clamping jaw and the rear clamping jaw to ascend under transmission of the linkage structure and get close to each other and to be located on the front side and the rear side of an anti-deviation foot. The front clamping jaw and the rear clamping jaw are arranged on the front side and the rear side of the tray deviation preventing foot respectively to limit sliding between the tray deviation preventing foot and the shuttle vehicle lifting plate and deviation of the tray after goods scrape goods shelf stand columns, and the front guiding notch and the rear guiding notch are formed in the front clamping jaw and the rear clamping jaw, so that the placing error of the tray and the stopping error of the shuttle vehicle are eliminated.

Description

Technical Field

[0001] The present invention relates to the field of intelligent three-dimensional warehousing, and more specifically to a pallet lifting device for a shuttle vehicle and a working method thereof. Background Art

[0002] When transporting and storing palletized goods, the two-way or four-way shuttle vehicles used in vertical warehousing may cause the pallet to deviate, scrape against the shelf columns, and cause the palletized goods to fall over due to errors in the shelf tracks and the start and stop of the shuttle vehicles. The existing technology is to perform anti-slip treatment on the lifting plate on the top of the shuttle vehicle to reduce pallet deviation, or to arrange multiple groups of photoelectric sensors to detect the pallet position, but manual pallet correction is still required, which affects the work efficiency of vertical warehousing and increases labor costs. Summary of the invention

[0003] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a pallet lifting device and a working method for a shuttle vehicle. Front claws and rear claws are respectively arranged on the front and rear sides of the pallet anti-skewness foot, which can effectively limit the sliding between the pallet anti-skewness foot and the shuttle vehicle lifting plate, and can also prevent the deviation of the pallet after the goods scrape against the shelf column during the goods handling process. By arranging front guide notches and rear guide notches on the front claws and the rear claws, the placement error of the pallet and the stopping error of the shuttle vehicle can be effectively eliminated.

[0004] Technical solution: To achieve the above-mentioned purpose, the present invention provides a pallet lifting device and working method for a shuttle car, including a shuttle car and a pallet, a lifting plate is arranged on the upper part of the shuttle car, and a driving device on the shuttle car drives the lifting plate to perform a lifting movement; a plurality of supporting feet are arranged at the bottom of the pallet, and one of the plurality of supporting feet close to the center of the pallet is recorded as an anti-skewness foot; a front clamp and a rear clamp are arranged on the front and rear of the shuttle car along the travel direction, and the front clamp and the rear clamp are linked to the lifting plate through a linkage structure. When the pallet is placed horizontally on the lifting plate, the lifting action of the lifting plate causes the front clamp and the rear clamp to move closer to each other while performing an ascending movement under the transmission of the linkage structure, and to be on the front and rear sides of the travel direction of the anti-skewness foot.

[0005] Further, the linkage structure includes a fixed block, an A driving rod, a B driving rod, a driving block, an A connecting rod, a B connecting rod, a C connecting rod and a D connecting rod, the fixed block is fixedly installed inside the shuttle, the upper end of the driving block is fixedly connected to the lower end of the lifting plate, one end of the A driving rod and the B driving rod are respectively hinged to the two sides of the driving block through a front hinge and a rear hinge, the other ends of the A driving rod and the B driving rod are respectively hinged to the lower ends of the front claw and the rear claw through a first lower hinge and a second lower hinge, and the A driving rod and the B driving rod are symmetrically arranged relative to the driving block;

[0006] One ends of the A connecting rod, the B connecting rod, the C connecting rod and the D connecting rod are hinged on both sides of the fixed block through the A hinge, the B hinge, the C hinge and the D hinge respectively, the other ends of the A connecting rod and the C connecting rod are hinged on the lower ends of the front clamping claw and the rear clamping claw through the first upper hinge and the second upper hinge respectively, the other ends of the B connecting rod and the D connecting rod are hinged on the lower ends of the front clamping claw and the rear clamping claw together with the A driving rod and the B driving rod through the first lower hinge and the second lower hinge respectively, and the first upper hinge and the second upper hinge are located above the first lower hinge and the second lower hinge respectively, and the A connecting rod and the B connecting rod are symmetrically arranged with the C hinge and the D hinge relative to the fixed block.

