Pallet lifting device for shuttle vehicle and working method

Abstract

The jackup plate is connected to the lifting platform by the lifting mechanism, and the lifting mechanism is connected to the lifting platform by the lifting mechanism, so that the jackup plate is lifted and the pallet is lifted off the platform.

Description

Technical Field

[0001] The present invention relates to the field of intelligent three-dimensional warehousing, and more particularly 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 three-dimensional warehousing may cause the pallets to shift, scrape against the shelf columns, and cause the palletized goods to tip over due to errors in the shelf tracks and the start and stop of the shuttle vehicles. The existing technology is to apply anti-slip treatment to the lifting plate on the top of the shuttle vehicle to reduce pallet shift, or to arrange multiple groups of photoelectric sensors to detect the pallet position. However, manual pallet correction is still required, which affects the efficiency of three-dimensional 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 clamps and rear clamps are respectively provided on the front and rear sides of the pallet anti-skew feet, which can effectively limit the sliding between the pallet anti-skew feet and the shuttle vehicle lifting plate. It can also prevent the deviation of the pallet after the goods scrape against the shelf columns during the cargo handling process. By providing front guide notches and rear guide notches on the front clamps and the rear clamps, 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 provided 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 provided 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 clamping claw and a rear clamping claw are provided on the front and rear sides along the travel direction of the shuttle car, and the front clamping claw and the rear clamping claw 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 clamping claw and the rear clamping claw to move upward under the transmission of the linkage structure while approaching each other, and on the front and rear sides of the travel direction of the anti-skewness foot.

[0005] Furthermore, the linkage structure includes a fixed block, an A drive rod, a B drive rod, a drive 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 drive block is fixedly connected to the lower end of the lifting plate, one end of the A drive rod and the B drive rod are hinged to both sides of the drive block through a front hinge and a rear hinge respectively, the other ends of the A drive rod and the B drive rod are hinged to the lower ends of the front clamping jaw and the rear clamping jaw respectively through a first lower hinge and a second lower hinge, and the A drive rod and the B drive rod are symmetrically arranged relative to the drive block;

[0006] One ends of the A, B, C and D links are hinged on both sides of the fixed block through the A hinge, B hinge, C hinge and D hinge respectively, and the other ends of the A and C links are hinged on the lower ends of the front clamping jaw and the rear clamping jaw through the first upper hinge and the second upper hinge respectively. The other ends of the B and D links are hinged to the lower ends of the front clamping jaw and the rear clamping jaw together with the A drive rod and the B drive 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. The A and B links 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 direction of travel. 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. Let the line between the second upper hinge and the second lower hinge be L5, the line between the C hinge and the D hinge be L6, the line between the second upper hinge and the C hinge be L7, and the line between the second lower hinge and the D hinge be L8. In the process of the driving block driving the front jaw and the rear jaw 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.

[0010] Furthermore, the B hinge, D hinge, front hinge, rear hinge, first lower hinge and second lower hinge constitute the six endpoints of a hexagon, and the lines between the six endpoints constitute the first hexagon. The linkage mechanism drives the front clamp and the rear clamp 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 jaw and the rear clamping jaw on the 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 slot and a rear through slot are respectively provided 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 slot and the rear through slot respectively. When the front clamping jaws and the rear clamping jaws move upward and approach each other under the transmission of the linkage structure, they respectively pass through the front through slot and the rear through slot upward.

[0013] Furthermore, in the initial state, several pallets are placed 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 clamps and the rear clamps are lower than the lower ends of the anti-skew feet, so that the shuttle can move on the guide rails and can 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 is driven by the driving device of the shuttle to perform a lifting movement, 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 jaws and the rear clamping jaws 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. In this process, the upper ends of the front clamping jaws and the rear clamping jaws respectively pass through the corresponding front passing grooves and the rear passing grooves upward. When the lifting plate stops performing the lifting movement, the upper ends of the front clamping jaws and the rear clamping jaws 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 provided 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 cargo handling process. By providing 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 This is a schematic diagram of the installation of a pallet lifting device for a shuttle vehicle according to the present invention installed on the shuttle vehicle;

[0017] Figure 2 This is a schematic structural diagram of a pallet lifting device for a shuttle vehicle according to 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-lifted state;

[0019] Figure 4 This is an enlarged view of the structure within range 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 with reference to the accompanying drawings.

