A rack device with automatic retractable outriggers and intelligent transport robot

Abstract

This utility model relates to the field of intelligent transport robot technology, specifically disclosing a shelf device with automatically retractable and extendable legs and an intelligent transport robot. The shelf device includes a bracket, a support component mounted on the bracket for supporting the bracket, and a drive assembly mounted on the bracket for controlling the support component to retract or extend its legs. When the support component is in the retracted leg state, a gap is formed between the support component and the base surface; when the support component is in the extended leg state, the bottom of the support component will contact and abut against the base surface. This utility model can be placed on an intelligent transport robot, and the support component can be retracted, thereby improving the stability, passability, and obstacle-crossing ability of the goods on the shelf during transportation. After the goods are transported, the support component ensures the stability of the shelf device by providing "outward support".

Description

Technical Field

[0001] This utility model relates to the field of intelligent transport robot technology, and more specifically, to a shelf device with automatically retractable support legs and an intelligent transport robot. Background Technology

[0002] Currently, using intelligent transport robots or AGVs for logistics transportation is a common method in factory logistics. Backpack-type racks are a common case for transporting goods. The transport robot crawls into the space under the rack, lifts the rack by jacking it up, and then carries the rack on its back for transportation. After reaching the destination, the rack is lowered, thus completing the entire transportation process.

[0003] Because the racks do not have retractable legs, the goods need to be lifted throughout the transportation process, which raises the center of gravity of the goods. At the same time, the lack of retractable rack legs greatly limits the passage and obstacle-crossing capabilities of the transport robot. Therefore, this solution is generally only applicable to scenarios where the factory ground is flat and the goods racks are relatively light, and it is difficult to apply to scenarios with complex road conditions, such as the material transportation process at construction sites.

[0004] Chinese patent application number CN202411898799.0 discloses a rack device suitable for automatic loading and unloading of backpack transport robots. When the outriggers are retracted, the outriggers will retract in one direction. Due to the lateral sway of the retraction action, when the rack is placed under a large lateral force, the entire rack device may be at risk of tipping over due to the outriggers tilting to one side. Utility Model Content

[0005] The technical problem to be solved by this utility model is to provide a shelf device with automatically retractable support legs and an intelligent transport robot; it can be placed on the intelligent transport robot, and the support components can be retracted, thereby improving the stability, passability and obstacle-crossing ability of the goods on the shelf during transportation. After the goods are transported, the support components ensure the stability of the shelf device in the form of "outward eight supports".

[0006] The solution adopted by this utility model to solve the technical problem is:

[0007] A racking device with automatic retractable and extendable legs includes a bracket, a support assembly mounted on the bracket for supporting the bracket, and a drive assembly mounted on the bracket for controlling the support assembly to perform retractable or extendable leg movements.

[0008] When the support component is in the retracted leg state, a gap is formed between the support component and the base surface;

[0009] When the support component is in the extended position, the bottom of the support component will contact and abut against the base surface.

[0010] In some possible implementations, the support assembly includes two sets of symmetrically arranged support members along the Y-axis direction and hinged and cooperating with the bracket; the support members include legs symmetrically arranged along the X-axis direction and forming a V-shaped structure in the extended state, with the larger end located on the side near the base surface; the two sets of legs in each set of support members form an inverted V-shaped structure in the retracted state, with the larger end located on the side near the bracket.

[0011] In some possible implementations, the drive assembly includes a drive component mounted on the outside of the bracket and a transmission component mounted inside the bracket and driven in connection with the outriggers.

[0012] In some possible implementations, the transmission assembly includes a second transmission shaft that is driven in conjunction with the drive assembly and is driven in conjunction with the legs on the same side of the two sets of support members; a fourth transmission shaft that is parallel to the second transmission shaft and is driven in conjunction with the other two sets of support legs; and a third transmission member that is mounted on the bracket and is driven in conjunction with the second and fourth transmission shafts; the second and fourth transmission shafts are arranged along the X-axis and are rotatably connected to the bracket; and the third transmission member is rotatably connected to the bracket.

[0013] In some possible implementations, the transmission component three includes a transmission shaft three that is driven and coupled to the transmission shaft four via a gear transmission structure, and a secondary transmission mechanism that is driven and coupled to the transmission shaft two and the transmission shaft three; the transmission shaft three is arranged along the X-axis direction.

[0014] In some possible implementations, the secondary transmission mechanism includes a second pulley mounted on a second transmission shaft, a third pulley mounted on a third transmission shaft, and a secondary transmission belt that is connected to the second and third pulleys in a transmission manner.

