Multi-layer lifting device and lifting method

Abstract

The device comprises a vehicle body, a vehicle frame, a jacking mechanism, a supporting rod, a plug pin turning claw and a control system, the vehicle body is located at the bottommost part of the device, the vehicle frame is of a frame type structure and is fixed to the vehicle body, and eight vertical rods with scales are arranged on the periphery of the vehicle frame; the jacking mechanisms are symmetrically installed on the two sides of the interior of the vehicle frame, and each jacking mechanism comprises a jacking shear fork screw fixed to the vehicle body and capable of ascending and descending in the height direction of the vehicle frame and a folding type lifting supporting arm installed on the top of the jacking shear fork screw and capable of stretching out or retracting back. The supporting rods are installed on eight vertical rods of the frame in a layered mode through the plug pin turning claws, the plug pin turning claws can rotate around the vertical rods, and self-adaptive positioning devices for positioning and fixing goods are installed on the supporting rods. The control system controls the jacking mechanisms on the two sides to ascend and descend synchronously, the supporting rods stretch out under rotation of the plug pin turning claws to fix the goods through the positioning devices or retract to avoid the goods path, layered intelligent efficient lifting and safe putting back of the multiple layers of goods of different sizes are achieved, and the operation efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of multi-layer goods lifting, and more particularly to a multi-layer lifting device and a lifting method. BACKGROUND

[0002] In many fields such as modern industrial production, logistics storage and commercial distribution, efficient storage and rapid handling of goods are the key links to ensure smooth operation and improve competitiveness. With the increasing shortage of land resources, space utilization rate has become a key indicator to measure the operational efficiency of various facilities. Multi-layer lifting devices can vertically transport goods or vehicles to different levels, effectively utilize vertical space, and realize efficient lifting and transfer of goods, greatly improving the space utilization rate and goods handling efficiency. Multi-layer lifting technology is becoming an indispensable part of modern warehouse infrastructure. The lifting device in the prior art generally lifts the whole multi-layer goods or performs left-right circular lifting like a stereo garage, both of which have disadvantages. Among them, the height of the uppermost layer of the whole lifting will be higher and higher, and the top of the lifting device will also be higher and higher, which will interfere with the upper structure in the room. The stereo garage occupies a large space, at least the width size of two sets of goods, which is not conducive to operation in a fixed limited space. The application scenarios of the two methods are limited and require manual operation, which affects the operation efficiency. SUMMARY

[0003] In view of the above defects or improvement needs of the prior art, the present application provides a multi-layer lifting device and a lifting method. The control system remotely controls the double-sided jacking mechanism to intelligently synchronize the lifting of different layers. Different lengths of rotatable support rods are extended or retracted to provide support for each layer of goods or to avoid the lifting path of the goods. The positioning slider self-adapts to adjust the positioning and fixing of the goods, realizes the intelligent and efficient lifting and safe return of multi-layer goods of different sizes, and improves the operation efficiency.

[0004] To achieve the above purpose, according to one aspect of the present application, a multi-layer lifting device is provided, comprising a vehicle body, a vehicle frame, a jacking mechanism, a support rod, a bolt pawl and a control system, wherein, The vehicle body is located at the bottom of the device, the vehicle frame is in a frame structure and is fixed to the vehicle body, and eight vertical rods with scales are arranged around the vehicle frame; The jacking mechanism is symmetrically installed on both sides of the inside of the vehicle frame and comprises a jacking scissor screw and a folding lifting support arm. The jacking scissor screw is fixed to the vehicle body at the bottom and can be lifted along the height direction of the vehicle frame. The folding lifting support arm is installed at the top of the jacking scissor screw and moves in a direction perpendicular to the jacking scissor screw, and can be extended or retracted; The support rod is installed on the eight vertical rods of the vehicle frame by the bolt turning claw, different support rods with different lengths are arranged for different goods layers, the bolt turning claw can rotate around the vertical rod, and the support rod is provided with a positioning device for positioning and fixing the goods; The control system controls the synchronous lifting of the double-sided jacking mechanisms, each support rod of each layer is extended under the rotation of the bolt turning claw and fixed to the goods by the positioning device or retracted to avoid the goods path, so that the goods are lifted or put back.

