A multi-layer lifting device and a lifting method

Abstract

The application discloses a kind of multilayer lifting device and lifting method, device includes vehicle body, vehicle frame, jacking mechanism, support rod, bolt flip claw and control system, vehicle body is located in the bottom of device, vehicle frame is fixed on vehicle body in frame type structure, eight scale vertical rods are equipped around vehicle frame;Jacking mechanism is symmetrically installed in the inside two sides of vehicle frame, including fixed on vehicle body and along the lifting scissor screw of the height direction of the vehicle frame can be lifted, and folding lifting support arm can be extended or retracted and installed on the top of jacking scissor screw;Support rod is installed on eight vertical rods of vehicle frame by bolt flip claw, bolt flip claw can rotate around vertical rod, and adaptive positioning device for positioning and fixing goods is installed on support rod;Control system controls synchronous lifting of double-side jacking mechanism, support rod extends through positioning device and fixes goods or retracts and avoids goods path under the rotation of bolt flip claw, realizes the intelligent high-efficiency lifting of multilayer different size goods and safe return, and improves operation efficiency.

Description

Technical Field

[0001] This invention belongs to the field of multi-level cargo lifting technology, and more specifically, relates to a multi-level lifting device and lifting method. Background Technology

[0002] In modern industrial production, logistics warehousing, and commercial distribution, efficient storage and rapid handling of goods are crucial for ensuring smooth operations and enhancing competitiveness. With increasingly scarce land resources, space utilization has become a key indicator of the operational efficiency of various facilities. Multi-level lifting systems can vertically transport goods or vehicles to different levels, effectively utilizing vertical space to achieve efficient lifting and transfer of goods, greatly improving space utilization and cargo handling efficiency. Multi-level lifting technology is becoming an indispensable component of modern warehousing infrastructure. Current lifting technologies generally employ lifting multiple levels of goods as a whole, or using a horizontal loop similar to a multi-level parking garage. Both have shortcomings. The height of the top level and the top of the lifting device increase with each lift, potentially interfering with the upper structure indoors. Multi-level parking garages occupy a large space, at least the width of two sets of goods, which is unfavorable for operations in fixed, limited spaces. Both methods have limited application scenarios and require manual operation, impacting operational efficiency. Summary of the Invention

[0003] To address the aforementioned deficiencies or improvement needs of existing technologies, this invention provides a multi-layer lifting device and method. Through a control system, a dual-sided lifting mechanism is remotely controlled for intelligent, synchronous layered lifting. Rotatable support rods of varying lengths extend to provide support for each layer of goods or retract to avoid obstructing the lifting path. A positioning slider adaptively adjusts and fixes the goods, enabling intelligent, efficient, and safe layered lifting and return of multi-layered goods of different sizes, thus improving operational efficiency.

[0004] To achieve the above objectives, according to one aspect of the present invention, a multi-level lifting device is provided, comprising a vehicle body, a frame, a lifting mechanism, a support rod, a pin-type flipper, and a control system, wherein...

[0005] The vehicle body is located at the bottom of the device. The vehicle frame has a frame structure and is fixed to the vehicle body. Eight graduated uprights are provided around the vehicle frame.

[0006] The lifting mechanism is symmetrically installed on both sides inside the vehicle frame, including a lifting scissor screw and a folding lifting support arm. The bottom of the lifting scissor screw is fixed to the vehicle body and can be raised and lowered along the height direction of the vehicle frame. The folding lifting support arm is installed on the top of the lifting scissor screw, and its movement direction is perpendicular to the lifting scissor screw. It can be extended or retracted.

[0007] The support rods are installed in layers on the eight uprights of the vehicle frame via the pin flip claws. Different length support rods are provided for different cargo layers. The pin flip claws can rotate around the uprights. A positioning device for positioning and fixing cargo is installed on the support rods.

[0008] The control system controls the lifting mechanisms on both sides to lift and lower synchronously. Each layer of the support rod extends under the rotation of the pin flipper and fixes the goods or retracts to avoid the path of the goods through the positioning device, thereby lifting or putting the goods back.

[0009] Furthermore, the fixing device secures the goods by electric and manual adjustment, including a positioning slider, a micro motor, a micro gear and a rack. A U-shaped groove is opened in the middle of the support rod, and 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, and the micro gear is connected to the coupling of the micro motor.