[0007] Furthermore, two mounting plates are symmetrically arranged on both sides of the shuttle car along the travel direction, the mounting plates are located below the lifting plate, the fixing block is fixed to the mounting plate on one side along the length direction, and the upper surface of the driving block is fixedly connected to the center of the lower surface of the lifting plate.

[0008] Furthermore, the first upper hinge, the first lower hinge, the A hinge and the B hinge constitute the four endpoints of a parallelogram, and the lines between the four endpoints constitute the first parallelogram. Let the line between the first upper hinge and the first lower hinge be L1, the line between the A hinge and the B hinge be L2, the line between the first upper hinge and the A hinge be L3, and the line between the first lower hinge and the B hinge be L4. In the process of the driving block driving the front jaw and the rear jaw to move synchronously, L1 is always parallel to L2, and L3 is always parallel to L4.

[0009] Furthermore, the second upper hinge, the second lower hinge, the C hinge and the D hinge constitute the four endpoints of a parallelogram, and the lines between the four endpoints constitute a second parallelogram. The line between the second upper hinge and the second lower hinge is L5, the line between the C hinge and the D hinge is L6, the line between the second upper hinge and the C hinge is L7, and the line between the second lower hinge and the D hinge is L8. In the process of the driving block driving the front jaw and the rear jaw to move synchronously, L1 is always parallel to L2, L3 is always parallel to L4, and the first parallelogram and the second parallelogram are symmetrically arranged relative to the fixed block.

[0010] Furthermore, the B hinge, the D hinge, the front hinge, the rear hinge, the first lower hinge and the second lower hinge constitute six endpoints of a hexagon, and the lines between the six endpoints constitute a first hexagon. The linkage mechanism drives the front claw and the rear claw to approach each other and move upward relative to the fixed block at the same time through the linkage relationship between the first parallelogram, the second parallelogram and the first hexagon.

[0011] Furthermore, a front guide notch and a rear guide notch are respectively provided at the upper ends of the front clamping claw and the rear clamping claw on one side close to each other, and the shapes of the front guide notch and the rear guide notch are both trumpet-shaped.

[0012] Furthermore, a front through groove and a rear through groove are respectively opened on the lifting plate in the direction of travel, and the upper ends of the front clamping jaws and the rear clamping jaws correspond to the front through groove and the rear through groove respectively. When the front clamping jaws and the rear clamping jaws make an upward movement and approach each other under the transmission of the linkage structure, they respectively pass through the front through groove and the rear through groove upward.

[0013] Furthermore, in the initial state, several pallets are mounted on the shelves, and goods are placed on each pallet. The lifting plate is in a non-lifting state, and the upper ends of the front claws and the rear claws are lower than the lower ends of the anti-skew feet, so that the shuttle vehicle can move on the guide rails and shuttle smoothly under the pallets.

[0014] Furthermore, in the initial state, when the shuttle moves along the guide rail to the bottom of any pallet, the lifting plate performs a lifting movement driven by the driving device of the shuttle, and the driving block moves together with the lifting movement of the lifting plate, and can move vertically upward relative to the fixed block; in the process of the driving block moving vertically upward, the linkage mechanism drives the front clamping claw and the rear clamping claw to approach each other and move upward relative to the fixed block at the same time through the linkage relationship between the first parallelogram, the second parallelogram and the first hexagon, and in this process, the upper ends of the front clamping claw and the rear clamping claw respectively pass through the corresponding front passing groove and the rear passing groove upward, and when the lifting plate stops the lifting movement, the upper ends of the front clamping claw and the rear clamping claw protrude from the upper surface of the lifting plate, and are respectively located at the front and rear sides of the travel direction of the anti-skewness foot, thereby limiting the anti-skewness foot.