[0005] Further, the fixing device fixes the goods by electric and manual adjustment, and comprises a positioning sliding block, a micro motor, a micro gear and a rack, a U-shaped groove is arranged in the middle of the support rod, the rack is arranged on the two sides of the U-shaped groove, the bottom of the positioning sliding block is provided with the micro gear engaged with the rack, and the micro gear is connected with the shaft coupling of the micro motor.

[0006] Further, the top of the positioning sliding block is provided with an infrared distance sensor, and the sensor faces the goods.

[0007] Further, the two jacking mechanisms are independently driven by two servo motors, one motor is a master station and the other motor is a slave station, and an absolute value encoder is further arranged on the top of the jacking mechanism.

[0008] Further, a pressure sensor is arranged on the top of the end of the folding lifting support arm.

[0009] Further, the jacking mechanism is further provided with a hand wheel drive, and a clutch is arranged between the electric drive and the manual drive to switch between the electric drive and the manual drive.

[0010] Further, the installation device is further provided with anti-collision dampers arranged at the bottom and around the installation device, distance sensing radars and visual cameras.

[0011] According to another aspect of the present application, the present application provides a goods lifting method based on the above multi-layer lifting device, which comprises the following steps: S100: by means of electric drive and remote control system, the lifting device loaded with goods enters the installation operation area; S200: the two jacking mechanisms are controlled to synchronously ascend along the vehicle frame until the top layer of goods is reached, the folding lifting support arm of the jacking mechanism is extended to support the top layer of goods, and the jacking mechanism continues to ascend to the designated position for installation; S300: after the installation of the top layer of goods is completed, the folding lifting support arm of the jacking mechanism is retracted, at the same time, the bolt turning claw at the end of the support rod of the top layer is rotated by 90° to make the support rod retract, the jacking mechanism is lowered to the next layer of goods, the folding lifting support arm of the jacking mechanism is extended to support the next layer of goods, and the jacking mechanism continues to lift the next layer of goods to the designated position for installation; S400: After each layer of goods is installed, repeat step S300 to complete the lifting and installation of each layer of goods in turn.

[0012] According to this aspect, the application provides a method for returning goods based on the above multi-layer lifting device, comprising the following steps: T100: According to the size of the goods, different lengths of support rods are arranged on the eight vertical rods in the four directions of the frame, and positioning sliders are installed on each support rod, for supporting goods of different lengths; T200: Control the lifting device to enter the goods operation area through the electric drive and remote control system; T300: Rotate the first layer and above each layer of goods support rod by 90° to make the support rod retract, avoid the first layer of goods lowering path; the jacking mechanism rises below the first layer of goods to be returned, the folding lifting support arm extends to support the first layer of goods to be returned, the jacking mechanism supports the goods to descend to the support rod corresponding to the first layer of goods, and the positioning slider of the positioning device is adjusted to the adaptive position and locked through the infrared distance sensor, completing the return and fixation of the first layer of goods; T400: The folding lifting support arm of the jacking mechanism retracts and rises below the second layer of goods to be returned, and the folding lifting support arm extends to support the second layer of goods to be returned, at the same time, the pin flipper of the second layer of goods support rod rotates by 90° to make the support rod extend, the jacking mechanism supports the goods to descend to the support rod corresponding to the second layer of goods, and the positioning slider of the positioning device is adjusted to the adaptive position and locked through the infrared distance sensor, completing the return and fixation of the second layer of goods; T500: After each layer of goods is returned and fixed, repeat step T400 to complete the return and fixation of each layer of goods in turn.

[0013] Further, during the synchronous rising or descending of the two side jacking mechanisms, the high-precision absolute value encoder at the top of the jacking mechanism collects the absolute position signals of the two side jacking mechanisms in real time and transmits them to the control system; the control system compares the two side position signals, and when the synchronization error exceeds ±0.5mm, the output torque or speed of the slave servo motor is fine-tuned through the PID algorithm to eliminate the synchronization error.