[0010] Furthermore, an infrared ranging sensor is mounted on the top of the positioning slider, with the sensor facing the direction of the cargo.

[0011] Furthermore, the lifting mechanisms on both sides are driven independently by two servo motors, with one motor being the master station and the other being the slave station. An absolute encoder is also installed on the top of the lifting mechanism.

[0012] Furthermore, a pressure sensor is installed at the top of the end of the foldable lifting support arm.

[0013] Furthermore, the lifting mechanism is also equipped with a handwheel drive, and a clutch is used to switch between electric and manual operation.

[0014] Furthermore, it also includes anti-collision shock absorbers installed on the bottom and around the device, distance sensing radar installed around the device, and vision cameras.

[0015] According to another aspect of the present invention, the present invention provides a cargo lifting method based on the above-mentioned multi-layer lifting device, comprising the following steps:

[0016] S100: Controls the lifting device carrying goods to enter the installation work area via electric drive and remote control system;

[0017] S200: Control the lifting mechanisms on both sides to rise synchronously along the frame until they reach below the top cargo. The folding lifting support arm of the lifting mechanism extends to support the top cargo, and the lifting mechanism continues to rise to the designated position for installation.

[0018] S300: Once the top layer of goods is installed, the folding lifting support arm of the lifting mechanism retracts. At the same time, the pin flipper at the end of the top layer support rod rotates 90° to retract the support rod. The lifting mechanism descends to below the next layer of goods, and the folding lifting support arm of the lifting mechanism extends to support the next layer of goods. The lifting mechanism continues to lift the next layer of goods to the designated position for installation.

[0019] S400: After each layer of goods is installed, repeat step S300 to complete the lifting and installation of each layer of goods in sequence.

[0020] According to yet another aspect, the present invention provides a method for returning goods based on the above-mentioned multi-layer lifting device, comprising the following steps:

[0021] T100: Based on the cargo dimensions, support rods of different lengths are layered on eight uprights in four directions of the chassis, and positioning sliders are installed on each support rod to support cargoes of different lengths.

[0022] T200: The lifting device is controlled to enter the cargo handling area via electric drive and remote control system;

[0023] T300: Controls the pin flippers of the support rods of the goods above the first layer to rotate 90° to retract the support rods and avoid the path of the first layer of goods being lowered; the lifting mechanism rises to below the first layer of goods to be put back, the folding lifting support arm extends to support the first layer of goods to be put back, the lifting 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 appropriate position and locked by the infrared ranging sensor to complete the placement and fixing of the first layer of goods;

[0024] T400: The folding lifting support arm of the lifting mechanism retracts and rises to below the second layer of goods to be returned. The folding lifting support arm then extends to support the second layer of goods to be returned. At the same time, the pin flipping claw of the second layer of goods support rod rotates 90° to extend the support rod. The lifting mechanism supports the goods to descend to the support rod 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, thus completing the return and fixation of the second layer of goods.

[0025] 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.

[0026] Furthermore, during the synchronous rise or fall of the two lifting mechanisms, the high-precision absolute encoder at the top of the lifting mechanism collects the absolute position signals of the two lifting mechanisms in real time and transmits them to the control system. The control system compares the position signals on both sides, and when the synchronization error exceeds ±0.5mm, it uses a PID algorithm to fine-tune the output torque or speed of the slave servo motor to eliminate the synchronization error.

[0027] In summary, compared with the prior art, the above-described technical solutions conceived by this invention can achieve the following beneficial effects:

[0028] 1. The present invention provides a multi-layer lifting device and method, which controls the double-sided lifting mechanism to intelligently and synchronously lift and lower the layers, and the rotation of support rods of different lengths realizes two states: "support locking" or "release". The positioning slider adaptively positions and fixes the goods, realizing the intelligent and efficient lifting and safe return of multi-layer goods of different sizes, thereby improving the work efficiency.

[0029] 2. The present invention provides a multi-layer lifting device and method, in which lifting mechanisms are symmetrically installed on both sides of the workshop. This solves the problem that traditional single-layer lifting mechanisms require simultaneous lifting of multiple layers of goods, resulting in a significant increase in the height of the top layer of goods as the number of layers increases. In indoor or other height-restricted scenarios, this can easily lead to collisions with ceilings, pipes, and other upper structures. The present invention adopts a layered lifting and lowering strategy to complete the lifting and lowering of multiple layers of goods, breaking through the height restrictions of the working space and expanding the application scenarios of the device.