[0015] Beneficial effect: The present invention provides a pallet lifting device and working method for a shuttle vehicle, wherein a front clamping claw and a rear clamping claw are respectively arranged on the front and rear sides of the pallet anti-skewness foot, which can effectively limit the sliding between the pallet anti-skewness foot and the shuttle vehicle lifting plate, and can also prevent the deviation of the pallet after the goods scrape against the shelf column during the goods handling process. By arranging a front guide notch and a rear guide notch on the front clamping claw and the rear clamping claw, the placement error of the pallet and the stopping error of the shuttle vehicle can be effectively eliminated. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the installation of a pallet lifting device for a shuttle vehicle of the present invention installed on the shuttle vehicle;

[0017] Figure 2 It is a structural schematic diagram of a pallet lifting device for a shuttle vehicle of the present invention;

[0018] Figure 3 A schematic diagram of the position between the shuttle and the pallet when the lifting plate is in a non-lifting state;

[0019] Figure 4 This is an enlarged view of the structure within the range of A;

[0020] Figure 5A schematic diagram of the position between the shuttle and the pallet when the lifting plate is in the lifted state;

[0021] Figure 6 This is an enlarged view of the structure within range B. DETAILED DESCRIPTION

[0022] The present invention will be further described below in conjunction with the accompanying drawings.

[0023] As attached Figures 1 to 6 As shown, a pallet lifting device and working method for a shuttle vehicle include a shuttle vehicle 30 and a pallet 40. The pallet 40 can be detachably placed on the upper end of the shuttle vehicle 30. A lifting plate 10 is arranged on the upper part of the shuttle vehicle 30. The driving device on the shuttle vehicle 30 drives the lifting plate 10 to perform a lifting movement. When the lifting plate 10 is in a non-lifting state, the lower surface of the lifting plate 10 contacts the upper surface of the shuttle vehicle 30; a plurality of supporting feet 410 are arranged at the bottom of the pallet 40, and one of the plurality of supporting feet 410 close to the center of the pallet 40 is marked as an anti-deviation foot 420; a front clamping jaw 110A and a rear clamping jaw 110B are arranged on the shuttle vehicle 30 along the travel direction, and the front clamping jaw 110A and the rear clamping jaw 110B are linked and connected with the lifting plate 10 through a linkage structure 100. When the pallet 40 is horizontally placed on the lifting plate 10, the lifting The lifting action of the lifting plate 10 causes the front jaw 110A and the rear jaw 110B to approach each other while performing an ascending motion under the transmission of the linkage structure 100, and to be at the front and rear sides of the anti-skewness foot 420 in the direction of travel, or the front jaw 110A and the rear jaw 110B to approach each other while performing an ascending motion under the transmission of the linkage structure 100, and the sides of the front jaw 110A and the rear jaw 110B that are close to each other are respectively pressed against the front and rear sides of the anti-skewness foot 420, when the shuttle 30 moves along the direction of travel with the pallet, and the front jaw 110A and the rear jaw 110B are at the front and rear sides of the direction of travel of the anti-skewness foot 420, the anti-skewness foot 420 slides in the range between the front jaw 110A and the rear jaw 110B, and finally one side of the anti-skewness foot 420 is pressed against the front jaw 110A or the rear jaw 110B.

[0024] The linkage structure 100 includes a fixed block 130, an A driving rod 140A, a B driving rod 140B, a driving block 150, an A connecting rod 160A, a B connecting rod 160B, a C connecting rod 160C and a D connecting rod 160D. The fixed block 130 is fixedly installed inside the shuttle 30. The upper end of the driving block 150 is fixedly connected to the lower end of the lifting plate 10. When the lifting plate 10 is lifted by the driving device, the driving block 150 moves vertically upward relative to the fixed block 130 along with the lifting movement of the lifting plate 10. One end of the A driving rod 140A and the B driving rod 140B The front and rear ends of the driving block 150 are respectively hinged to the front and rear sides of the driving block 150 through the front hinge 190A and the rear hinge 190B, and the other ends are respectively hinged to the lower ends of the front claw 110A and the rear claw 110B through the first lower hinge 210A and the second lower hinge 210B, and the A driving rod 140A and the B driving rod 140B are symmetrically arranged with respect to the front and rear of the driving block 150; one end of the A connecting rod 160A, the B connecting rod 160B, the C connecting rod 160C and the D connecting rod 160D are respectively hinged to the fixed block 110A through the A hinge 180A, the B hinge 180B, the C hinge 180C and the D hinge 180D. 30, the other ends of the A link 160A and the C link 160C are hinged to the lower ends of the front claw 110A and the rear claw 110B through the first upper hinge 170A and the second upper hinge 170B, respectively, and the other ends of the B link 160B and the D link 160D are hinged to the lower ends of the front claw 110A and the rear claw 110B together with the A drive rod 140A and the B drive rod 140B through the first lower hinge 210A and the second lower hinge 210B, respectively, and the first upper hinge 170A and the second upper hinge 170B are respectively located at the first lower hinge 210A and the second lower hinge 210B. Above the lower hinge 210B, the A link 160A and the B link 160B and the C hinge 180C and the D hinge 180D are symmetrically arranged front and back relative to the fixed block 130. Under the joint action of the A link 160A and the B link 160B, the front claw 110A is always perpendicular to the lifting plate 10 during the vertical upward movement of the driving block 150 relative to the fixed block 130. Under the joint action of the C link 160C and the D link 160D, the rear claw 110B is always perpendicular to the lifting plate 10 during the vertical upward movement of the driving block 150 relative to the fixed block 130.