[0014] Overall, compared with the prior art, the above technical solutions conceived by the application can achieve the following beneficial effects: 1. The multi-layer lifting device and method of the application controls the double-side jacking mechanism to intelligently synchronize the lifting and descending of different layers through the control system, the different lengths of support rods rotate to realize two states of "support locking" or "release and release", and the positioning slider adaptively positions and fixes the goods, realizing the intelligent and efficient lifting and safe return of multiple layers of goods of different sizes, and improving the operation efficiency.

[0015] 2. The multi-layer lifting device and method of the present application, which is characterized in that the jacking mechanism is symmetrically installed on both sides of the workshop, solving the problem that the traditional single jacking mechanism needs to lift multiple layers of goods synchronously, resulting in a significant increase in the height of the uppermost layer of goods with the increase in the number of layers, which is prone to collision with the upper structure such as the ceiling and pipeline in the indoor height-limited scene; the device adopts a layered jacking and lowering strategy to complete the lifting operation of multiple layers of goods, breaking through the height limitation of the operation space and expanding the application scenarios of the device.

[0016] 3. The multi-layer lifting device and method of the present application, which is characterized in that the device is provided with different lengths of support rods arranged in layers to accurately support each layer of goods, and each layer of goods is provided with rotatable pin flip claws in four directions, which can be flexibly rotated by a pneumatic knob during the lifting or lowering of the goods, achieving a 90° rotation of the support rod, providing support for the goods or avoiding the lifting path of the goods, allowing the goods to move up and down in the frame without interference, making the multi-layer goods lifting process continuous and smooth, and improving the operation efficiency.

[0017] 4. The multi-layer lifting device and method of the present application, which is characterized in that a U-shaped groove is formed in the middle of the support rod, a rack is installed on both sides of the U-shaped groove, and a positioning slider provided with a gear can slide along the support rod through the gear and rack system; the gap between the positioning slider and the goods is detected by an infrared distance sensor, and the motor is locked when the positioning slider is in contact with the goods, achieving automatic positioning of the positioning slider and forming eight-point fixation in four directions of the goods, limiting the displacement of the goods from multiple angles; when the automatic positioning of the positioning slider fails, the positioning slider can be manually moved and fixed on the support rod through the positioning slider and the U-shaped groove by using a bolt, achieving a safe redundant design and improving the safety of the goods handling process. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 FIG. 1 is a perspective view of a multi-layer lifting device according to an embodiment of the present application; Figure 2 FIG. 2 is a front view of a multi-layer lifting device according to an embodiment of the present application; Figure 3 FIG. 3 is a side view of a multi-layer lifting device according to an embodiment of the present application; Figure 4 FIG. 4 is a schematic view of a jacking mechanism of a multi-layer lifting device according to an embodiment of the present application; Figure 5 FIG. 5 is a schematic view of a multi-layer lifting device lifting the fourth layer of goods according to an embodiment of the present application; Figure 6 FIG. 6 is a schematic view of a multi-layer lifting device fully loaded with seven layers of goods of different lengths and sizes according to an embodiment of the present application; Figure 7 FIG. 7 is a flowchart of a method for lifting goods using a multi-layer lifting device according to an embodiment of the present application; Figure 8A multi-layer lifting device put back goods method flow chart is applied to the embodiment of the present application.

[0019] In all the drawings, the same reference signs refer to the same technical features, specifically 1 - vehicle body, 2 - vehicle frame, 3 - jacking mechanism, 31 - jacking scissor screw, 32 - folding lifting support arm, 4 - support rod, 5 - bolted flipper. DETAILED DESCRIPTION

[0020] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application. In addition, the technical features involved in the various embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0021] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, in, out, etc.), the directional indications are only used to explain the relative positional relationship, movement condition, etc. between the components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications will also change accordingly.

[0022] In addition, if the embodiments of the present application involve descriptions of "first", "second", etc., the descriptions of "first", "second", etc. are only for description purposes and should not be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features with "first" and "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of the various embodiments can be combined with each other, but it must be based on the fact that a person skilled in the art can realize it, and when the combination of technical solutions contradicts each other or cannot be realized, it should be considered that the combination of technical solutions does not exist and is not within the scope of protection claimed by the present application.

[0023] In the present application, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such a process, method, article or device. Without more limitations, the elements defined by the statement "comprising" do not exclude the presence of additional identical elements in the process, method, article or device including the elements.