[0030] 3. The present invention provides a multi-layer lifting device and method, which precisely supports each layer of goods by arranging support rods of different lengths in layers. Each layer of goods is equipped with a rotatable pin flipping claw on the support rod in four directions. When the goods are lifted or lowered, the flipping claw can be flexibly rotated by a pneumatic knob to achieve a 90° rotation of the support rod, providing support for the goods or avoiding the lifting path of the goods, so that the goods can move up and down in the frame without interference, making the multi-layer goods lifting process continuous and smooth, and improving the work efficiency.

[0031] 4. A multi-layer lifting device and method of the present invention includes a U-shaped groove in the middle of a support rod, racks installed on both sides of the U-shaped groove, and a positioning slider with a gear at the bottom that can slide along the support rod via a gear and rack system. An infrared ranging sensor detects the gap between the positioning slider and the goods. When the positioning slider is in contact with the goods, the motor locks, realizing automatic positioning of the positioning slider and fixing the goods at 8 points in four directions. This restricts the displacement of the goods from multiple angles. At the same time, if the automatic positioning of the positioning slider fails, the positioning slider can be manually moved and then fixed to the support rod with bolts passing through the positioning slider and the U-shaped groove to achieve a safety redundancy design and improve the safety of the goods handling process. Attached Figure Description

[0032] Figure 1 This is a three-dimensional structural diagram of a multi-layer lifting device according to an embodiment of the present invention;

[0033] Figure 2 This is a front view schematic diagram of a multi-layer lifting device according to an embodiment of the present invention;

[0034] Figure 3This is a side view of a multi-layer lifting device according to an embodiment of the present invention;

[0035] Figure 4 This is a schematic diagram of the lifting mechanism structure of a multi-layer lifting device according to an embodiment of the present invention;

[0036] Figure 5 This is a schematic diagram of a multi-layer lifting device for lifting goods on the fourth layer according to an embodiment of the present invention;

[0037] Figure 6 This is a schematic diagram of a multi-layer lifting device according to an embodiment of the present invention, showing seven layers of goods of different lengths and sizes.

[0038] Figure 7 This is a flowchart illustrating a method for lifting goods using a multi-layer lifting device according to an embodiment of the present invention.

[0039] Figure 8 This is a flowchart illustrating a method for returning goods using a multi-layer lifting device, as described in an embodiment of the present invention.

[0040] In all the accompanying drawings, the same reference numerals denote the same technical features, specifically 1-car body, 2-frame, 3-lifting mechanism, 31-lifting scissor screw, 32-folding lifting support arm, 4-support rod, and 5-pin flipper. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0042] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, inside, outside, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0043] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0044] In this invention, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0045] Example 1

[0046] like Figure 1-4 As shown, this embodiment of the invention provides a multi-layer lifting device, including a vehicle body 1, a frame 2, a lifting mechanism 3, support rods 4, pin-type flippers 5, and a control system. The vehicle body 1 and the frame 2 form the basic structure. The lifting mechanism 3 is installed on both sides of the frame and can lift simultaneously from both sides. Support rods 4 of different lengths are installed on the frame in layers through pin-type flippers 5, and under the action of the pin-type flippers 5, they rotate and extend to support goods of different sizes on each layer or retract to avoid the lifting path of goods, thereby realizing the lifting or lowering of goods of different sizes.

[0047] The vehicle body 1 is located at the bottom of the device and serves as the basic support platform. It is equipped with casters at the bottom to facilitate overall movement and is electrically driven. The lifting device's forward, backward, and turning actions are controlled by the control system.

[0048] The frame 2 has a frame structure and is fixedly installed on the vehicle body 1, providing installation support for the lifting mechanism 3 and the support rod 4, etc. Eight uprights are fixed around the frame 2 for installing the support rod 4, with two uprights on each side. The uprights are marked to facilitate adjustment of the spacing between different layers of support rods according to the height of the goods.

[0049] 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 to the vehicle body 1 and can be raised and lowered along the height direction of the frame 2 to realize the lifting and lowering of goods at each layer. The top of the lifting scissor screw 31 is equipped with a folding lifting support arm 32. The movement direction of the folding lifting support arm 32 is perpendicular to the movement direction of the lifting scissor screw 31, which can realize the switching between two modes: extending to support goods and retracting to avoid interfering with goods.