[0025] The first upper hinge 170A, the first lower hinge 170B, the A hinge 180A and the B hinge 180B constitute the four endpoints of a parallelogram, and the lines between the four endpoints constitute the first parallelogram. Let the line between the first upper hinge 170A and the first lower hinge 210A be L1, the line between the A hinge 180A and the B hinge 180B be L2, the line between the first upper hinge 170A and the A hinge 180A be L3, and the line between the first lower hinge 210A and the B hinge 180B be L4. In the process of the driving block 150 driving the front jaw 110A and the rear jaw 110B to move synchronously, L1 is always parallel to L2, and L3 is always parallel to L4.

[0026] The second upper hinge 170B, the second lower hinge 210B, the C hinge 180C and the D hinge 180D constitute the four endpoints of a parallelogram, and the lines between the four endpoints constitute a second parallelogram. Let the line between the second upper hinge 170B and the second lower hinge 210B be L5, the line between the C hinge 180C and the D hinge 180D be L6, the line between the second upper hinge 170B and the C hinge 180C be L7, and the line between the second lower hinge 210B and the D hinge 180D be L8. In the process of the driving block 150 driving the front jaw 110A and the rear jaw 110B to move synchronously, L1 is always parallel to L2, L3 is always parallel to L4, and the first parallelogram and the second parallelogram are symmetrically arranged relative to the fixed block 130.

[0027] The B hinge 180B, the D hinge 180D, the front hinge 190A, the rear hinge 190B, the first lower hinge 210A and the second lower hinge 210B constitute the six endpoints of a hexagon, and the lines between the six endpoints constitute the first hexagon. The linkage mechanism 100 drives the front claw 110A and the rear claw 110B to approach each other and move upward relative to the fixed block 130 through the linkage relationship between the first parallelogram, the second parallelogram and the first hexagon.

[0028] Two mounting plates 20 are symmetrically arranged on both sides of the shuttle 30 along the traveling direction. The mounting plates 20 are located below the lifting plate 10 and are fixedly connected to the end body of the shuttle 30. The fixing block 150 is fixed to the mounting plate 20 on one side along the length direction. The upper surface of the driving block 150 is fixedly connected to the center of the lower surface of the lifting plate 10. When the lifting plate 10 is lifted by the driving device of the shuttle 30, the driving block 150 moves with the lifting movement of the lifting plate 10 and can move vertically upward relative to the fixing block 130.

