Large heavy load product transfer conveying device and control method thereof

Abstract

The present application relates to a kind of large heavy load product transfer conveying equipment and its control method, the large heavy load product transfer conveying equipment includes chassis car, control system, power supply system, support system, lifting system and upper platform;Upper platform includes bearing platform main body, platform locking mechanism, unpowered transfer roller and at least two forks;The control method of the equipment is lifted twice, so that locking rod and shelf are temporarily locked, then the block of fork outer end is hooked to shelf tray, realize 820mm-5280mm height range in large heavy load product between multilayer space shelf stable transfer and conveying.The present application solves the problem that the prior art is not high in efficiency, low in intelligent degree, insufficient in anti-overturning force and poor in stability when storing, transferring and conveying large heavy load product, and also realizes the stable transfer and conveying of large heavy load product between multilayer space shelf, with the advantages of high transfer and conveying efficiency, good stability, large load capacity, high intelligent degree and wide application.

Description

Technical Field

[0001] This invention relates to a transfer and conveying device, specifically to a large-scale heavy-duty product transfer and conveying device and its control method. Background Technology

[0002] Currently, most large and heavy-duty products are stored using rack-type storage, and storage and transportation are mostly carried out by manual labor in conjunction with overhead cranes. This method is not efficient and cannot meet the requirements for intelligent management and efficient outbound delivery of large and heavy-duty products. Furthermore, existing lifting platforms have insufficient anti-overturning force and poor stability when transferring and transporting large and heavy-duty products at heights exceeding 3500mm, which can easily lead to accidents and property damage. Summary of the Invention

[0003] The purpose of this invention is to solve the problems of low efficiency, low level of intelligence, and insufficient anti-overturning force and low stability of existing transfer equipment when storing, transferring and transporting large and heavy products, especially when the lifting platform is more than 3500mm high.

[0004] The concept of this invention is to achieve high stability and intelligence when transferring and transporting large, heavy-duty products within a height range of 820mm-5280mm by coordinating the support system with other systems.

[0005] To achieve the above objectives and complete the above inventive concept, the present invention adopts the following technical solution:

[0006] A large-scale heavy-duty product transfer and conveying equipment includes a chassis vehicle and a control system, a power system, a lifting system, and a superstructure platform mounted on the chassis vehicle.

[0007] The lifting system is used to drive the lifting of the superstructure platform.

[0008] The superstructure platform includes a main body of the carrying platform and at least two forks that are mounted on the main body of the carrying platform and extend and retract along the width direction of the main body of the carrying platform.

[0009] Its special feature is that it also includes a support system.

[0010] The support system includes three scissor fork mechanisms and scissor fork locking mechanisms for locking the respective scissor fork mechanisms; two of the scissor fork mechanisms are respectively located at the front and rear ends of the chassis vehicle along the width direction, and are located at opposite corners of the chassis vehicle when fully extended; the third scissor fork mechanism is located in the middle of the chassis vehicle along the length direction.

[0011] The upper ends of the three scissor fork mechanisms are connected to the upper platform, and the lower ends are connected to the chassis vehicle.

[0012] The forks are equipped with stops at their extended ends for hooking onto pallets on the shelf.

[0013] The control system is used to control the operation of the superstructure platform, lifting system, support system, and chassis.

[0014] The power system is used to supply power to the superstructure platform, lifting system, support system and chassis.

[0015] Furthermore, the scissor fork mechanism includes an upper guide rail, a lower guide rail, and multiple scissor forks connected in series.

[0016] The upper guide rail is fixedly connected to the upper platform, the lower guide rail is fixedly connected to the chassis, the sliding end of the bottom scissor fork can move on the lower guide rail, and the sliding end of the top scissor fork can move on the upper guide rail.

[0017] Furthermore, the scissor fork locking mechanism includes a drive motor, a first lead screw, and a nut seat block connected in sequence.

[0018] The nut seat block moves along the lower guide rail and is located outside the sliding end of the lowest scissor fork.

[0019] The first lead screw and the nut seat block constitute a ball screw pair.

[0020] The drive motor drives the nut seat block to move along the lower guide rail via the first lead screw, which is used to lock the sliding end below the scissor fork mechanism.

[0021] Furthermore, the upper platform also includes at least two platform locking mechanisms.

[0022] The platform locking mechanism includes a slide rail, a moving plate, a telescopic servo motor, a gearbox, a second lead screw, a rotary servo motor, a nut, and a locking assembly.