[0050] The lifting mechanisms 3 on both sides are independently driven by two high-performance servo motors. The control system sets one motor as the master station and the other as the slave station. The master station motor receives speed and position commands from the control system, while the slave station motor tracks the speed, torque, and position information of the master station motor in real time. Millisecond-level data exchange is achieved through a high-speed fieldbus to ensure synchronization of commands. A high-precision absolute encoder is installed on the top of each lifting mechanism 3 to monitor the actual absolute position of both lifting mechanisms 3 in real time. The control system compares the position signals from both sides. Once a synchronization error exceeding the allowable range (e.g., ±0.5mm) is detected, the control system immediately uses a PID algorithm to dynamically fine-tune the output torque or speed of the slave station motor, quickly eliminating the error in its early stages. This ensures that the lifting mechanisms 3 on both sides remain horizontal during lifting and lowering, preventing equipment jamming or cargo tipping due to uneven loading.

[0051] The lifting mechanism 3 is also equipped with a handwheel drive function, which switches between electric and manual modes using a clutch. Under normal circumstances, it is driven by a servo motor, and in special circumstances, it can be manually driven as a backup, thereby enhancing the safety redundancy of the device.

[0052] The top end of the folding lifting support arm 32 of the lifting mechanism 3 is also equipped with a pressure sensor, which transmits the pressure signal to the control system in real time. When the folding lifting support arm 32 contacts the goods, the pressure sensor detects the load signal, and the control system automatically reduces the lifting speed (from 100mm / s to 20mm / s) to avoid impact on the goods. At the same time, the folding lifting support arm 32 extends to support the goods.

[0053] The support rod 4 is mounted on the frame uprights of the vehicle frame 2 in four directions (front, rear, left, and right) via the pin-flipper 5, and is arranged in layers to support each layer of goods. Different lengths of support rods can be used for different goods layers to accommodate goods of different sizes. The support rod 4 is equipped with a positioning device to position each layer of goods at eight points in four directions to prevent movement. The positioning device includes an electrically adjustable positioning slider with a micro gear at its bottom, connected to a coupling of a micro motor. A U-shaped groove is formed in the middle of the support rod 4, and racks meshing with the gear are installed on both sides of the U-shaped groove. The positioning slider can slide along the support rod 4 via the gear and rack system. An infrared ranging sensor (detection distance 0-100mm) is installed on the top of the positioning slider, facing the direction of the goods, to detect the gap between the slider and the goods in real time. When goods are placed on the support rod 4, the infrared ranging sensor detects the gap between the positioning slider and the goods, and the control system automatically controls the micro motor to rotate according to the gap, driving the positioning slider along the U-shaped groove. The U-shaped groove moves until the positioning slider fits against the goods (gap ≤ 1mm), then the motor locks (with power-off self-locking function), realizing automatic positioning of the positioning slider. If the automatic positioning of the positioning slider fails, the slider can be manually moved and then bolted through the positioning slider and U-shaped groove to fix it to the support rod 4. If the goods slip slightly during operation, the infrared ranging sensor detects the change in gap, and the control system can automatically fine-tune the position of the positioning slider to always maintain the positioning of the goods.

[0054] The latch claw 5 is installed at the end of the support rod 4 on each layer and can rotate around the upright of the frame 2. Driven by a drive device, it rotates the support rod 4 to switch between two working states: "support locking" and "release," avoiding interference when goods are lifted or lowered. Specifically,

[0055] Support Locking State: When the support rod 4 faces the cargo side, and the cargo is lowered back to the target layer position, the pin flipper 5 rotates under the action of the drive device, causing the support rod 4 to extend under the cargo, forming a support fulcrum, and stably supporting the cargo on the current layer. At this time, the lifting mechanism 3 can be withdrawn or continue to operate.

[0056] Release and release status: When it is necessary to lift or lower the goods, the pin flipper 5 rotates 90° under the action of the drive device to retract the support rod 4, so as to avoid interfering with the up and down movement of the goods, and the goods can be raised and lowered with the lifting mechanism 3.

[0057] The drive device is a dual-drive mode of pneumatic and spring. The main drive is a pneumatic cylinder, and the backup drive is a torsion spring. Under normal working conditions, the pneumatic cylinder drives the pin flipper to flip. When the pneumatic system fails, the control system releases the cylinder pressure through the solenoid valve, and the torsion spring automatically drives the support rod 4 to reset to the "release" state, avoiding the pin flipper from getting stuck and preventing the goods from being lifted or lowered, thus solving the reliability risk of single drive.