[0029] The upper ends of the front claw 110A and the rear claw 110B on the side close to each other are respectively provided with a front guide notch 200A and a rear guide notch 200B, and the shapes of the front guide notch 200A and the rear guide notch 200B are both trumpet-shaped. Since the pallet 40 cannot be completely guaranteed to be located in the center of the shelf when it is placed on the shelf, and when the shuttle 30 needs to stop after shuttling under the pallet 40, it cannot be completely guaranteed that the anti-deflection foot 420 on the pallet 40 is exactly located in the center area of ​​the upper surface of the shuttle 30. Therefore, when the lifting plate 10 is driven by the driving device of the shuttle 30 to perform a lifting movement, the front claw 110A and the rear claw 110B approach each other and move upward relative to the fixed block 130 at the same time, until the upper ends of the front claw 110A and the rear claw 110B respectively pass through the corresponding front through slot 40A and rear through slot 40B upward. At this time, the front claw 110 The front guide notch 200A at the upper end of the anti-deflection foot 420 guides the front side of the anti-deflection foot 420 and applies a force close to the rear claw 110B to the front side of the anti-deflection foot 420, so that the anti-deflection foot 420 moves toward the rear claw 110B, or the rear guide notch 200B at the upper end of the rear claw 110B guides the rear side of the anti-deflection foot 420 and applies a force close to the front claw 110A to the rear side of the anti-deflection foot 420, so that the anti-deflection foot 420 moves toward the rear claw 110B. 0 moves toward the front clamping jaw 110A, and finally the front clamping jaw 110A and the rear clamping jaw 110B are at the front and rear sides of the anti-skewness foot 420 in the direction of travel, so that the anti-skewness foot 420 slides in the range between the front clamping jaw 110A and the rear clamping jaw 110B, or the side of the front clamping jaw 110A and the rear clamping jaw 110B that are close to each other are pressed against the front and rear sides of the anti-skewness foot 420 in the direction of travel, clamping the anti-skewness foot 420 while limiting the anti-skewness foot 420.

[0030] A front through slot 40A and a rear through slot 40B are respectively provided on the lifting plate 10 along the direction of travel, and the upper ends of the front clamping jaw 110A and the rear clamping jaw 110B correspond to the front through slot 40A and the rear through slot 40B respectively. When the front clamping jaw 110A and the rear clamping jaw 110B move upward and approach each other under the transmission of the linkage structure 100, they respectively pass through the front through slot 40A and the rear through slot 40B upward.

[0031] In the initial state, several pallets 40 are mounted on the shelves, and goods are placed on each pallet 40. The lifting plate 10 is in a non-lifting state. The upper end of the front claw 110A and the upper end of the rear claw 110B are both lower than the lower end of the anti-skew foot 420, so that the shuttle 30 can move on the guide rail and can shuttle smoothly under the pallet 40.

[0032] A working method of a pallet lifting device for a shuttle vehicle: in an initial state, when the shuttle vehicle 30 moves along a guide rail to the bottom of any pallet 40, the lifting plate 10 is driven by a driving device of the shuttle vehicle 30 to perform a lifting motion, and the driving block 150 moves along with the lifting motion of the lifting plate 10 and can move vertically upward relative to the fixed block 130; during the vertical upward motion of the driving block 150, the linkage mechanism 100 is linked by the first parallelogram, the second parallelogram and the first hexagon. The front clamping claw 110A and the rear clamping claw 110B are driven to approach each other and move upward relative to the fixed block 130 at the same time. During this process, the upper ends of the front clamping claw 110A and the rear clamping claw 110B respectively pass through the corresponding front through slot 40A and the rear through slot 40B upward. When the lifting plate 10 stops the lifting movement, the upper ends of the front clamping claw 110A and the rear clamping claw 110B protrude from the upper surface of the lifting plate 10, and are respectively located at the front and rear sides of the anti-deflection foot 420 in the direction of travel, so as to limit the anti-deflection foot 420.

[0033] Or the linkage mechanism 100 drives the front clamping claw 110A and the rear clamping claw 110B to approach each other and move upward relative to the fixed block 130 through the linkage relationship between the first parallelogram, the second parallelogram and the first hexagon, until the upper ends of the front clamping claw 110A and the rear clamping claw 110B respectively pass through the corresponding front through slot 40A and the rear through slot 40B upward, and the upper ends of the front clamping claw 110A and the rear clamping claw 110B protrude from the upper surface of the lifting plate 10, and the upper ends of the front clamping claw 110A and the upper ends of the rear clamping claw 110B that are close to each other are respectively pressed against the front and rear sides of the anti-deflection foot 420, clamping the anti-deflection foot 420 while limiting the anti-deflection foot 420.

[0034] The above are preferred embodiments of the present invention. It should be pointed out that a person skilled in the art may make several improvements and modifications without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the protection scope of the present invention.