[0024] Embodiment 1 As Figures 1-4As shown, the embodiment of the present application provides a multi-layer lifting device, which comprises a vehicle body 1, a vehicle frame 2, a jacking mechanism 3, a support rod 4, a bolt flip claw 5 and a control system. The vehicle body 1 and the vehicle frame 2 constitute a basic framework. The jacking mechanism 3 is installed on both sides of the vehicle frame and can be lifted synchronously on both sides. The support rod 4 of different lengths is installed on the frame by the bolt flip claw 5 and rotates to extend to support goods of different sizes or to retract to avoid the lifting path of the goods, thereby achieving the lifting or returning of goods of different sizes. In the embodiment of the present application, The vehicle body 1 is located at the bottom of the device and serves as a basic bearing platform. The bottom of the vehicle body 1 is provided with universal wheels to facilitate the overall movement. The vehicle body 1 is also provided with an electric drive and is controlled by the control system to control the forward movement, backward movement, turning and other actions of the lifting device.

[0025] The vehicle frame 2 has a frame structure and is fixedly installed on the vehicle body 1 to provide installation support for the jacking mechanism 3 and the support rod 4. Eight vertical rods are fixed around the vehicle frame 2 to install the support rod 4. Two vertical rods are arranged on each side. The vertical rods are provided with scales to facilitate the adjustment of the spacing between the support rods of different layers according to the height of the goods.

[0026] The jacking mechanism 3 is symmetrically installed on both sides of the inside of the vehicle frame 2 and comprises a jacking scissor screw 31 and a folding lifting support arm 32. The bottom of the jacking scissor screw 31 is fixed on the vehicle body 1 and can be lifted in the height direction of the vehicle frame 2 to achieve the jacking and lowering of goods of each layer. The top of the jacking scissor screw 31 is provided with the folding lifting support arm 32. The movement direction of the folding lifting support arm 32 is perpendicular to the movement direction of the jacking scissor screw 31, which can realize the switching between the two modes of extending to support the goods and retracting to avoid interfering with the goods. The jacking mechanism 3 on both sides is independently driven by two high-performance servo motors. The control system sets one side of the motor as the master station and the other side as the slave station. The master motor receives speed and position instructions from the control system, and the slave motor real-time tracks the speed, torque and position information of the master motor. Through high-speed field bus, millisecond-level data exchange is realized to ensure the synchronization of the instructions. A high-precision absolute encoder is installed on the top of the jacking mechanism 3 to monitor the actual absolute position of the jacking mechanism 3 on both sides in real time. The control system compares the position signals of both sides. Once the synchronization error exceeding the allowed range (such as ±0.5mm) is detected, the control system will immediately dynamically fine-tune the output torque or speed of the slave motor through the PID algorithm to quickly eliminate the error in the embryonic state, thereby ensuring that the jacking mechanism 3 on both sides always remains horizontal during the lifting process and avoiding the equipment from being stuck or the goods from being overturned due to the unbalanced load.

[0027] The jacking mechanism 3 is also provided with a hand wheel driving function. The clutch is used to switch between electric driving and manual driving. Under normal circumstances, the servo motor is used for driving. In special circumstances, manual backup can be used to enhance the safety redundancy of the device.

[0028] The end of the folding lifting support arm 32 of the jacking mechanism 3 is also provided with a pressure sensor, which transmits a pressure signal to the control system in real time. When the folding lifting support arm 32 contacts the goods, the pressure sensor detects a load signal, and the control system automatically reduces the lifting speed (from 100 mm / s to 20 mm / s), avoiding impact on the goods, while the folding lifting support arm 32 extends to support the goods.