[0023] As attached Figures 1 to 6 As shown, a pallet lifting device and working method for a shuttle car include a shuttle car 30 and a pallet 40, the pallet 40 can be detachably placed on the upper end of the shuttle car 30, and a lifting plate 10 is provided on the upper part of the shuttle car 30, and the driving device on the shuttle car 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 car 30; a plurality of supporting legs 410 are provided at the bottom of the pallet 40, and one of the plurality of supporting legs 410 close to the center of the pallet 40 is marked as an anti-deflection leg 420; a front clamping jaw 110A and a rear clamping jaw 110B are provided on the shuttle car 30 along the traveling direction, and 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 pallet 40 is horizontally placed on the lifting plate 10, the lifting The lifting action of the lifting plate 10 causes the front clamp 110A and the rear clamp 110B to move closer to each other while doing an upward movement under the transmission of the linkage structure 100, and to the front and rear sides of the anti-skewness foot 420 in the direction of travel, or the front clamp 110A and the rear clamp 110B move closer to each other while doing an upward movement under the transmission of the linkage structure 100, and the side of the front clamp 110A and the rear clamp 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 clamp 110A and the rear clamp 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 clamp 110A and the rear clamp 110B, and finally one side of the anti-skewness foot 420 is pressed against the front clamp 110A or the rear clamp 110B.

[0024] The linkage structure 100 includes a fixed block 130, an A drive rod 140A, a B drive rod 140B, a drive block 150, an A link 160A, a B link 160B, a C link 160C, and a D link 160D. The fixed block 130 is fixedly mounted inside the shuttle 30. The upper end of the drive 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 drive 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 drive rod 140A and the B drive rod 140B The front and rear hinges 190A and 190B are respectively hinged to the front and rear sides of the driving block 150, and the other ends are respectively hinged to the lower ends of the front clamping jaw 110A and the rear clamping jaw 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 relative to the front and rear ends 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 clamping jaw 110A and the rear clamping jaw 110B through the first upper hinge 170A and the second upper hinge 170B, respectively. The other ends of the B link 160B and the D link 160D are hinged to the lower ends of the front clamping jaw 110A and the rear clamping jaw 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. 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 to back relative to the fixed block 130. Under the joint action of the A link 160A and the B link 160B, the front clamp 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 clamp 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 210A, 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 and L2 are always parallel, and L3 and L4 are always parallel.

[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 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.

[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 structure 100 drives the front clamp 110A and the rear clamp 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 direction of travel. The mounting plates 20 are located below the lifting plate 10 and are fixedly connected to the end body of the shuttle 30. The fixed block 130 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 fixed block 130.

[0029] The upper ends of the front clamping jaws 110A and the rear clamping jaws 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 when 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 clamping jaws 110A and the rear clamping jaws 110B approach each other and move upward relative to the fixed block 130 at the same time, until the upper ends of the front clamping jaws 110A and the rear clamping jaws 110B respectively pass through the corresponding front through slots 40A and rear through slots 40B. At this time, the front clamping jaws 110 The front guide notch 200A at the upper end of the A guides the front side of the anti-deflection foot 420 and applies a force close to the rear clamping jaw 110B to the front side of the anti-deflection foot 420, so that the anti-deflection foot 420 moves toward the rear clamping jaw 110B, or the rear guide notch 200B at the upper end of the rear clamping jaw 110B guides the rear side of the anti-deflection foot 420 and applies a force close to the front clamping jaw 110A to the rear side of the anti-deflection foot 420, so that the anti-deflection foot 420 moves toward the rear clamping jaw 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 within 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 is close to each other is 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 through slot 40A, 40B 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, and the upper end of the front clamp 110A and the upper end of the rear clamp 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 smoothly shuttle under the pallet 40.

[0032] A method for operating a pallet lifting device for a shuttle vehicle: in an initial state, when the shuttle vehicle 30 moves along the guide rail to the bottom of any pallet 40, the lifting plate 10 is driven by the 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 jaw 110A and the rear clamping jaw 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 jaw 110A and the rear clamping jaw 110B respectively pass upward through the corresponding front through slot 40A and the rear through slot 40B. When the lifting plate 10 stops lifting, the upper ends of the front clamping jaw 110A and the rear clamping jaw 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, thereby limiting the anti-deflection foot 420.