Claims

1. A pallet lifting device for a shuttle vehicle, characterized in that: The invention comprises a shuttle vehicle (30) and a tray (40), wherein a lifting plate (10) is arranged on the upper part of the shuttle vehicle (30), and a driving device on the shuttle vehicle (30) drives the lifting plate (10) to perform a lifting movement; a plurality of supporting feet (410) are arranged on the bottom of the tray (40), and one of the plurality of supporting feet (410) close to the center of the tray (40) is marked as an anti-deflection foot (420); a front clamping claw (110A) and a rear clamping claw are arranged on the shuttle vehicle (30) in the front and rear directions of the moving direction. (110B), the front clamping jaw (110A) and the rear clamping jaw (110B) are linked to the lifting plate (10) through a linkage structure (100). When the tray (40) is placed horizontally on the lifting plate (10), the lifting action of the lifting plate (10) causes the front clamping jaw (110A) and the rear clamping jaw (110B) to move upward under the transmission of the linkage structure (100) and approach each other, and are located at the front and rear sides of the anti-skew foot (420) in the direction of travel.

2. A pallet lifting device for a shuttle vehicle according to claim 1, characterized in that: The linkage structure (100) comprises a fixed block (130), an A driving rod (140A), a B driving rod (140B), a driving block (150), an A connecting rod (160A), a B connecting rod (160B), a C connecting rod (160C) and a D connecting rod (160D), wherein the fixed block (130) is fixedly installed inside the shuttle vehicle (30), the upper end of the driving block (150) is fixedly connected to the lower end of the lifting plate (10), and the A driving rod (140A) and the B driving rod (140B) are connected to each other. One end of the A driving rod (140A) and the B driving rod (140B) are respectively hinged to the front and rear sides of the driving block (150) through a front hinge (190A) and a rear hinge (190B), and the other ends of the A driving rod (140A) and the B driving rod (140B) are respectively hinged to the lower ends of the front claw (110A) and the rear claw (110B) through a first lower hinge (210A) and a second lower hinge (210B), and the A driving rod (140A) and the B driving rod (140B) are symmetrically arranged front and back relative to the driving block (150); One end of the A link (160A), the B link (160B), the C link (160C) and the D link (160D) are respectively hinged to the front and rear sides of the fixed block (130) through the A hinge (180A), the B hinge (180B), the C hinge (180C) and the D hinge (180D); the other ends of the A link (160A) and the C link (160C) are respectively hinged to the lower ends of the front claw (110A) and the rear claw (110B) through the first upper hinge (170A) and the second upper hinge (170B); the B link (160B) and the D link (160C) are respectively hinged to the lower ends of the front claw (110A) and the rear claw (110B) through the first upper hinge (170A) and the second upper hinge (170B). The other end of the connecting rod (160A) and the connecting rod (160B) are hinged to the lower ends of the front claw (110A) and the rear claw (110B) together with the A driving rod (140A) and the B driving rod (140B) through the first lower hinge (210A) and the second lower hinge (210B), and the first upper hinge (170A) and the second upper hinge (170B) are respectively located above the first lower hinge (210A) and the second lower hinge (210B), and the A connecting rod (160A) and the B connecting rod (160B) and the C hinge (180C) and the D hinge (180D) are symmetrically arranged front and back relative to the fixed block (130).

3. A pallet lifting device for a shuttle vehicle according to claim 1, characterized in that: Two mounting plates (20) are symmetrically arranged on both sides of the shuttle vehicle (30) along the travel direction, and the mounting plates (20) are located below the lifting plate (10). The fixing block (150) is fixed on the mounting plate (20) along one side of the length direction, and the upper surface of the driving block (150) is fixedly connected to the center of the lower surface of the lifting plate (10).

4. A pallet lifting device for a shuttle vehicle according to claim 2, characterized in that: The first upper hinge (170A), the first lower hinge (170B), the A hinge (180A) and the B hinge (180B) constitute the four endpoints of a parallelogram, and the lines between the four endpoints constitute the first parallelogram. Assume that the line between the first upper hinge (170A) and the first lower hinge (210A) is L1, the line between the A hinge (180A) and the B hinge (180B) is L2, the line between the first upper hinge (170A) and the A hinge (180A) is L3, and the line between the first lower hinge (210A) and the B hinge (180B) is L4. When the driving block (150) drives the front clamping jaw (110A) and the rear clamping jaw (110B) to move synchronously, L1 is always parallel to L2, and L3 is always parallel to L4.