[0058] The anti-collision shock absorbers are installed at the bottom of the vehicle body 1 and around the vehicle frame 2 to buffer collisions.

[0059] The lifting device is also equipped with distance sensing radar around its perimeter. When the lifting device approaches other objects, it will trigger an alarm, reduce speed, or stop suddenly based on the distance. At the same time, vision cameras are installed around the vehicle frame to identify obstacles in real time and transmit the data to the control system to adjust the position of the lifting device in real time.

[0060] The multi-layer lifting device of this invention uses a frame and body as the basic support frame, combined with an intelligent lifting mechanism, a flip-up support rod, and an adaptive positioning slider. Through an integrated process of "coordinated lifting - layered positioning - dynamic protection", it achieves efficient lifting and safe return of multi-layer goods of different sizes. During the lifting operation, the lifting device carrying multiple layers of goods moves to the working area with the help of an electric drive and control system. The symmetrical lifting mechanisms 3 on both sides rise synchronously along the height of the frame 2 under the action of the control system. When the pressure sensor at the end of the folding lifting support arm detects 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, and continues to rise to the designated installation height. After installation, the folding lifting support arm retracts, and the lifting mechanism 3 descends to the bottom of the next layer of goods. Before each layer of goods is lifted, the pin flipper 5 of the support rod 4 of the lifted layer switches to the release state to avoid the operation of the next layer of goods. The lifting of layers n, n-1, ..., 2, and 1 is completed in sequence.

[0061] During the goods return operation, the pin flippers of the support rods 4 of the layer that does not yet need to be returned switch to the release state to allow the goods to pass. The symmetrical lifting mechanisms 3 on both sides rise synchronously to the bottom of the goods in the layer that needs to be returned. After the folding lifting support arm extends to support the goods, the lifting mechanism 3 descends to the support rods 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. After the return is completed, the folding lifting support arm of the lifting mechanism 3 retracts, and the lifting mechanism 3 rises to the bottom of the goods in the next layer that needs to be returned. Before each layer of goods is returned, the pin flippers 5 of the support rods 4 of the layer that needs to be returned switch to the support locking state to provide support for the goods in the layer that needs to be placed. The return of the goods in layers 1, 2, 3, ..., n is completed in sequence.

[0062] During the operation of the lifting device, the lidar continuously detects the surrounding environment. If an obstacle is encountered, it will trigger an alarm, reduce speed, or stop suddenly according to the distance. At the same time, the anti-collision shock absorber will protect and reduce shock.

[0063] Example 2

[0064] like Figure 7As shown, this embodiment of the invention provides a method for lifting goods using a multi-layer lifting device. This embodiment of the invention has seven layers of goods, and the lifting device is used to achieve layered lifting, including the following specific steps:

[0065] S100: Controls the lifting device carrying goods to enter the installation work area via electric drive and remote control system;

[0066] S200: Lifting the seventh layer of cargo: The servo motor drives the lifting mechanisms 3 on both sides to rise synchronously along the frame 2. 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 cargo, the control system controls the lifting mechanism 3 to reduce the lifting speed until it rises to below the seventh layer of cargo. At the same time, the folding lifting support arm 32 is extended to support the seventh layer of cargo, and the lifting mechanism 3 continues to rise to the designated position for installation.

[0067] During the synchronous rise 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.

[0068] S300: Lifting the sixth layer of goods: After the seventh layer of goods is installed, the folding lifting support arm of the lifting mechanism 3 retracts. At the same time, the pin flipping claw 5 at the end of the support rod 4 of the seventh layer of goods is rotated 90° by the pneumatic knob to retract the support rod 4 into the release state to avoid interfering with the upward movement of the goods. The lifting mechanism 3 descends to below the sixth layer of goods, and the folding lifting support arm 32 of the lifting mechanism 3 extends to support the sixth layer of goods. The lifting mechanism 3 continues to rise to the designated position for installation.