[0015] The gear transmission structure includes a third gear mounted on a third transmission shaft and a fourth gear meshing with the third gear and mounted on a fourth transmission shaft.

[0016] In some possible implementations, the drive assembly includes a drive motor mounted on the outside of the bracket, a main gear driven by the output shaft of the drive motor, a driven gear meshing with the main gear, a drive shaft I for mounting the driven gear and rotating with the bracket, a main drive wheel mounted on the outside of drive shaft I, a driven drive wheel mounted on the outside of drive shaft II, and a main drive belt passing through the bracket and driven by the main drive wheel and the driven drive wheel; drive shaft I is arranged along the X-axis direction.

[0017] In some possible implementations, two sets of vibration dampers are provided on the outer side of the bracket, which are rotatably engaged with one end of the drive shaft.

[0018] In some possible implementations, the outrigger includes a hinge seat that hinges to the bracket and a support column mounted on the bottom of the hinge seat; the hinge seat includes a base with a groove and a rotating shaft mounted in the groove and rotatingly engaging with the bracket in the X-axis direction, the rotating shaft being connected to a transmission assembly.

[0019] on the other hand:

[0020] An intelligent transport robot includes a mobile vehicle body, a lifting mechanism mounted on the mobile vehicle body, and a racking device mounted on the mobile vehicle body as described above; the lifting mechanism is connected to the bottom of the racking device and controls the racking device to move along the Z-axis.

[0021] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0022] This invention significantly lowers the center of gravity of the transport robot by retracting and extending the outriggers during transport, thereby increasing the robot's ability to adapt to complex road conditions and its obstacle-crossing height.

[0023] This invention, through the design of wide gears and vibration damping devices, allows for a certain positioning error when the transport body and this device are in place;

[0024] This utility model uses a figure-eight structure formed by the cooperation of the outriggers to provide stable support on the ground and improve the load-bearing capacity of the shelf. By rotating the two sets of outriggers in the same support assembly around the hinge point to move closer to one side or further away from each other, the risk of the outriggers tipping over in one direction after the retraction action is avoided. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of this utility model;

[0026] Figure 2 This is a schematic diagram of the structure of the outrigger after it has been retracted.

[0027] Figure 3 This is a schematic diagram showing the connection relationship between the drive assembly and the second transmission shaft in this utility model;

[0028] Figure 4 This is a schematic diagram showing the connection relationship between transmission component three, transmission shaft two, and transmission shaft three in this utility model;

[0029] Figure 5 This is a schematic diagram of the intelligent transport robot in this utility model;

[0030] Figure 6 This is a schematic diagram of the intelligent transport robot in the present invention during the transportation process;

[0031] in:

[0032] 1. Bracket;

[0033] 2. Support components;

[0034] 21. Support leg; 211. Base; 212. Support column; 3. Drive assembly;

[0035] 31. Driver components;

[0036] 311. Drive motor; 312. Main gear; 313. Drive shaft one; 314. Driven gear; 315. Main drive pulley; 316. Driven pulley; 317. Main drive belt; 318. Vibration damper;

[0037] 32. Transmission components;

[0038] 321. Drive shaft two; 322. Drive shaft four; 323. Transmission component three;

[0039] 3231. Drive shaft three; 3232. Pulley two; 3233. Pulley three; 3234. Secondary drive belt;

[0040] 10. Moving vehicle body. Detailed Implementation

[0041] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. The terms "first," "second," and similar terms used in this application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, "a" or "one," etc., do not indicate a quantity limitation, but rather indicate the existence of at least one. In the implementation of this application, "and / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. In the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more. For example, multiple positioning posts refer to two or more positioning posts. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0042] The present invention will now be described in detail.

[0043] like Figures 1-6 As shown:

[0044] A racking device with automatic retractable and extendable legs 21, used in conjunction with transport equipment, includes a bracket 1, a support assembly 2 mounted on the bracket 1 for supporting the bracket 1, and a drive assembly 3 mounted on the bracket 1 for controlling the support assembly 2 to perform retractable or extendable leg movements.

[0045] When the support component 2 is in the retracted leg state, a gap is formed between the support component 2 and the base surface (floor or ground);

[0046] When the support component 2 is in the extended leg position, the bottom of the support component 2 will contact and abut against the base surface;

[0047] A shelf is provided on bracket 1.

[0048] Specifically, when transporting goods in the shelf or placed directly on the bracket 1, the transport equipment first moves to the bottom of the bracket 1 and lifts the bracket 1 so that the support component 2 no longer acts on the base surface, thereby realizing the transport equipment to transport the bracket 1, the shelf, and the goods in the shelf.