[0029] The support rod 4 is installed on the frame upright of the vehicle frame 2 in four directions, front, rear, left and right, and is arranged in layers, used to support each layer of goods, and different support rods of different lengths can be arranged for different sizes of goods; The positioning device is provided on the support rod 4, which positions 8 points in four directions of each layer of goods to prevent the goods from moving, the positioning device includes an electrically adjustable positioning slider, the bottom of which is provided with a micro gear connected to the shaft of a micro motor, a U-shaped groove is formed in the middle of the support rod 4, and a rack meshing with the gear is installed on both sides of the U-shaped groove. The positioning slider can slide along the support rod 4 through the gear and rack system, and an infrared distance measuring sensor (detection distance 0-100mm) is installed on the top of the positioning slider, facing the direction of the goods, which detects the gap between the slider and the goods in real time. When the goods are placed on the support rod 4, the infrared distance measuring sensor detects the gap between the positioning slider and the goods, and the control system automatically controls the micro motor to rotate to drive the positioning slider to move along the U-shaped groove until the positioning slider is attached to the goods (gap ≤1mm), and then the motor is locked (with power-off self-locking function), realizing automatic positioning of the positioning slider. When the automatic positioning of the positioning slider fails, the slider can be manually moved and fixed on the support rod 4 by passing through the positioning slider and the U-shaped groove with bolts; If the goods slide slightly during operation, the infrared distance measuring sensor detects the change of the gap, and the control system can automatically fine-tune the position of the positioning slider to always keep the goods in a positioned state.

[0030] The latch claw 5 is installed at the end of each layer of the support rod 4 and can rotate around the upright of the frame 2. The driving device drives the rotation of the support rod 4 to realize the switching between "support locking" and "release" states, avoiding interference during the lifting of the goods. Specifically, Support locking state: The support rod 4 is on the side facing the goods. When the goods are placed back and lowered to the target layer position, the latch claw 5 rotates under the action of the driving device to extend the support rod 4 below the goods, forming a supporting point to stably support the goods on the current layer. At this time, the jacking mechanism 3 can be withdrawn or continue to work.

[0031] Release release state: when the goods need to be lifted or lowered, the latch turning claw 5 rotates 90° under the action of the driving device to make the support rod 4 retract, avoiding interfering with the running of the goods, and the goods can be lifted with the jacking mechanism 3.

[0032] The driving device is a pneumatic and spring dual driving mode, the main driving is a pneumatic cylinder, the standby driving is a torsional spring, under normal working conditions, the pneumatic cylinder drives the latch turning claw to turn over, when the pneumatic system fails, the control system releases the cylinder pressure through the electromagnetic valve, and the torsional spring automatically drives the support rod 4 to reset to the "release release" state, avoiding the situation that the goods cannot be lifted due to the jamming of the latch turning claw, and solving the reliability risk of single driving.

[0033] The anti-collision shock absorber is installed at the bottom of the vehicle body 1 and around the vehicle frame 2, and is used for buffering collision.

[0034] The lifting device is also provided with distance sensing radar around, when the lifting device approaches other objects, the distance is classified to trigger alarm, speed reduction or emergency stop, at the same time, visual cameras are installed around the vehicle frame, real-time identification of obstacles is transmitted to the control system, and the lifting device position is adjusted in real time.

[0035] The multi-layer lifting device of the application takes the vehicle frame and the vehicle body as the basic bearing frame, combines the intelligent jacking mechanism, the reversible support rod and the self-adaptive positioning slider, realizes efficient lifting and safe return of multi-layer goods of different sizes through the integrated process of "coordinated lifting - layered positioning - dynamic protection". When the goods are lifted, the lifting device loaded with multi-layer goods moves to the working area by means of the electric drive and control system, the symmetrical jacking mechanisms 3 on both sides are lifted synchronously along the vehicle frame 2 under the action of the control system, when the end pressure sensor of the folding lifting support arm detects the contact with the bottom of the goods, the system automatically reduces the lifting speed, the folding lifting support arm extends and stably supports the goods, continues to rise to the specified installation height, after installation, the folding lifting support arm retracts, and the jacking mechanism 3 descends to the bottom of the next layer of goods, before lifting each layer of goods, the latch turning claw 5 of the support rod 4 of the lifted layer of goods is switched to the release release state to avoid the lower layer of goods, and the lifting of the n, n-1, …, 2, 1 layers of goods is completed layer by layer. When the goods are put back, the latch of the support rod 4 of the layer to be put back is switched to the release state to avoid the goods, and the lifting mechanisms 3 on both sides are synchronously lifted to the lower side of the goods of the layer to be put back. After the folding lifting support arm supports the goods, the lifting mechanisms 3 are lowered to the support rod 4 of the corresponding layer, the positioning slider detects the gap between the positioning slider and the goods through the infrared distance sensor and automatically adjusts and fixes the goods, the folding lifting support arm of the lifting mechanisms 3 is retracted, the lifting mechanisms 3 are lifted to the bottom of the goods of the layer to be put back, the latch 5 of the support rod 4 of the layer to be put back is switched to the support locking state to provide support for the goods of the layer to be put back, and the goods of the layers 1, 2, 3, …, n are sequentially put back.

