Multi-layer jacking type magazine shuttle vehicle

Abstract

A multi-layer jacking type bin shuttle vehicle comprises a vehicle frame, a walking mechanism and a load carrying frame arranged on the vehicle frame. The load carrying frame is installed on the vehicle frame through a jacking mechanism. The jacking mechanism comprises scissor assemblies arranged on both sides of the load carrying frame. Each scissor assembly comprises at least one scissor part, the scissor part comprises two scissor arms which are cross-connected with each other, and the rotation of the scissor arms relative to each other is driven by a driving mechanism to realize the telescopic movement of the scissor part. A limiting groove is arranged on the load carrying frame to limit the movement direction of the cross-connection part, thereby guiding and limiting the telescopic movement direction of the jacking mechanism. The multi-layer jacking type bin shuttle vehicle can stably lift the load carrying frame to a predetermined height for taking and placing bins in at least two layers of racks.

Description

Technical Field

[0001] This application relates to the warehousing field, and more particularly to a bin shuttle capable of moving on shelves to pick up and put down bins, specifically a multi-level lifting bin shuttle. Background Technology

[0002] In warehousing systems such as automated storage and retrieval systems (AS / RS), various types of unmanned delivery vehicles are used to retrieve goods from warehouse shelves. For example, a bin shuttle is installed on the AS / RS to retrieve bins from the shelves or place bins on the shelves.

[0003] To maximize space utilization, automated storage and retrieval systems (AS / RS) typically employ multi-level racking. Toy shuttles move between main and sub-aisles on each rack level to retrieve and place toy boxes. Generally, toy shuttles are designed to travel and retrieve toy boxes within a single rack level. If cross-level retrieval is required, a hoist is used to transport the toy shuttle from one rack level to another.

[0004] Transporting tote boxes between shelves takes time, thus affecting the efficiency of picking up and placing tote boxes on the racks. If enough tote box shuttles are installed on each shelf, a certain redundancy is required, meaning that some shuttles will be idle during periods of high demand, which increases the overall design and manufacturing costs of the warehousing system.

[0005] If the material box shuttle is to be able to operate on two or more layers of the rack at the same time, it needs to be able to lift the components that carry the material boxes to a predetermined height. However, this lifting process will raise the issue of the stability of the material box support.

[0006] Therefore, in the field of warehousing systems, there is a demand for new types of bin shuttles that can be used to pick up and put down bins on at least two, preferably multiple, shelf levels, without requiring additional lifting mechanisms, thereby helping to reduce the design and manufacturing costs of warehousing systems. Summary of the Invention

[0007] This application is made to address the problems existing in the prior art described above. The purpose of this application is to provide a novel bin shuttle whose carrying rack can be stably raised to a predetermined height, enabling the picking and placing of goods on two or more layers of racks without the need for a lifting machine to transport the bin shuttle between the two or more layers of racks.

[0008] To address the aforementioned technical problems, this application provides a multi-layer lifting bin shuttle, which is installed in a rack with multiple rack layers. The multi-layer lifting bin shuttle includes a frame, on which a traveling mechanism and a carrying rack are mounted. The carrying rack is mounted on the frame via a lifting mechanism. The lifting mechanism includes a first scissor lift assembly and a second scissor lift assembly. The first scissor lift assembly is connected to one side of the carrying rack, and the second scissor lift assembly is connected to the other side of the carrying rack. Each of the first and second scissor lift assemblies includes at least one scissor lift portion, which includes two intersecting scissor lift arms rotatably connected at the intersecting connection. A drive mechanism is also provided, configured to drive the scissor lift arms to rotate relative to each other. A limiting groove is provided on the carrying rack, extending vertically. The intersecting connection portion is movably accommodated in the limiting groove, thereby limiting the movement direction of the intersecting connection portion and guiding and restricting the telescopic movement direction of the lifting mechanism.