[0023] The locking assembly includes a support base, a locking rod, and locking blocks at both ends of the locking rod, used to connect the upper platform to the shelf; the locking blocks are rectangular blocks.

[0024] The movable plate is mounted on the main body of the support platform via slide rails.

[0025] The rotary servo motor, gearbox, telescopic servo motor, and second lead screw are mounted on the main body of the support platform.

[0026] The support base is mounted on the movable plate, and the locking rod is mounted on the support base and can rotate relative to the support base.

[0027] The output end of the telescopic servo motor is connected to the second lead screw, and the second lead screw and the nut form a ball screw pair, with the nut fixedly connected to the moving plate.

[0028] The output shaft of the rotary servo motor is fixedly connected to the input gear of the gearbox; the output gear of the gearbox is sleeved on the locking rod and is used to drive the locking rod to rotate; the output gear of the gearbox can slide relative to the locking rod.

[0029] Furthermore, the upper platform also includes two sets of non-powered transfer rollers arranged along the width direction of the main body of the carrying platform, for realizing the movement of the shelf pallet along the width direction of the main body of the carrying platform.

[0030] Furthermore, the lifting system includes at least four sets of rigid chains and a rigid chain drive mechanism mounted on the chassis.

[0031] The upper end of the rigid chain is fixed to the bottom of the upper platform.

[0032] The output end of the rigid chain drive mechanism is connected to the lower end of the rigid chain.

[0033] Furthermore, the rigid chain drive mechanism is a worm gear reducer.

[0034] Furthermore, the chassis includes at least four differential wheel sets.

[0035] Meanwhile, the present invention also provides a control method for a large-scale heavy-duty product transfer and conveying device. Based on the aforementioned large-scale heavy-duty product transfer and conveying device, its special feature is that it includes the following steps:

[0036] Step 1: Move the chassis to the designated position in front of the rack;

[0037] Step two: The rigid chain drives the upper platform to the first height; the first height is lower than the height of the bottom of the shelf pallet;

[0038] Step 3: Extend the forks to the bottom of the pallet to be removed from the shelf;

[0039] Step four: The rigid chain once again lifts the upper platform to the height of the bottom of the pallet to be removed from the shelf;

[0040] Step 5: Extend the locking lever forward and then rotate it 90 degrees to temporarily lock the upper platform to the shelf;

[0041] Step six: The nut seat block moves toward the sliding end of the scissor fork mechanism to lock it;

[0042] Step 7: The forks retract, and the blocks at the extended ends of the forks move the pallet to be removed from the rack along the rack's non-powered transfer rollers to the non-powered transfer rollers on the upper loading platform.

[0043] Step 8: Rotate the locking lever 90 degrees in the opposite direction, then move it backward to release the temporary lock between the upper platform and the shelf;

[0044] Step nine: the nut seat block moves away from the sliding end of the scissor fork mechanism, releasing the lock on the scissor fork mechanism. The rigid chain drives the upper platform to descend, and then the chassis moves; or, the nut seat block does not release the lock on the scissor fork mechanism, while the chassis moves.

[0045] The beneficial effects of this invention are:

[0046] 1. The present invention provides a large-scale heavy-duty product transfer and conveying equipment that improves the anti-overturning force during the transfer and conveying of large-scale heavy-duty products in a height range of 820mm-5280mm, especially at heights above 3500mm; moreover, through the coordinated action between various systems, the overall height of the vehicle is reduced while the lifting space is increased, which can not only adapt to different shelf heights and facilitate storage and retrieval, but also realize the stable transfer and conveying of large-scale heavy-duty products between multi-level spatial shelves, and has wide applicability.

[0047] 2. The large heavy-duty product transfer and conveying equipment of the present invention has a platform locking function, which improves the stability of large heavy-duty products during the transfer process.

[0048] 3. The large heavy-duty product transfer and conveying equipment of the present invention can realize that after the transfer of large heavy-duty products is completed, the upper platform still maintains a height of 820mm-5280mm for moving and conveying large heavy-duty products. In addition, it can maintain sufficient anti-overturning force during the movement and conveying process, and can also offset the inertial force generated during the movement and conveying process, making the movement and conveying of large heavy-duty products more stable.