[0036] In the working process of the lifting device, the laser radar continuously detects the surrounding environment, and if an obstacle is encountered, the distance classification triggers an alarm, a speed reduction or an emergency stop, and the anti-collision shock absorber protects and reduces the shock.

[0037] Embodiment 2 As shown in Figure 7 The embodiment of the present application provides a goods lifting method of a multi-layer lifting device, and the embodiment of the present application has seven layers of goods, which are lifted by the lifting device, and the method comprises the following specific steps: S100: The lifting device loaded with goods enters the installation operation area through the electric drive and remote control system. S200: The seventh layer of goods is lifted. The lifting mechanisms 3 on both sides are synchronously lifted by the servo motor, when the pressure sensor at the end of the folding lifting support arm 32 detects the load signal in contact with the bottom of the goods, the control system controls the lifting mechanisms 3 to reduce the lifting speed until the lifting mechanisms 3 are lifted to the lower side of the seventh layer of goods, at the same time, the folding lifting support arm 32 is controlled to extend to support the seventh layer of goods, and the lifting mechanisms 3 continue to rise to the designated position for installation. In the synchronous lifting process of the lifting mechanisms 3 on both sides, the high-precision absolute value encoder at the top of the lifting mechanisms 3 collects the absolute position signals of the lifting mechanisms 3 on both sides in real time and transmits the absolute position signals to the control system. The control system compares the position signals on both sides, and when the synchronization error exceeds ±0.5 mm, the output torque or speed of the slave servo motor is adjusted through the PID algorithm to eliminate the synchronization error.

[0038] S300: The sixth layer of goods is lifted. After the installation of the seventh layer of goods is completed, the folding lifting support arm of the lifting mechanisms 3 is retracted, at the same time, the latch 5 at the end of the support rod 4 of the seventh layer of goods is rotated by 90° through the pneumatic knob to make the support rod 4 retract to the release state to avoid interference with the upward movement of the goods, the lifting mechanisms 3 are lowered to the lower side of the sixth layer of goods, the folding lifting support arm 32 of the lifting mechanisms 3 is extended to support the sixth layer of goods, and the lifting mechanisms 3 continue to rise to the designated position for installation. S400: Repeat step S300, after the installation of the upper layer of goods is completed, the folding lifting support arm 32 of the jacking mechanism 3 is retracted, and the latch flipper 5 at the end of the support rod 4 corresponding to the upper layer of goods is rotated 90° by the pneumatic knob to retract the support rod 4 to the release state to avoid interfering with the upward movement of the goods. The jacking mechanism 3 is lowered to below the next layer of goods, the folding lifting support arm is extended, the next layer of goods is lifted to the designated position for installation, and the lifting and installation of the fifth, fourth, third, second, and first layers of goods are completed in turn, and finally the lifting and installation of the seven layers of goods are completed. (As shown in Figure 5 the schematic diagram for lifting the fourth layer of goods).

[0039] Before lifting each next layer of goods, the control system controls the latch flipper 5 of the support rod 4 corresponding to the upper layer of goods to rotate 90° by the pneumatic knob to retract the support rod 4, ensuring that there is no interference when the goods are lifted.