[0009] In the multi-level lifting bin shuttle described above, the scissor-lift mechanism stably raises the rack to a predetermined height, allowing the multi-level lifting bin shuttle to retrieve and place items from at least two rack levels. Specifically, the connection between the lifting mechanism and the rack, such as the use of limiting grooves, ensures stable extension and retraction of the lifting mechanism, minimizing swaying and misalignment during extension and retraction, and contributing to stable support of the rack. Therefore, without the need for a lifting machine or similar device, the multi-level lifting bin shuttle can meet the needs of retrieving and placing bins from two or more rack levels. Furthermore, it eliminates the need for tracks on each rack level for the shuttle's movement. All of these factors contribute to reducing the manufacturing cost of the warehousing system.

[0010] In a preferred embodiment, the first scissor lift assembly and the second scissor lift assembly each include two or more scissor lift portions connected together in a vertical direction. In two adjacent scissor lift portions, the lower end of the scissor lift arm of the upper scissor lift portion is connected to the upper end of the corresponding scissor lift arm of the lower scissor lift portion to form an end connection portion. A stabilizing link is connected between at least one end connection portion in the first scissor lift assembly and the corresponding end connection portion in the second scissor lift assembly.

[0011] The interconnected structure of multiple scissor lift sections allows the lifting mechanism to ascend to greater heights, enabling the loading and unloading of material boxes on more layers of shelving. Furthermore, the inclusion of stabilizing links further enhances the stability of the lifting mechanism, ensuring sufficient stability during extension and retraction, as well as when supporting the shelving.

[0012] Preferably, a first connecting pin is provided at the cross connection portion. The first connecting pin is inserted into the scissor arm from one side and connects the two scissor arms together. A first bearing cap is provided on the other side of the scissor arm and is fixedly connected to the first connecting pin. The cross connection portion further includes at least one first ball bearing and at least one first needle bearing. The first ball bearing is axially disposed at at least one of the following locations: between the scissor arm and the first connecting pin, between the two scissor arms, and between the scissor arm and the first bearing cap. The first needle bearing is radially disposed between the scissor arm and the first connecting pin.

[0013] Preferably, the upper end of the scissor arm in the uppermost scissor section is linearly movably connected to the rack. A second connecting pin is provided at the upper end, which is inserted into the scissor arm from one side, and the scissor arm is connected to the rack via the second connecting pin. A second bearing cover, which is fixedly connected to the second connecting pin, is provided on the other side of the scissor arm. A second ball bearing and a combined bearing are also provided in the upper end. The second ball bearing is axially disposed between the second connecting pin and the scissor arm. The combined bearing includes a needle bearing portion radially disposed between the scissor arm and the second connecting pin and a ball bearing portion axially disposed between the scissor arm and the second bearing cover.

[0014] The combination of ball bearings and needle bearings in the above structure further improves the stability of the lifting mechanism during extension and retraction. The needle bearings allow the scissor arms to rotate more smoothly, while the ball bearings, while providing rotational freedom, also provide axial thrust to the two connected scissor arms. This ensures that the two scissor arms remain close together during extension and retraction, reducing the risk of overall scissor assembly sway and misalignment.

[0015] In one specific structure, the drive mechanism includes: a first motor; a first screw connected to and driven to rotate by the first motor; and a first nut fitted onto the screw, which moves linearly along the screw when the screw rotates, with the scissor arm fixedly connected to the nut. This fit between the screw and nut helps to stably transmit the motor's motion to the scissor arm of the scissor assembly, thereby efficiently achieving the telescopic movement of the lifting mechanism with a simple structure.

[0016] Preferably, a steering device is connected between the first motor and the first screw, and the steering device is configured to turn the motion output by the first motor by a predetermined angle. For example, the steering device can turn the motion by 90°. By providing this steering device, the space at the bottom of the frame can be utilized more efficiently, thereby enabling, for example, a reduction in the overall length of the multi-layer lifting hopper shuttle.

[0017] Preferably, the drive mechanism further includes a connecting slider, which is slidably disposed on the first screw, and the connecting slider, the first nut, and the lower end of the scissor arm located at the lowest scissor fork are fixedly connected together. This connecting slider provides a more secure connection between the scissor arm and the first nut.

[0018] Preferably, the drive mechanism further includes a linkage shaft, which connects the first screw for the first scissor lift assembly and the first screw for the second scissor lift assembly. By providing the linkage shaft, the telescopic movements of the first and second scissor lift assemblies located on both sides of the rack can be ensured to be synchronized, preventing the rack from tilting when lifting it.