[0049] 4. The large-scale heavy-duty product transfer and conveying equipment of the present invention has high overall mechanical strength, compact structure, high stability, large load capacity and high degree of intelligence, which greatly improves the efficiency of transfer and conveying. Attached Figure Description

[0050] Figure 1 This is a schematic diagram of the closed-state structure of an embodiment of a large-scale heavy-duty product transfer and conveying equipment according to the present invention;

[0051] Figure 2 This is a schematic diagram of the extended state structure of an embodiment of a large heavy-duty product transfer and conveying device of the present invention;

[0052] Figure 3 This is a bottom view of the chassis of an embodiment of a large heavy-duty product transfer and conveying equipment according to the present invention;

[0053] Figure 4 This is a partially enlarged schematic diagram of the upper platform of an embodiment of a large heavy-duty product transfer and conveying equipment according to the present invention;

[0054] Figure 5This is a schematic diagram of two scissor fork mechanisms in an embodiment of a large heavy-duty product transfer and conveying equipment of the present invention;

[0055] Figure 6 This is a schematic diagram of the scissor fork locking mechanism structure of two scissor fork mechanisms in an embodiment of a large heavy-duty product transfer and conveying equipment of the present invention;

[0056] Figure 7 This is a partial structural diagram of the scissor fork locking mechanism of two scissor fork mechanisms in an embodiment of a large heavy-duty product transfer and conveying equipment of the present invention;

[0057] Figure 8 This is a schematic diagram of the third scissor fork mechanism structure of an embodiment of a large heavy-duty product transfer and conveying equipment of the present invention;

[0058] Figure 9 This is a schematic diagram of the scissor fork locking mechanism of the third scissor mechanism in an embodiment of a large heavy-duty product transfer and conveying equipment of the present invention;

[0059] Figure 10 This is a schematic diagram of the platform locking mechanism structure of an embodiment of a large heavy-duty product transfer and conveying equipment according to the present invention;

[0060] Figure 11 This is a schematic diagram of a shelf and shelf pallet, representing an embodiment of a large-scale heavy-duty product transfer and conveying equipment according to the present invention.

[0061] Reference numerals: 1-Main body of the carrying platform; 2-Platform locking mechanism, 21-Slide rail, 22-Moving plate, 23-Telescopic servo motor, 24-Gearbox, 25-Second lead screw, 26-Rotary servo motor, 27-Support seat, 28-Locking rod, 29-Locking stop, 30-Nut, 31-Limit long spline; 3-Unpowered transfer roller; 4-Forks, 41-Stop; 5-Scissor fork mechanism, 51-Upper guide rail, 52-Lower guide rail, 53-Sliding end; 6-Rigid chain; 7-Rigid chain drive mechanism; 8-Scissor fork locking mechanism, 81-Drive motor, 82-First lead screw, 83-Nut seat stop; 9-Chassis vehicle; 10-Control system; 11-Wheel system assembly; 12-Power system; 13-Shelf pallet; 14-Locking slot. Detailed Implementation

[0062] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0063] This invention provides a large-scale heavy-duty product transfer and conveying equipment and its control method, combined with... Figure 1 and Figure 2 As shown, the large heavy-duty product transfer and conveying equipment includes a chassis 9 and a support system, control system 10, power system 12, lifting system and upper platform installed on the chassis 9.

[0064] Combination Figure 2 , Figure 5 , Figure 6 , Figure 7 , Figure 8 and Figure 9 As shown, the support system includes three scissor fork mechanisms 5 and scissor fork locking mechanisms 8 for locking the respective scissor fork mechanisms 5; two of the scissor fork mechanisms 5 are respectively located at the front and rear ends of the chassis vehicle 9 along the width direction, and are located at diagonal positions of the chassis vehicle 9 after maximum extension; the third scissor fork mechanism 5 is located in the middle of the chassis vehicle 9 along the length direction; the upper ends of the three scissor fork mechanisms 5 are respectively connected to the superstructure platform, and the lower ends are respectively connected to the chassis vehicle 9; the scissor fork mechanism 5 includes an upper guide rail 51, a lower guide rail 52, and multiple scissor forks connected in series; the upper guide rail 51 is connected to the superstructure platform. The lower guide rail 52 is fixedly connected to the chassis 9. The sliding end 53 of the lowest scissor fork can move on the lower guide rail 52, and the sliding end 53 of the highest scissor fork can move on the upper guide rail 51. The scissor fork locking mechanism 8 includes a drive motor 81, a first lead screw 82, and a nut seat block 83 connected in sequence. The nut seat block 83 moves along the lower guide rail 52 and is located outside the sliding end 53 of the lowest scissor fork. The first lead screw 82 and the nut seat block 83 form a ball screw pair. The drive motor 81 drives the nut seat block 83 to move along the lower guide rail 52 through the first lead screw 82 to lock the sliding end 53 below the scissor fork mechanism 5.