[0033] Or the linkage mechanism 100 drives the front clamping jaw 110A and the rear clamping jaw 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 jaw 110A and the rear clamping jaw 110B respectively pass upward through the corresponding front through slot 40A and the rear through slot 40B, and the upper ends of the front clamping jaw 110A and the rear clamping jaw 110B protrude from the upper surface of the lifting plate 10, and the sides of the upper ends of the front clamping jaw 110A and the upper ends of the rear clamping jaw 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 is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A pallet lifting device for a shuttle vehicle, characterized in that: The invention comprises a shuttle car (30) and a tray (40), wherein a lifting plate (10) is provided on the upper part of the shuttle car (30), and a driving device on the shuttle car (30) drives the lifting plate (10) to perform a lifting movement; a plurality of supporting legs (410) are provided at the bottom of the tray (40), and one of the plurality of supporting legs (410) close to the center of the tray (40) is marked as an anti-deflection leg (420); a front clamping claw (110A) and a rear clamping claw are provided on the shuttle car (30) along the travel 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), and 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-deflection foot (420) in the direction of travel; The linkage structure (100) includes a fixed block (130), an A drive rod (140A), a B drive rod (140B), a drive 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 (30), the upper end of the drive block (150) is fixedly connected to the lower end of the lifting plate (10), the A drive rod (140A) and the B drive rod (140B) are fixedly connected to the lifting plate (10), and the A drive rod (140A) and the B drive rod (140B) are fixedly connected to the lifting plate (10). One end of the A driving rod (140A) and the B driving rod (140B) are hinged to the front and rear sides of the driving block (150) through a front hinge (190A) and a rear hinge (190B), respectively; the other ends of the A driving rod (140A) and the B driving rod (140B) are hinged to the lower ends of the front clamping jaw (110A) and the rear clamping jaw (110B) through a first lower hinge (210A) and a second lower hinge (210B), respectively; 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 connecting rod (160A), the B connecting rod (160B), the C connecting rod (160C) and the D connecting rod (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), and the other end of the A connecting rod (160A) and the C connecting rod (160C) are respectively hinged to the lower ends of the front clamping claw (110A) and the rear clamping claw (110B) through the first upper hinge (170A) and the second upper hinge (170B). The other end of the connecting rod (D) is hinged to the lower ends of the front clamping jaw (110A) and the rear clamping jaw (110B) together with the A driving rod (140A) and the B driving rod (140B) through a first lower hinge (210A) and a 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 in front and back relative to the fixed block (130); The first upper hinge (170A), the first lower hinge (210A), the A hinge (180A) and the B hinge (180B) constitute four endpoints of a parallelogram, and the lines between the four endpoints constitute a 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 and L2 are always parallel, and L3 and L4 are always parallel. 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). 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 structure (100) drives the front clamping jaw (110A) and the rear clamping jaw (110B) to move closer to 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. 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. In the initial state, a plurality of the 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 clamp (110A) and the upper end of the rear clamp (110B) are both lower than the lower end of the anti-deflection foot (420), so that the shuttle (30) can move on the guide rail and can smoothly shuttle under the pallet (40).

2. 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 traveling direction inside the shuttle (30), and the mounting plates (20) are located below the lifting plate (10). The fixing block (130) 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).

3. 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 jaw (110A) and the rear clamping jaw (110B) on the side close to each other. The shapes of the front guide notch (200A) and the rear guide notch (200B) are both trumpet-shaped.

4. The operating 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 driven by the driving device of the shuttle (30) to perform a lifting movement, and the driving block (150) moves together with the lifting movement 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 structure (100) drives the front clamping claw ( The front clamping jaw (110A) and the rear clamping jaw (110B) approach each other and simultaneously move upward relative to the fixed block (130). During this process, the upper ends of the front clamping jaw (110A) and the rear clamping jaw (110B) respectively pass upward through the corresponding front through slot (40A) and the rear through slot (40B). When the lifting plate (10) stops lifting, the upper ends of the front clamping jaw (110A) and the rear clamping jaw (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, thereby limiting the anti-deflection foot (420).

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