[0019] Preferably, the multi-level lifting box shuttle also includes a lifting height control device, which is mounted on the rack and configured to control the lifting height of the rack so that the rack is aligned with the target rack layer in the rack.

[0020] In one specific embodiment, the lifting height control device includes a first light sensor and a second light sensor arranged in the vertical direction, wherein the vertical distance between the first light sensor and the second light sensor is set to be less than the thickness of the bottom of the shelf layer.

[0021] Alternatively, the lifting height control device can take other forms of structure, such as a wire encoder, etc.

[0022] Preferably, the rack can be configured to accommodate bins of different sizes. Specifically, the rack includes a first support section and a second support section, the first support section being movable towards or away from the second support section. Thus, the distance between the first and second support sections can be adjusted according to the size of the bin being carried. A second nut is mounted on the first support section, and a second motor is mounted on the second support section. One end of a second screw is connected to the second motor, and the other end of the second screw engages with the second nut. The second motor moves the first support section relative to the second support section via the second screw and the second nut.

[0023] Preferably, a micro-adjustment plate is provided in the rack. This micro-adjustment plate can be used to fine-tune the posture of the bins, straightening any tilted bins on the rack. Specifically, a third motor is installed on the rack, and a third nut is installed on the micro-adjustment plate. One end of a third screw is connected to the third motor, and the other end of the third screw engages with the third nut. The third motor moves the micro-adjustment plate via the third screw and the third nut. Attached Figure Description

[0024] The accompanying drawings illustrate a non-limiting preferred embodiment of this application, and the features and advantages of this application become more apparent when viewed in conjunction with the drawings. Wherein: Figure 1 A perspective view of the multi-layer lifting hopper shuttle of this application is shown.

[0025] Figure 2 It shows Figure 1 Another perspective view of the multi-layer lifting hopper shuttle, in which some parts have been removed to show the lifting mechanism structure more clearly.

[0026] Figure 3 It shows Figure 1 A side view of the multi-level lifting bin shuttle, which more clearly shows the connection structure between the lifting mechanism and the rack.

[0027] Figure 4a It shows Figure 3 A sectional view of part A, showing the internal structure at the cross connection of the lifting mechanism.

[0028] Figure 4b It shows Figure 3 A cross-sectional view of part B, showing the internal structure at the upper end of the lifting mechanism.

[0029] Figure 5 It shows Figure 1 A bottom-view perspective of a multi-layered lifting hopper shuttle, showing the internal structure of the frame.

[0030] Figure 6 It shows Figure 5 A bottom view of a multi-layered lifting hopper shuttle.

[0031] (Symbol Explanation)

[0032] 100+ multi-layer lifting material box shuttle car; 110 Chassis; 111 Running gear; 120 Loading rack; 121 Guide rail; 122 Limiting groove; 123-1 First optical sensor; 123-2 Second optical sensor; 124-1 First bearing part; 124-2 Second bearing part; 125 Second motor; 126 Second screw; 127 Second nut; 130 Lifting mechanism; 130-1 First scissor lift assembly; 130-2 Second scissor lift assembly; 131 Scissor lift arm; 132 Cross connection; 133 Upper end; 134 End connection; 135 Stabilizing link; 136 Lower end; 141 First connecting pin; 142 First ball bearing; 143 First needle roller bearing; 144 First bearing cover; 151 Second connecting pin; 152 Second bearing cap; 153 Second ball bearing; 154 Combined bearing; 161 First motor; 162 First screw; 163 First nut; 164 Connecting slider; 165 Steering mechanism; 166 Linkage shaft; 170 Micro-adjustment plate; 171 Third motor; 172 Third screw; 173 Third nut. Detailed Implementation

[0033] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be understood that the embodiments shown in the drawings are merely preferred embodiments of the present invention and do not constitute a limitation on the scope of the present invention. Those skilled in the art can make various obvious modifications, variations, and equivalent substitutions to the present invention based on the embodiments shown in the drawings. Furthermore, without contradiction, the technical features in the different embodiments described below can be arbitrarily combined with each other, all of which fall within the protection scope of the present invention.