[0065] Combination Figure 2 , Figure 4 , Figure 10 and Figure 11As shown, the upper loading platform includes a main body 1, two platform locking mechanisms 2, two sets of unpowered transfer rollers 3, and two forks 4 mounted on the main body 1 and extending and retracting along the width of the main body 1. The extended ends of the forks 4 are equipped with blocks 41 for hooking pallets 13 from the rack. The platform locking mechanisms 2 connect the upper loading platform to the rack, making the transfer process of large, heavy-duty products more stable. The platform locking mechanism 2 includes a slide rail 21, a moving plate 22, a telescopic servo motor 23, a gearbox 24, a second lead screw 25, a rotary servo motor 26, a nut 30, and a locking assembly. The locking assembly includes a support base 27, a limiting long spline 31, a locking rod 28, and locking blocks 29 at both ends of the locking rod 28, used to connect the upper loading platform to the rack. The locking blocks 29 are rectangular blocks that temporarily lock or disengage from the locking slots 14 of the rack through the movement of the locking rod 28. The moving plate 22 is mounted on the main body 1 via the slide rail 21. The rotary servo motor 26, gearbox 24, telescopic servo motor 23, and second lead screw 25 are mounted on the main body 1 of the carrying platform. The support seat 27 is mounted on the moving plate 22, and the locking rod 28 is mounted on the support seat 27 and can rotate relative to the support seat 27. The limiting long spline 31 is mounted on the locking rod 28 to ensure that the locking rod 28 can move while limiting its rotation. The output end of the telescopic servo motor 23 is connected to the second lead screw 25. The second lead screw 25 and the nut 30 form a ball screw pair, and the nut 30 is fixedly connected to the moving plate 22. The output shaft of the rotary servo motor 26 is fixedly connected to the input gear of the gearbox 24. The output gear of the gearbox 24 is sleeved on the locking rod 28 to drive the locking rod 28 to rotate. The output gear of the gearbox 24 can slide relative to the locking rod 28. The unpowered transfer roller 3 is mounted on the main body 1 of the carrying platform along the width direction to realize the movement of the shelf pallet 13 along the width direction of the main body 1 of the carrying platform.

[0066] like Figure 2 As shown, the lifting system includes four sets of rigid chains 6 and a rigid chain drive mechanism 7 mounted on the chassis vehicle 9, used to drive the lifting of the superstructure platform; the upper end of the rigid chain 6 is fixed to the bottom of the superstructure platform; the output end of the rigid chain drive mechanism 7 is connected to the lower end of the rigid chain 6; the rigid chain drive mechanism 7 is a worm gear reducer, and its output shaft is connected to the input shaft of the rigid chain 6 respectively.

[0067] like Figure 2As shown, the control system 10 includes a superstructure platform control device, a lifting control device, a support control device, and a chassis vehicle control device, which are used to control the coordinated actions between the superstructure platform, the lifting system, the support system, and the chassis vehicle 9, thereby realizing the storage, retrieval, transfer, and conveying of large heavy-duty products within a height range of 820mm-5280mm; each system receives instructions from the control system 10 through a servo motor; the power supply system 12 is used to supply power to the superstructure platform, the lifting system, the support system, and the chassis vehicle 9.

[0068] like Figure 3 As shown, the chassis vehicle 9 includes four wheel system components 11, all of which are differential wheel sets, located at the bottom of the chassis vehicle 9 and symmetrically arranged at the front and rear ends of the bottom of the chassis vehicle 9 along the width direction; the wheel system components 11 are responsible for the omnidirectional movement of the entire platform system under no-load and loaded conditions; one differential drive wheel uses two independent drive motors to drive two drive wheels. When the two motors rotate at the same speed, the differential will cause the two drive wheels to rotate at the same speed, so that the vehicle travels in a straight line; when the two motors rotate at different speeds, the differential will cause the two drive wheels to rotate at different speeds, thereby realizing the vehicle turning.