[0040] Example 3 As shown in Figure 8 the present embodiment provides a method for lowering and returning goods of a multi-layer lifting device. The present embodiment has seven layers of goods, which are lifted in layers by the lifting device described above, and includes the following specific steps: T100: Different lengths of support rods 4 are arranged on the eight vertical rods in four directions of the vehicle frame 2 according to the size of the goods, and positioning sliders are installed on each support rod 4 for supporting goods of different lengths; T200: The lifting device enters the goods operation area through the electric drive and remote control system; T300: Return the first layer of goods: The support rods 4 of the seventh, sixth, fifth, fourth, third, and second layers of goods are retracted and adjusted to the release state by the pneumatic knob of the latch flipper 5 to avoid the first layer of goods' downward path; the jacking mechanism 3 is raised to a specified height (below the first layer of goods to be returned), the folding lifting support arm 32 is extended to support the first layer of goods to be returned, the jacking mechanism 3 supports the goods to be returned to above the first layer of support rods 4, the positioning sliders of the positioning device are adjusted to the appropriate position by the infrared distance sensor and locked, and the return and fixing of the first layer of goods are completed; T400: Return the second layer of goods: After the return and fixing of the first layer of goods are completed, the folding lifting support arm 32 of the jacking mechanism 3 is retracted and raised to a specified height (below the second layer of goods to be returned), the folding lifting support arm 32 is extended to support the second layer of goods to be returned, and at the same time, the support rod 4 of the second layer of goods is extended and adjusted to the support locking state by the pneumatic knob of the latch flipper 5, the jacking mechanism 3 supports the goods to be returned to the second layer of support rods 4, the positioning sliders of the positioning device are adjusted to the appropriate position by the infrared distance sensor and locked, and the return and fixing of the second layer of goods are completed; T500: After the second layer of goods is returned to the fixed position, repeat the T400 steps, the folding lifting support arm of the jacking mechanism 3 is retracted 3 and rises to the position below the upper layer of goods to be returned, the folding lifting support arm is extended to support the upper layer of goods to be returned, at the same time, the latch rotating claw 5 of the support rod 4 corresponding to the upper layer of goods rotates 90° to make the support rod 4 extend, the jacking mechanism 3 supporting the goods is lowered to the support rod 4 corresponding to the upper layer of goods, the positioning slider of the positioning device is adjusted to the appropriate position by the infrared distance sensor and locked, and the return of the third, fourth, fifth, sixth and seventh layers of goods is completed in turn. As shown in Figure 6 Fig. 7 shows a schematic view of the return of the 7th layer of goods. Before each layer of goods is returned, the control system controls the latch rotating claw 5 to rotate through the pneumatic knob to make the upper layer of goods support rod 4 extend to adjust to the support locking state, providing support when each layer of goods is lowered.

[0041] Those skilled in the art will readily understand that the above description is only the preferred embodiment of the present application, and is not intended to limit the present application, and any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A multi-level lifting device, characterized in that, It includes the vehicle body (1), frame (2), lifting mechanism (3), support rod (4), pin-type flipper (5), and control system, among which, The vehicle body (1) is located at the bottom of the device. The frame (2) is a frame structure and is fixed on the vehicle body (1). The frame (2) has eight uprights with scales around it. The lifting mechanism (3) is symmetrically installed on both sides inside the frame (2), including a lifting scissor screw (31) and a folding lifting support arm (32). The bottom of the lifting scissor screw (31) is fixed on the vehicle body (1) and can be raised and lowered along the height direction of the frame (2). The folding lifting support arm (32) is installed on the top of the lifting scissor screw (31), and its movement direction is perpendicular to the lifting scissor screw (31). It can be extended or retracted. The support rod (4) is installed in layers on the eight uprights of the frame (2) via the pin flip claw (5). Different lengths of support rod (4) are provided for different cargo layers. The pin flip claw (5) can rotate around the upright. The support rod (4) is equipped with a positioning device for positioning and fixing cargo. The control system controls the lifting mechanisms (3) on both sides to lift and lower synchronously. The support rod (4) of each layer extends under the rotation of the pin flipper (5) and fixes the goods or retracts to avoid the path of the goods through the positioning device, so as to lift or put back the goods.

2. A multi-level lifting device according to claim 1, characterized in that, The fixing device is used to fix the goods by electric and manual adjustment. It includes a positioning slider, a micro motor, a micro gear and a rack. The support rod (4) has a U-shaped groove in the middle. Racks are installed on both sides of the U-shaped groove. The bottom of the positioning slider is provided with a micro gear that meshes with the rack. The micro gear is connected to the coupling of the micro motor.