[0034] Figure 1 A schematic perspective view of the overall structure of the multi-layer lifting hopper shuttle 100 of this application is shown. The multi-layer lifting hopper shuttle 100 includes a frame 110, on which a traveling mechanism 111 is provided. For example, two sets of traveling wheels can be installed on the frame 110 to achieve four-way travel.

[0035] The multi-level lifting-type bin shuttle 100 also includes a carrier rack 120 and a lifting mechanism 130. The lifting mechanism 130 is connected between the frame 110 and the carrier rack 120 and is configured to extend and retract in the vertical direction, thereby enabling the carrier rack 120 to move up and down in the vertical direction. In this way, by making the carrier rack 120 vertical, the multi-level lifting-type bin shuttle 100 can perform bin loading and unloading operations on two or more layers of racks.

[0036] Preferably, as shown in the figure, the rack 120 includes a first support portion 124-1 and a second support portion 124-2. The first support portion 124-1 is movable relative to the second support portion 124-2 in a direction away from or towards it. This allows the distance between the first support portion 124-1 and the second support portion 124-2 to be changed, thereby enabling the rack 120 to be adjusted to accommodate bins of different sizes.

[0037] For example, when the multi-level lifting box shuttle 100 is performing box retrieval and placement operations on the shelf level it is traveling on, the lifting mechanism 130 can be in a fully retracted state, so that the carrying shelf 120 is in the lowest position. When the multi-level lifting box shuttle 100 needs to perform box retrieval and placement operations on a shelf level above the shelf level it has picked up, the lifting mechanism 130 can be operated to extend upward, thereby raising the carrying shelf 120 to the height of the target shelf level. The lifting mechanism 130 can be designed according to the specific structural parameters of the shelf and the multi-level lifting box shuttle 100 (e.g., the height of the shelf level, the weight and size of the carrying shelf 120) and the actual operational requirements (e.g., the number of shelf levels that the multi-level lifting box shuttle 100 needs to operate on), so that the multi-level lifting box shuttle 100 can operate on at least two, preferably multiple, shelf levels.

[0038] The following will combine Figure 2 The exemplary structure of the lifting mechanism 130 of this application is described in detail. Figure 2 Another perspective view of the multi-level lifting hopper shuttle 100 is shown, in which the outer shell of the frame 110 and the rack 120 have been removed to show the structure of the lifting mechanism 130 more clearly.

[0039] Figure 2 The lifting mechanism 130 of the exemplary structure shown includes two scissor lift assemblies, a first scissor lift assembly 130-1 and a second scissor lift assembly 130-2 as shown, which are respectively connected to the first support portion 124-1 and the second support portion 124-2 of the rack 120. Specifically, in combination with... Figure 1 The first scissor lift assembly 130-1 is connected to the side plate of the first support portion 124-1, and the second scissor lift assembly 130-2 is connected to the second support portion 124-2.

[0040] The first scissor lift assembly 130-1 and the second scissor lift assembly 130-2 have substantially the same structure. In the exemplary structure shown in the figure, each scissor lift assembly includes two scissor lift portions connected together in a vertical direction. Each scissor lift portion has two intersecting scissor lift arms 131 that are rotatably connected to each other, and the position where they intersect forms a cross connection portion 132. This cross connection portion 132 is preferably located at the middle position of the scissor lift arms 131, so that the scissor lifts form a generally "X" shape.

[0041] In each scissor lift assembly, the upper end 133 of the scissor arm 131 of the upper scissor lift section is movably connected to the rack 120, and the cross connection 132 is also movably connected to the rack 120. For example... Figure 3As shown, taking the connection of the second scissor lift assembly 130-2 on the second support portion 124-2 as an example, two guide rails 121 are formed on the side plate of the second support portion 124-2, which movably receive the upper ends 133 of the two scissor arms 131 of the second scissor lift assembly 130-2, respectively. Furthermore, a limiting groove 122 is also provided on the side plate of the second support portion 124-2, and the cross connection portion 132 is received in the limiting groove 122, which can move up and down, to guide and limit the extension and retraction direction of the lifting mechanism 130. Specifically, during the extension and retraction of the second scissor lift assembly 130-2, the cross connection portion 132 is restricted in the limiting groove 122, thereby effectively preventing or greatly reducing the swaying of the second scissor lift assembly 130-2 during extension and retraction. The connection method of the first scissor lift assembly 130-1 on the first support portion 124-1 is the same as described above.