[0069] See Figure 11 In this embodiment, the control method for transferring and conveying large, heavy-duty products using the aforementioned equipment includes the following steps:

[0070] Step 1: The chassis vehicle 9 moves to the designated position in front of the shelf along a preset route;

[0071] Step 2: The rigid chain drive mechanism 7 drives the rigid chain 6 to lift the upper platform. The scissor fork mechanism 5 extends as the rigid chain 6 and the upper platform are lifted by sliding in the upper guide rail 51 and the lower guide rail 52. When the upper platform reaches a first height lower than the bottom of the shelf pallet 13, the rigid chain drive mechanism 7 stops driving, and the rigid chain 6 provides initial support for the entire upper platform.

[0072] Step 3: Extend the forks 4 to the bottom of the pallet 13 to be removed from the shelf;

[0073] Step 4: The rigid chain drive mechanism 7 drives the rigid chain 6 again to lift the upper platform and reach the height where the bottom of the rack pallet 13 to be taken out is located. At this time, the fork 4 contacts the bottom of the rack pallet 13, and the inner wall of the stop block 41 at the extended end of the fork 4 contacts the lower edge of the bottom of the rack pallet 13.

[0074] Step 5: The platform locking mechanism 2 drives the locking rod 28 to extend forward, so that the locking block 29 enters the locking slot 14 of the shelf. Then, the locking rod 28 is driven to rotate 90 degrees, so that the locking block 29 is temporarily locked with the locking slot 14 of the shelf, thereby temporarily locking the upper platform and the shelf.

[0075] Step six: The scissor fork locking mechanism 8 drives the nut seat block 83 to move towards the sliding end 53 of the scissor fork mechanism 5 to lock it; at this time, the entire support system supports the upper platform.

[0076] Step 7: The forks 4 retract, and at the same time, the stop block 41 at the extended end of the forks 4 drives the pallet 13 to be taken out of the shelf to move along the non-powered transfer roller 3 of the shelf to the non-powered transfer roller 3 of the upper loading platform.

[0077] Step 8: The platform locking mechanism 2 drives the locking rod 28 to rotate 90 degrees in the opposite direction, releasing the temporary lock between the locking block 29 and the locking slot 14 of the shelf, and then drives the locking rod 28 to move backward, thereby releasing the temporary lock between the upper platform and the shelf.

[0078] Step nine: The scissor fork locking mechanism 8 drives the nut seat block 83 away from the sliding end 53 of the scissor fork mechanism 5, releasing the lock on the scissor fork mechanism 5. The rigid chain 6 drives the upper platform to descend, and then the chassis 9 moves. Alternatively, the nut seat block 83 does not release the lock on the scissor fork mechanism 5, while the chassis 9 moves. In this case, the support system, in coordination with the actions of other systems, can still maintain excellent anti-overturning force and can also counteract the inertial force during travel, making the moving conveyor more stable.