[0049] Subsequently, the support component 2 is retracted by the drive assembly 3 to prevent the support component 2 from contacting protrusions on the base surface during cargo transportation and causing a collision, thus achieving effective obstacle crossing.

[0050] After the goods are transported to the designated location, the transport equipment lifts the goods again, and then controls the outrigger assembly to be in the extended state through the drive assembly 3. Finally, the transport equipment controls the goods to descend along the Z-axis until the outrigger assembly contacts and abuts the base surface, so that the bracket 1, the shelf and the goods are supported again by the outrigger assembly, and the transport is completed.

[0051] In some possible implementations, in order to effectively support the bracket 1 by means of the support component 2, and to prevent the bracket 1 from tipping over when the support component 2 is retracted;

[0052] The bracket 1 has a square structure, and the support assembly 2 includes two sets of symmetrically arranged support members along the Y-axis direction, which are hinged and cooperate with the bracket 1; for example Figure 1 , Figure 2 As shown, the support includes legs 21 symmetrically arranged along the X-axis and forming a figure-eight structure in the extended state, with the larger end located on the side close to the base surface; the two sets of legs 21 in each set of support form an inverted figure-eight structure in the retracted state, with the larger end located on the side close to the bracket 1.

[0053] Furthermore, the four sets of support legs 21 are located at the corners of the square structure. When the legs are retracted, under the control of the drive assembly 3, two sets of support legs 21 in each support member rotate around their hinge point with the bracket 1 and move closer to each other, eventually forming an inverted V-shaped structure, so that the entire bracket 1 is evenly stressed and will not tip over. When the bracket 1 is supported, under the control of the drive assembly 3, two sets of support legs 21 in each support member rotate around their hinge point with the bracket 1 and move further away from each other, forming an V-shaped structure with an outward V-shape. The bottom of the two sets of V-shaped structures will act on the base surface to provide stable support for the bracket 1.

[0054] In some possible implementations, in order to effectively drive the four sets of outriggers 21 to move synchronously through the drive assembly 3 to achieve the action of retracting or extending the legs; the drive assembly 3 includes a drive component 31 installed on the outside of the bracket 1, and a transmission component 32 installed inside the bracket 1 and connected to the outriggers 21.

[0055] In some possible implementations, in order for the transmission assembly 32 to simultaneously drive the four sets of support legs 21 to move synchronously, the transmission assembly 32 includes a second transmission shaft 321 that is driven in conjunction with the drive assembly 31 and is driven in conjunction with the support legs 21 on the same side of the two sets of support members; a fourth transmission shaft 322 that is parallel to the second transmission shaft 321 and is driven in conjunction with the other two sets of support legs 21; and a third transmission member 323 that is mounted on the bracket 1 and is driven in conjunction with the second transmission shaft 321 and the fourth transmission shaft 322. The second transmission shaft 321 and the fourth transmission shaft 322 are arranged along the X-axis direction and are rotatably engaged with the bracket 1. The third transmission member 323 is rotatably engaged with the bracket 1.

[0056] Both ends of the second drive shaft 321 are connected to the support legs 21 on the same side of the two sets of support members, while both ends of the fourth drive shaft 322 are connected to the other two sets of support legs 21. The drive assembly 3 drives the second drive shaft 321 to rotate forward around its axis. Since the third drive member 323 is connected to the second drive shaft 321, it drives the fourth drive shaft 322 to rotate in the opposite direction around its axis. This causes the two sets of support legs 21 in each set of support members to move closer or further away from each other around their hinged seats with the bracket 1. This results in a figure-eight structure when supporting the bracket 1 and an inverted figure-eight structure when retracted.

[0057] In some possible implementations, the transmission component 323 includes a transmission shaft 3231 that is driven by a gear transmission structure to drive the transmission shaft 322, and a secondary transmission mechanism that is driven by the transmission shaft 2 321 and the transmission shaft 3231. The transmission shaft 3231 is arranged along the X-axis. The transmission shaft 3231 is located between the transmission shaft 2 321 and the transmission shaft 322. The transmission shaft 3231 is controlled to rotate synchronously and in the same direction as the transmission shaft 2 321 through the secondary rotation mechanism. Since the transmission shaft 3231 and the transmission shaft 322 are driven by a gear transmission structure, the rotation direction of the transmission shaft 322 about its axial direction is opposite to that of the transmission shaft 2 321.