[0042] Preferably, the multi-layer lifting shuttle car 100 is also equipped with a lifting height control device, which is used to control the lifting height of the rack 120 so that it is aligned with the rack layer, thereby enabling the smooth loading and unloading of the material box.

[0043] exist Figure 3 In one exemplary structure shown, the lifting height control device specifically employs optical sensors, including a first optical sensor 123-1 and a second optical sensor 123-2 mounted on the rack 120 and arranged in the vertical direction. The vertical distance between the first optical sensor 123-1 and the second optical sensor 123-2 is set to be slightly less than the thickness of the bottom of the rack layer, for example, approximately 1 to 5 mm, preferably 2 to 3 mm.

[0044] The operating principle of the optical sensor-based lifting height control device is as follows: When the lifting mechanism 130 raises the rack 120 to the target rack level, if the first optical sensor 123-1 receives a light reflection signal but the second optical sensor 123-2 does not, it indicates that the second optical sensor 123-2 is located below the bottom of the rack level, and the lifting position of the rack 120 is too low, requiring further lifting of the rack 120. If the second optical sensor 123-2 receives a light reflection signal but the first optical sensor 123-1 does not, it indicates that the first optical sensor 123-1 is located above the bottom of the rack level, and the lifting position of the rack 120 is too high, requiring the rack 120 to be lowered to a certain height. When both the first optical sensor 123-1 and the second optical sensor 123-2 receive light reflection signals, it indicates that the height of the rack 120 is approximately level with the bottom of the rack level, and the rack 120 has been lifted to the correct position.

[0045] In addition to optical sensors, other forms of lifting height control devices, such as pull-wire sensors, can also be used. These are also within the scope of this application.

[0046] Back Figure 2 The lower end of the scissor arm 131 of the upper scissor section is connected to the upper end of the corresponding scissor arm 131 of the lower scissor section, forming an end connection portion 134. Preferably, a stabilizing link 135 is connected between the end connection portion 134 of the first scissor assembly 130-1 and the end connection portion 134 of the second scissor assembly 130-2. This stabilizing link 135 can ensure the synchronous extension and retraction of the first scissor assembly 130-1 and the second scissor assembly 130-2, preventing the rack 120 from tilting due to asynchronous extension and retraction of the two scissor assemblies when raising or lowering the rack 120.

[0047] Figure 4a and 4b It shows Figure 3 The cross-sectional views at portions A and B show the internal structure at the cross connection 132 and the upper end 133.

[0048] Figure 4a This is a cross-sectional view showing the internal structure of the cross connection 132. A first connecting pin 141 is provided in the cross connection 132. The first connecting pin 141 is inserted from one side and extends through the two scissor arms 131 to connect the two scissor arms 131 together. A first bearing cap 144 is connected to the first connecting pin 141 from the other side. For example, the first bearing cap 144 can be fixedly connected to the first connecting pin 141 by fasteners such as screws.

[0049] Multiple bearings are also provided in the cross connection 132 to allow rotation of the scissor arms 131. Specifically, along the axial direction, first ball bearings 142 are respectively provided between the first connecting pin 141 and one scissor arm 131, between two scissor arms 131, and between the first bearing cover 144 and another scissor arm 131; while in the radial direction, first needle bearings 143 are respectively provided between the two scissor arms 131 and the first connecting pin 141. The aforementioned first ball bearings 142 can provide axial clearance between the two scissor arms 131 and between the scissor arms 131 and the first connecting pin 141 and the first bearing cover 144, thereby reducing friction between components during rotation. At the same time, they can also provide axial thrust, making the axial position of the two scissor arms 131 and the first connecting pin 141 and the first bearing cover 144 relatively stable, reducing wobbling when the scissor arms 131 rotate.

[0050] The end connection 134 between the lower end of the scissor arm 131 of the upper scissor section and the upper end of the scissor arm 131 of the lower scissor section can also adopt the same or similar structure as the cross connection 132.