[0079] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present invention should be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A large heavy-load product transfer conveying device, comprising a chassis vehicle (9) and a control system (10), a power supply system (12), a lifting system and an upper loading platform arranged on the chassis vehicle (9); the lifting system is used to drive the lifting of the upper loading platform; the upper loading platform comprises a carrying platform body (1) and at least two forks (4) arranged on the carrying platform body (1) and telescopic along the width direction of the carrying platform body (1); characterized in that: it further comprises a support system; the outer end of the fork (4) is provided with a stop block (41) for hooking a shelf tray (13); the control system (10) is used to control the operation of the upper loading platform, the lifting system, the support system and the chassis vehicle (9); the power supply system (12) is used to power the upper loading platform, the lifting system, the support system and the chassis vehicle (9); the support system comprises three scissor fork mechanisms (5) and a scissor fork locking mechanism (8) for locking the corresponding scissor fork mechanism (5); two scissor fork mechanisms (5) are arranged at the front end and the rear end of the chassis vehicle (9) along the width direction of the chassis vehicle (9), respectively, and are located at the diagonal positions of the chassis vehicle (9) after maximum expansion; the third scissor fork mechanism (5) is arranged in the middle of the chassis vehicle (9) along the length direction of the chassis vehicle (9); the scissor fork mechanism (5) comprises an upper guide rail (51), a lower guide rail (52) and a plurality of scissor forks connected in sequence from top to bottom; the upper guide rail (51) is fixedly connected with the upper loading platform, the lower guide rail (52) is fixedly connected with the chassis vehicle (9), the sliding end of the lowermost scissor fork can move on the lower guide rail (52), and the sliding end of the uppermost scissor fork can move on the upper guide rail (51); the scissor fork locking mechanism (8) comprises a driving motor (81), a first lead screw (82) and a nut seat stop block (83) connected in sequence; the nut seat stop block (83) moves along the lower guide rail (52) and is located outside the sliding end of the lowermost scissor fork; the first lead screw (82) and the nut seat stop block (83) constitute a ball screw pair; the driving motor (81) drives the nut seat stop block (83) to move along the lower guide rail (52) through the first lead screw (82), and is used to lock the sliding end below the scissor fork mechanism (5). The upper platform further comprises at least two platform locking mechanisms (2); the platform locking mechanism (2) comprises a sliding rail (21), a moving plate (22), a telescopic servo motor (23), a gearbox (24), a second screw rod (25), a rotary servo motor (26), a nut (30) and a locking assembly; the locking assembly comprises a support seat (27), a locking rod (28) and locking blocks (29) arranged at both ends of the locking rod (28) and used for connecting the upper platform with the shelf; the locking block (29) is a rectangular block; the moving plate (22) is arranged on the bearing platform body (1) through the sliding rail (21); the rotary servo motor (26), the gearbox (24), the telescopic servo motor (23) and the second screw rod (25) are arranged on the bearing platform body (1); the support seat (27) is arranged on the moving plate (22), and the locking rod (28) is arranged on the support seat (27) and moves and rotates relative to the support seat (27); the output end of the telescopic servo motor (23) is connected with the second screw rod (25), the second screw rod (25) and the nut (30) form a ball screw pair, and the nut (30) is fixedly connected with the moving plate (22); the output shaft of the rotary servo motor (26) is fixedly connected with the input gear of the gearbox (24); the output gear of the gearbox (24) is sleeved on the locking rod (28) and is used for driving the locking rod (28) to rotate; and the output gear of the gearbox (24) can slide relative to the locking rod (28).

2. The large heavy-load product transfer conveying equipment according to claim 1, characterized in that: The upper platform further comprises two unpowered transfer rollers (3) arranged along the width direction of the bearing platform body (1) and used for realizing the movement of the shelf pallet (13) along the width direction of the bearing platform body (1).

3. The large heavy-load product transfer conveying equipment according to claim 2, characterized in that: The lifting system comprises at least four groups of rigid chains (6) and a rigid chain driving mechanism (7) arranged on the chassis vehicle (9); The upper end of the rigid chain (6) is fixed to the bottom of the upper platform; The output end of the rigid chain driving mechanism (7) is connected with the lower end of the rigid chain (6).

4. The large heavy-load product transfer conveying equipment according to claim 3, characterized in that: The rigid chain driving mechanism (7) is a worm gear reducer.

5. The large heavy-load product transfer conveying equipment according to claim 4, characterized in that: The chassis vehicle (9) comprises at least four groups of differential wheels (11).

6. A control method of a large heavy load product transfer conveying apparatus based on the large heavy load product transfer conveying apparatus according to claim 3, characterized by, The method comprises the following steps: Step one, the chassis vehicle (9) moves to a specified position in front of the shelf; Step two, the rigid chain (6) drives the upper platform to reach a first height; the first height is lower than the height at which the bottom of the shelf pallet (13) is located; Step three, the fork (4) is extended to the bottom of the shelf pallet (13) to be taken out; Step four, the rigid chain (6) drives the upper platform to rise again and reach the height at which the bottom of the shelf pallet (13) to be taken out is located; Step five, the locking rod (28) is extended forward and then rotated by 90 degrees, so that the upper platform is temporarily locked with the shelf; Step six, the nut seat stopper (83) moves to the sliding end of the scissor fork mechanism (5) to lock it; Step seven, the forks (4) retract, the stopper (41) of the outer end of the forks (4) drives the to-be-taken-out shelf tray (13) to move along the non-powered moving roller (3) of the shelf to the non-powered moving roller (3) of the upper loading platform; Step eight, the locking rod (28) reversely rotates by 90 degrees and then retreats to release the temporary locking of the upper loading platform and the shelf; Step nine, the nut seat stopper (83) moves away from the sliding end of the scissor fork mechanism (5) to release the locking of the scissor fork mechanism (5), the rigid chain (6) drives the upper loading platform to descend, and then the chassis vehicle (9) moves; or, the nut seat stopper (83) does not release the locking of the scissor fork mechanism (5), and at the same time, the chassis vehicle (9) moves.

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