[0058] In some possible implementations, the secondary transmission mechanism includes a pulley 3232 mounted on a second transmission shaft 321, a pulley 3233 mounted on a third transmission shaft 3231, and a secondary transmission belt 3234 that is connected to the pulleys 3232 and 3233.

[0059] Specifically, the secondary drive belt 3234 can be a belt, a timing belt, or a chain; at this time, pulleys 3232 and 3233 can be selected as pulleys, timing pulleys, or sprockets depending on the secondary drive belt 3234.

[0060] The drive shaft 3231 can be one set or two sets; specifically, it can be set according to the structure of bracket 1.

[0061] like Figure 1 , Figure 2 , Figure 4 As shown, there are two sets of transmission shafts 3231, which are coaxially arranged. The two sets of transmission shafts 3231 will achieve transmission through two sets of auxiliary transmission mechanisms.

[0062] The gear transmission structure includes a third gear mounted on a third transmission shaft 3231 and a fourth gear meshing with the third gear and mounted on a fourth transmission shaft 322. When the third gear rotates in the forward direction, the fourth gear rotates in the forward direction under the drive of the third transmission shaft 3231. Since the fourth gear meshes with the third gear, the fourth transmission shaft 322 will rotate in the reverse direction around its axis.

[0063] In some possible implementations, in order to effectively control the rotation of the second transmission shaft 3231 about its axial direction by the drive assembly 31, the drive assembly 31 includes a drive motor 311 mounted on the outside of the bracket 1, a main gear 312 driven by the output shaft of the drive motor 311, a driven gear 314 meshing with the main gear 312, a first transmission shaft 313 for mounting the driven gear 314 and rotating with the bracket 1, a main transmission wheel 315 mounted on the outside of the first transmission shaft 313, a driven transmission wheel 316 mounted on the outside of the second transmission shaft 321, and a main transmission belt 317 passing through the bracket 1 and driven by the main transmission wheel 315 and the driven transmission wheel 316; the first transmission shaft 313 is arranged along the X-axis direction;

[0064] The output shaft of the drive motor 311 is arranged along the X-axis direction. The main gear 312 is mounted on the outside of the output shaft. The transmission shaft 313 is along the X-axis direction and rotates with the bracket 1 around the X-axis direction. The driven gear 314 is mounted on the outside of the transmission shaft 313 and rotates with the main transmission wheel 315. When the drive motor 311 controls the output shaft to rotate, it will drive the main gear 312 to rotate, thereby driving the driven gear 314 and the transmission shaft 313 to rotate.

[0065] Furthermore, the main gear 312 and the driven gear 314 are wide-width gears; by increasing the width of the main gear 312 and the driven gear 314, it is possible to allow for a certain error in the precision control of the transport equipment in the X-axis direction when it enters the bottom of the bracket 1, thereby ensuring that the main gear 312 and the driven gear 314 achieve meshing transmission.

[0066] Since the main drive wheel 315 is mounted on the first drive shaft 313 and the secondary drive wheel 316 is mounted on the second drive shaft 321, the two are connected by the main drive belt 317. When the first drive shaft 313 rotates, it drives the second drive shaft 321 to rotate.

[0067] To prevent the main drive wheel 315 from accidentally contacting the main gear 312, the rotation radius of the main drive wheel 315 is smaller than the rotation radius of the driven gear 314.

[0068] The secondary drive belt 3234 can be a belt, a timing belt, or a chain; at this time, the main drive pulley 315 and the driven pulley 316 can be selected as belt pulleys, timing pulleys, or sprockets depending on the type of secondary drive belt 3234.

[0069] Furthermore, the two ends of the drive shaft 313 are rotatably connected to the bracket 1 through bearings.

[0070] In some possible implementations, two sets of vibration dampers 318 are provided on the outer side of the bracket 1, which are rotatably engaged with both ends of the drive shaft 313. By setting the vibration dampers 318, a certain error in the precision control along the Y-axis is allowed when the transport equipment enters the shelf, while avoiding hard collisions when the main gear 312 and the driven gear 314 come into contact and mesh. The main drive wheel 315 on the drive shaft 313 and the driven drive wheel 316 on the drive shaft 321 are connected by the auxiliary drive belt 3234 to realize the transmission of rotation. The auxiliary drive belt 3234 passes through the slots on the bracket to facilitate the connection and passage of chains or conveyor belts.

[0071] A bearing housing for mounting the bearing is provided at the end of the damper 318 away from the bracket 1; the end of the drive shaft 313 is connected to the inner ring of the bearing, and the outer ring of the bearing is fixed on the bearing housing.