[0051] Figure 4bA cross-sectional view is shown at the upper end portion 133 of the upper scissor lift section (i.e., the upper end portion of the first scissor lift assembly 130-1 or the second scissor lift assembly 130-2). A second connecting pin 151 is provided in this upper end portion 133, which is inserted into the scissor lift arm 131 from one side, and the scissor lift arm 131 is connected to the rack 120 via the second connecting pin 151. A second bearing cap 152 is fixedly connected to the second connecting pin 151 from the other side of the scissor lift arm 131.

[0052] A second ball bearing 153 is provided between the second connecting pin 151 and the scissor arm 131, providing axial clearance between the scissor arm 131 and the second connecting pin 151. A combined bearing 154 is also provided at the upper end 133, comprising a needle roller bearing portion radially located between the second connecting pin 151 and the scissor arm 131, and a ball bearing portion axially located between the scissor arm 131 and the second bearing cap 152. Alternatively, a needle roller bearing radially sandwiched between the second connecting pin 151 and the scissor arm 131 and a ball bearing axially located between the second bearing cap 152 and the scissor arm 131 may be provided separately.

[0053] In this application, the scissor lift assembly is configured to lift at least two layers of shelving, which places higher demands on stability and sway prevention during the extension and retraction process. In the structure disclosed above, by incorporating stabilizing structures such as the limiting groove 122 and the stabilizing link 135, the lifting mechanism 130 can more stably lift the rack 120 to the required height, enabling the loading and unloading of boxes from two or more layers of shelving.

[0054] In the lifting mechanism 130 disclosed above, both the first scissor lift assembly 130-1 and the second scissor lift assembly 130-2 are double-layer scissor lift structures. Other types of scissor lift structures can also be designed. For example, for racks with lower shelf heights, a single-layer scissor lift structure can be used to meet the requirements for operating two or more racks. Alternatively, in situations where rack heights are higher or more racks need to be operated, a three-layer or more scissor lift structure can be used to achieve the required lifting height.

[0055] See below. Figure 5 The drive mechanism used to extend and retract the lifting mechanism 130 can be seen more clearly here. This drive mechanism drives the lower ends 136 of the two intersecting scissor arms 131 to move closer to or further away from each other, so that the two scissor arms 131 rotate relative to each other, thereby realizing the extension and retraction of the scissor assembly.

[0056] Specifically, such as Figure 5As shown, a first motor 161 and a first screw 162 are provided at the bottom of the frame 110. The output shaft of the first motor 161 is connected to the first screw 162 to drive the first screw 162 to rotate. A first nut 163 is fitted on the first screw 162. The lower end 136 of the scissor arm 131 of the lower scissor fork section (i.e., the lower end of the first scissor fork assembly 130-1 or the second scissor fork assembly 130-2) is fixedly connected to the first nut 163. When the first motor 161 drives the first screw 162 to rotate, the engagement between the first screw 162 and the first nut 163 causes the first nut 163 to move linearly along the first screw 162, thereby causing the lower end 136 fixed to the first nut 163 to also move linearly along the first screw 162, thus realizing the extension and retraction of the lifting mechanism 130.

[0057] Preferably, a connecting slider 164 is also fitted onto the first screw 162. The connecting slider 164 is slidably mounted on the first screw 162 and fixedly connected to the first nut 163, for example, by welding or by forming a single unit. The lower end 136 is fixedly connected to the connecting slider 164. The arrangement of the connecting slider 164 helps to make the connection between the lower end 136 and the first nut 163 more secure.

[0058] Further preferably, a steering mechanism 165 is provided between the first motor 161 and the first screw 162. This steering mechanism 165 can rotate the movement of the output shaft of the first motor 161 by a predetermined angle, such as 90° as shown in the figure. For example, the steering mechanism 165 may include a bevel gear structure to achieve a change in the transmission direction. In this way, the space at the bottom of the frame 110 can be utilized more effectively. For example, the first motor 161 can be arranged parallel to the first screw 162, thereby saving space in the length direction of the multi-layer lifting hopper shuttle 100, that is, helping to reduce the length of the multi-layer lifting hopper shuttle 100.