3. A multi-level lifting device according to claim 2, characterized in that, An infrared ranging sensor is mounted on the top of the positioning slider, with the sensor facing the direction of the goods.

4. A multi-level lifting device according to any one of claims 1-3, characterized in that, The lifting mechanisms (3) on both sides are driven independently by two servo motors. One motor is the master station and the other is the slave station. An absolute encoder is also installed on the top of the lifting mechanism (3).

5. A multi-level lifting device according to any one of claims 1-3, characterized in that, A pressure sensor is installed at the top of the end of the foldable lifting support arm (32).

6. A multi-level lifting device according to any one of claims 1-3, characterized in that, The lifting mechanism (3) is also equipped with a handwheel drive, and a clutch is used to switch between electric and manual operation.

7. A multi-level lifting device according to any one of claims 1-3, characterized in that, It also includes anti-collision shock absorbers at the bottom and around the device, distance sensing radar and vision cameras installed around the device.

8. A method for lifting goods based on the multi-level lifting device according to any one of claims 1-7, characterized in that, Includes the following steps: S100: Controls the lifting device carrying goods to enter the installation work area via electric drive and remote control system; S200: Control the lifting mechanisms (3) on both sides to rise synchronously along the frame (2) until they reach below the top cargo. The folding lifting support arm (32) of the lifting mechanism (3) extends to support the top cargo. The lifting mechanism (3) continues to rise to lift the top cargo to the designated position for installation. S300: The top layer of goods is installed. The folding lifting support arm (32) of the lifting mechanism (3) retracts. At the same time, the pin flipping claw (5) at the end of the top layer support rod (4) rotates 90° to retract the support rod (4). The lifting mechanism (3) descends to below the next layer of goods. The folding lifting support arm (31) of the lifting mechanism (3) extends to support the next layer of goods. The lifting mechanism (3) continues to rise to lift the next layer of goods to the designated position for installation. S400: After each layer of goods is installed, repeat step S300 to complete the lifting and installation of each layer of goods in sequence.

9. A method for returning goods based on the multi-level lifting device according to any one of claims 1-7, characterized in that, Includes the following steps: T100: Based on the cargo size, support rods (4) of different lengths are set in layers on the eight uprights in the four directions of the frame (2), and positioning sliders are installed on each support rod (4) to support cargoes of different lengths; T200: The lifting device is controlled to enter the cargo handling area via electric drive and remote control system; T300: Control the pin flipping claw (5) of the support rod (4) of each layer of goods above the first layer to rotate 90° so that the support rod (4) retracts and avoids the path of the first layer of goods being placed down; the lifting mechanism 3 rises to the bottom of the first layer of goods to be placed back, the folding lifting support arm (32) extends to support the first layer of goods to be placed back, the lifting mechanism (3) supports the goods to descend to the support rod (4) corresponding to the first layer of goods, and adjusts the positioning slider of the positioning device to the appropriate position and locks it through the infrared ranging sensor to complete the placement and fixing of the first layer of goods; T400: After the first layer of goods is put back and fixed, the folding lifting support arm of the lifting mechanism (3) retracts (3) and rises to below the second layer of goods to be put back. The folding lifting support arm then extends to support the second layer of goods to be put back. At the same time, the pin flipping claw (5) of the second layer of goods support rod (4) rotates 90° to extend the support rod (4). The lifting mechanism (3) supports the goods to descend to the support rod (4) corresponding to the second layer of goods. The positioning slider of the positioning device is adjusted to the appropriate position and locked by the infrared ranging sensor to complete the putting back and fixing of the second layer of goods. T500: After each layer of goods is put back into place, repeat step T400 to complete the process of putting back and fixing the goods in each layer.

10. A method for lifting goods using a multi-level lifting device according to claim 8 or a method for returning goods using a multi-level lifting device according to claim 9, characterized in that, During the synchronous rise or fall of the two lifting mechanisms (3), the high-precision absolute encoder at the top of the lifting mechanism (3) collects the absolute position signals of the two lifting mechanisms (3) in real time and transmits them to the control system. The control system compares the position signals on both sides. When the synchronization error exceeds ±0.5mm, it fine-tunes the output torque or speed of the slave servo motor through the PID algorithm to eliminate the synchronization error.

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