5. A pallet lifting device for a shuttle vehicle according to claim 2, characterized in that: The second upper hinge (170B), the second lower hinge (210B), the C hinge (180C) and the D hinge (180D) constitute the four endpoints of a parallelogram, and the lines between the four endpoints constitute a second parallelogram. The line between the second upper hinge (170B) and the second lower hinge (210B) is L5, the line between the C hinge (180C) and the D hinge (180D) is L6, the line between the second upper hinge (170B) and the C hinge (180C) is L7, and the line between the second lower hinge (210B) and the D hinge (180D) is L8. When the driving block (150) drives the front clamping jaw (110A) and the rear clamping jaw (110B) to move synchronously, L1 and L2 are always parallel, L3 and L4 are always parallel, and the first parallelogram and the second parallelogram are symmetrically arranged relative to the fixed block (130).

6. A pallet lifting device for a shuttle vehicle according to claim 2, characterized in that: The B hinge (180B), the D hinge (180D), the front hinge (190A), the rear hinge (190B), the first lower hinge (210A) and the second lower hinge (210B) constitute six endpoints of a hexagon, and the lines connecting the six endpoints together constitute a first hexagon. The linkage mechanism (100) drives the front clamping claw (110A) and the rear clamping claw (110B) to approach each other and simultaneously move upward relative to the fixed block (130) through the linkage relationship between the first parallelogram, the second parallelogram and the first hexagon.

7. The pallet lifting device for a shuttle vehicle according to claim 1, characterized in that: A front guide notch (200A) and a rear guide notch (200B) are respectively provided at the upper ends of the front clamping claw (110A) and the rear clamping claw (110B) on the side close to each other, and the shapes of the front guide notch (200A) and the rear guide notch (200B) are both trumpet-shaped.

8. The pallet lifting device for a shuttle vehicle according to claim 1, characterized in that: The lifting plate (10) is provided with a front through slot (40A) and a rear through slot (40B) along the direction of travel, and the upper ends of the front clamping jaw (110A) and the rear clamping jaw (110B) correspond to the front through slot (40A) and the rear through slot (40B) respectively. When the front clamping jaw (110A) and the rear clamping jaw (110B) move upward and approach each other under the transmission of the linkage structure (100), they respectively pass through the front through slot (40A) and the rear through slot (40B) upward.

9. The pallet lifting device for a shuttle vehicle according to claim 1, characterized in that: In the initial state, a plurality of pallets (40) are mounted on the shelf, and goods are placed on each of the pallets (40). The lifting plate (10) is in a non-lifting state, and the upper end of the front clamping claw (110A) and the upper end of the rear clamping claw (110B) are both lower than the lower end of the anti-skew foot (420), so that the shuttle vehicle (30) can move on the guide rail and can smoothly shuttle under the pallet (40).

10. The working method of the pallet lifting device for a shuttle vehicle according to claim 1, characterized in that: In the initial state, when the shuttle (30) moves along the guide rail to the bottom of any pallet (40), the lifting plate (10) is lifted under the drive of the driving device of the shuttle (30), and the driving block (150) moves with the lifting of the lifting plate (10) and can move vertically upward relative to the fixed block (130); during the vertical upward movement of the driving block (150), the linkage mechanism (100) drives the front claw (100) through the linkage relationship between the first parallelogram, the second parallelogram and the first hexagon. The front claw (110A) and the rear claw (110B) approach each other and move upward relative to the fixed block (130) at the same time. During this process, the upper ends of the front claw (110A) and the rear claw (110B) respectively pass through the corresponding front through slot (40A) and the rear through slot (40B) upward. When the lifting plate (10) stops lifting, the upper ends of the front claw (110A) and the rear claw (110B) protrude from the upper surface of the lifting plate (10) and are respectively located at the front and rear sides of the anti-deviation foot (420) in the direction of travel, thereby limiting the anti-deviation foot (420).

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