[0059] Further as Figure 5 As shown, a set of nut-screw assemblies (including a first screw 162, a first nut 163, and an optional connecting slider 164) are provided on each side of the frame 110, respectively for the corresponding first scissor fork assembly 130-1 and second scissor fork assembly 130-2. A linkage shaft 166 is connected between the nut-screw assemblies on both sides, so that the first screws 162 on both sides rotate synchronously, thereby driving the first nuts 163 on both sides and the lower end 136 of the scissor fork arm 131 fixedly connected thereto to move synchronously and linearly, achieving synchronous extension and retraction of the first scissor fork assembly 130-1 and the second scissor fork assembly 130-2. Specifically, the linkage shaft 166 is connected between the first screw 162 for the first scissor fork assembly 130-1 and the first screw 162 for the second scissor fork assembly 130-2.

[0060] Go to Figure 6 It shows a plan view of the bottom of the frame 110, from which the components of the drive mechanism used to drive the lifting mechanism 130 to rise and fall can be seen. Furthermore, from... Figure 6 The drive mechanism for driving the relative movement between the first support portion 124-1 and the second support portion 124-2 of the carrier rack 120, as well as the drive mechanism for driving the micro-motion plate 170 on the carrier rack 120, can also be seen.

[0061] As described above, the rack 120 includes a first support portion 124-1 and a second support portion 124-2. The first support portion 124-1 moves in a direction close to or away from the second support portion 124-2 to clamp the material box supported on the rack 120, thereby achieving centering of the material box on the rack 120. Figure 6 As shown, a second motor 125 is mounted on the second support portion 124-2, and a second nut 127 is mounted on the first support portion 124-1. One end of the second screw 126 is connected to the second motor 125, for example, to the output shaft of the second motor 125, so that the second motor 125 can drive the second screw 126 to rotate. The other end of the second screw 126 engages with the second nut 127. When the second screw 126 is driven to rotate by the second motor 125, the second nut 127 can move linearly along the second screw 126, thereby causing the first support portion 124-1 to move linearly relative to the second support portion 124-2, thus moving closer to or away from the second support portion 124-2. This allows adjustment of the distance between the first support portion 124-1 and the second support portion 124-2, achieving clamping and centering of the material box supported on the rack 120.

[0062] A micro-adjustment plate 170 is also provided on the rack 120. This micro-adjustment plate 170 is installed on either the first support portion 124-1 or the second support portion 124-2, for example... Figure 6 As shown, the micro-motion plate 170 is mounted on the second support portion 124-2. The micro-motion plate 170 is movable to straighten the tilted bins on the rack 120.

[0063] A third motor 171 is mounted on the second support portion 124-2, and a third nut 173 is mounted on the micro-adjustment plate 170. One end of the third screw 172 is drivably connected to the third motor 171, and the other end of the third screw 172 engages with the third nut 173. The third motor 171 can drive the third screw 172 to rotate, causing the third nut 173 to move linearly along the third screw 172, thereby driving the micro-adjustment plate 170 to move.

[0064] The preferred embodiments of the multi-layer lifting hopper shuttle of this application have been described in detail above. Those skilled in the art can make various obvious variations and modifications based on the above disclosure, and these variations and modifications are all within the scope of this application.

Claims

1. A multi-layer lifting material box shuttle car, wherein the multi-layer lifting material box shuttle car is installed in a rack with multiple rack layers, wherein, The multi-layer lifting hopper shuttle includes a frame, on which a traveling mechanism and a carrying rack are mounted. The carrying rack is characterized in that it is mounted on the frame via a lifting mechanism, wherein the lifting mechanism includes: A first scissor fork assembly and a second scissor fork assembly, the first scissor fork assembly being connected to one side of the loading rack and the second scissor fork assembly being connected to the other side of the loading rack, wherein each of the first and second scissor fork assemblies includes at least one scissor fork portion, the scissor fork portion including two scissor fork arms that are cross-connected to each other, wherein the scissor fork arms are rotatably connected together at the cross-connection portion; and A drive mechanism configured to drive the scissor arms to rotate relative to each other; The rack is provided with a limiting groove that extends vertically. The cross connection is movably accommodated in the limiting groove, thereby limiting the movement direction of the cross connection and guiding and limiting the telescopic movement direction of the lifting mechanism.