[0069] S400: Repeat step S300. After the upper layer of goods is installed, the folding lifting support arm 32 of the lifting mechanism 3 retracts. At the same time, the pin flipper 5 at the end of the support rod 4 corresponding to the upper layer of goods rotates 90° via the pneumatic knob to retract the support rod 4 into the release state to avoid interfering with the upward movement of the goods. The lifting mechanism 3 descends to below the next layer of goods, the folding lifting support arm extends, and the next layer of goods is lifted to the designated position for installation. The lifting and installation of the fifth, fourth, third, second, and first layers of goods are completed in sequence, and finally the lifting and installation of seven layers of goods are completed. (e.g.) Figure 5 (Diagram illustrating the process of lifting goods to the fourth level).

[0070] Before lifting each layer of goods, the control system controls the pin flipper 5 of the upper layer's corresponding support rod 4 to rotate 90° via a pneumatic knob, causing the support rod 4 to retract and ensuring that there is no interference when the goods are lifted.

[0071] Example 3

[0072] like Figure 8 As shown, this embodiment of the invention provides a method for lowering and returning goods using a multi-layer lifting device. This embodiment of the invention has seven layers of goods, and the lifting device described above is used to achieve layered lifting, including the following specific steps:

[0073] T100: Based on the cargo dimensions, support rods 4 of different lengths are layered on the eight uprights in four directions of the frame 2, and positioning sliders are installed on each support rod 4 to support cargoes of different lengths.

[0074] T200: The lifting device is controlled to enter the cargo handling area via electric drive and remote control system;

[0075] T300: Returning the first layer of goods: The support rods 4 for the seventh, sixth, fifth, fourth, third, and second layers of goods retract and are adjusted to the release state by rotating the pneumatic knob of the pin flipper 5, avoiding the path of the first layer of goods being lowered; the lifting mechanism 3 rises to the designated height (below the first layer of goods to be returned), the folding lifting support arm 32 extends to support the first layer of goods to be returned, the lifting mechanism 3 supports the goods to descend above the first layer support rod 4, and the positioning slider of the positioning device is adjusted to the appropriate position and locked by the infrared ranging sensor, completing the return and fixation of the first layer of goods;

[0076] T400: Returning the second layer of goods: After the first layer of goods is returned and fixed, the folding lifting support arm 32 of the lifting mechanism 3 retracts and rises to the specified height (below the second layer of goods to be returned). The folding lifting support arm 32 then extends to support the second layer of goods to be returned. At the same time, the second layer of goods support rod 4 extends and is adjusted to the support locking state by rotating the pneumatic knob of the pin flipper 5. The lifting mechanism 3 supports the goods to descend onto the second layer support rod 4. The positioning slider of the positioning device is adjusted to the appropriate position and locked by the infrared ranging sensor, thus completing the return and fixing of the second layer of goods.

[0077] T500: After the second layer of goods is placed and secured, repeat step T400. The folding lifting support arm of the lifting mechanism 3 retracts and rises below the upper layer of goods to be placed. The folding lifting support arm then extends to support the upper layer of goods to be placed. Simultaneously, the pin flipper 5 of the support rod 4 corresponding to the upper layer of goods rotates 90° to extend the support rod 4. The lifting mechanism 3 lowers the supported goods onto the support rod 4 corresponding to the upper layer of goods. The positioning slider of the positioning device is adjusted to the appropriate position and locked by the infrared ranging sensor. The placement of the third, fourth, fifth, sixth, and seventh layers of goods is completed in sequence. Figure 6 The diagram shows the product after the seven layers of goods have been returned to their original positions.

[0078] Before each layer of goods is placed back, the control system controls the pin flipper 5 to rotate via a pneumatic knob, causing the upper layer of goods support rod 4 to extend and be adjusted to a support and locking state, providing support for each layer of goods when it is lowered.

[0079] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

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 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. The positioning device fixes the goods by electric and manual adjustment, including a positioning slider, a micro motor, a micro gear and a rack. The support rod (4) has a U-shaped groove in the middle, and 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 output shaft of the micro motor through a coupling.

2. A multi-level lifting device according to claim 1, characterized in that, The positioning slider is equipped with an infrared ranging sensor on top, with the sensor facing the direction of the goods.

3. A multi-level lifting device according to claim 1, 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).

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

5. A multi-level lifting device according to claim 1, 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.

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

7. A method for lifting goods based on the multi-layer lifting device according to any one of claims 1-6, 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 (32) 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.

8. A method for returning goods based on the multi-level lifting device according to any one of claims 1-6, 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 below 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 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 putback 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.

9. The method for lifting goods using a multi-level lifting device according to claim 7 or the method for returning goods using a multi-level lifting device according to claim 8, 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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