2. The multi-layer lifting material box shuttle car as described in claim 1, characterized in that, The first scissor lift assembly and the second scissor lift assembly each include two or more scissor lift sections connected together in a vertical direction. In two adjacent scissor lift sections, the lower end of the scissor lift arm of the upper scissor lift section is connected to the upper end of the corresponding scissor lift arm of the lower scissor lift section to form an end connection section. A stabilizing link is connected between at least one end connection section in the first scissor lift assembly and the corresponding end connection section in the second scissor lift assembly.

3. The multi-layer lifting material box shuttle car as described in claim 1, characterized in that, A first connecting pin is provided at the cross connection part. The first connecting pin is inserted into the scissor arm from one side and connects the two scissor arms together. A first bearing cover is provided on the other side of the scissor arm. The first bearing cover is fixedly connected to the first connecting pin. The cross connection portion further includes at least one first ball bearing and at least one first needle bearing. The first ball bearing is axially disposed at at least one of the following locations: between the scissor arm and the first connecting pin, between the two scissor arms, and between the scissor arm and the first bearing cap. The first needle bearing is radially disposed between the scissor arm and the first connecting pin.

4. The multi-layer lifting material box shuttle car as described in claim 2, characterized in that, The upper end of the scissor arm of the uppermost scissor fork unit is linearly movably connected to the rack. A second connecting pin is provided at the upper end, inserted into the scissor arm from one side, and the scissor arm is connected to the rack via the second connecting pin. A second bearing cap, fixedly connected to the second connecting pin, is provided on the other side of the scissor arm. The upper end is further provided with a second ball bearing and a combined bearing. The second ball bearing is axially disposed between the second connecting pin and the scissor arm. The combined bearing includes a needle roller bearing portion disposed radially between the scissor arm and the second connecting pin and a ball bearing portion disposed axially between the scissor arm and the second bearing cap.

5. The multi-layer lifting material box shuttle car as described in claim 1, characterized in that, The driving mechanism includes: a first motor; a first screw connected to and driven to rotate by the first motor; and a first nut fitted on the screw, wherein the first nut can move linearly along the screw when the first screw rotates, and the scissor arm is fixedly connected to the nut.

6. The multi-layer lifting material box shuttle car as described in claim 5, characterized in that, A steering device is connected between the first motor and the first screw, and the steering device is configured to turn the motion output by the first motor to a predetermined angle.

7. The multi-layer lifting material box shuttle car as described in claim 5, characterized in that, The drive mechanism further includes a connecting slider, which is slidably disposed on the first screw, and the connecting slider, the first nut, and the lower end of the scissor arm located at the lowest scissor fork portion are fixedly connected together.

8. The multi-layer lifting material box shuttle car as described in claim 5, characterized in that, The drive mechanism further includes a linkage shaft, which is connected between the first screw for the first scissor lift assembly and the first screw for the second scissor lift assembly.

9. The multi-layer lifting material box shuttle car as described in claim 1, characterized in that, The multi-layer lifting hopper shuttle also includes a lifting height control device, which is installed on the carrier rack and configured to control the lifting height of the carrier rack so that the carrier rack is aligned with the target shelf layer in the rack.

10. The multi-layer lifting material box shuttle car as described in claim 1, characterized in that, The lifting height control device includes a first light sensor and a second light sensor arranged in the vertical direction, wherein the vertical distance between the first light sensor and the second light sensor is set to be less than the thickness of the bottom of the shelf layer.

11. The multi-layer lifting material box shuttle car as described in claim 1, characterized in that, The rack includes a first support section and a second support section, wherein the first support section is configured to move along a direction toward or away from the second support section; A second nut is installed on the first bearing part, a second motor is installed on the second bearing part, one end of the second screw is connected to the second motor, and the other end of the second screw is engaged with the second nut.

12. The multi-layer lifting material box shuttle car as described in claim 1, characterized in that, A micro-motion plate is provided in the carrier rack, a third motor is installed on the carrier rack, a third nut is installed on the micro-motion plate, one end of the third screw is connected to the third motor, and the other end of the third screw is engaged with the third nut.

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