[0072] Specifically, the vibration damper 318 is existing technology, including a large cylinder and a small cylinder fitted inside the large cylinder and slidingly fitted along the Y-axis. The end of the small cylinder away from the large cylinder is installed on the outside of the bracket 1. An oblong hole along the Y-axis is provided on the small cylinder, and a pin is provided on the large cylinder, which is fitted into the oblong hole. A constant pressure spring connected to the inside of the large cylinder is provided inside the small cylinder. Vibration reduction is achieved through the cooperation of the constant pressure spring, the pin, and the oblong hole.

[0073] In some possible implementations, the support leg 21 includes a hinge seat that is hinged to the bracket 1, and a support column 212 mounted on the bottom of the hinge seat; the hinge seat includes a base 211 with a groove, and a rotating shaft mounted in the groove and rotatably engaged with the bracket 1 in the X-axis direction, the rotating shaft being connected to the drive assembly for transmission.

[0074] Specifically, two sets of rotating shafts on the same side of the two sets of support components and closer to the drive motor 311 are connected to both ends of the second transmission shaft 321, and these two sets of rotating shafts are coaxially arranged with the second transmission shaft 321; the other two sets are coaxially arranged with the fourth transmission shaft 322 and connected to both ends of the fourth transmission shaft 322.

[0075] The groove has a U-shaped cross-section; when the support leg 21 is in the extended position, the bottom of the groove contacts and abuts against the bottom of the bracket 1.

[0076] Specifically, bracket 1 includes a square frame and a support frame set inside the frame; two sets of side spans set along the Y-axis in the frame are respectively hinged to the support leg 21; when the support leg 21 is in the extended position, the bottom of the groove contacts and abuts against the bottom of the side span; the two ends of the second drive shaft 321 and the fourth drive shaft 322 will pass through the support and rotate with the two sets of side spans respectively, and the third drive shaft 3231 consists of two sets and is located between the support frame and the frame span and is in transmission engagement.

[0077] on the other hand:

[0078] An intelligent transport robot includes a mobile vehicle body 10, a lifting mechanism mounted on the mobile vehicle body 10, and a racking device mounted on the mobile vehicle body 10 as described above; the lifting mechanism is connected to the bottom of the racking device and controls the racking device to move along the Z-axis.

[0079] After the goods are loaded onto the racking device, the mobile vehicle 10 moves to the bottom of the bracket 1 and lifts the racking device and goods upward along the Z-axis through the lifting mechanism. Then, the four support legs 21 are retracted through the drive assembly 3. After the retraction is complete, the lifting mechanism controls the racking device to move downward along the Z-axis, lowering the center of gravity of the entire racking device and goods. The retraction of the support legs 21 will prevent the support legs 21 from colliding with obstacles on the base surface during transportation.

[0080] After being transported to the designated location, the lifting mechanism lifts the rack device upwards, and then the drive assembly 3 controls the support legs 21 to extend the legs. After the legs are extended, the lifting mechanism moves the rack device downwards until the support column 212 contacts and abuts the base surface. The moving vehicle 10 is then removed from the bottom of the bracket 1, completing the transportation.

[0081] This invention is not limited to the specific embodiments described above. This invention extends to any new feature or combination disclosed in this specification, as well as any new method or process step or combination disclosed herein.

Claims

1. A shelving device with automatically extending and retracting support legs, characterized in that, It includes a bracket, a support assembly mounted on the bracket for supporting the bracket, and a drive assembly mounted on the bracket for controlling the support assembly to achieve the leg retraction or extension movement; When the support component is in the retracted leg state, a gap is formed between the support component and the base surface; when the support component is in the extended leg state, the bottom of the support component will contact and abut against the base surface. The support assembly includes two sets of symmetrically arranged support members along the Y-axis direction, which are hinged and cooperate with the bracket; the support members include legs symmetrically arranged along the X-axis direction and forming a figure-eight structure in the extended state, with the larger end located on the side close to the base surface. The drive assembly includes a drive component mounted on the outside of the bracket and a transmission component mounted inside the bracket and connected to the outrigger drive. The transmission assembly includes a second transmission shaft that is driven in conjunction with the drive assembly and is driven in conjunction with the legs on the same side of the two sets of support members; a fourth transmission shaft that is parallel to the second transmission shaft and is driven in conjunction with the other two sets of support legs; and a third transmission member that is mounted on the bracket and is driven in conjunction with the second and fourth transmission shafts. The second and fourth transmission shafts are arranged along the X-axis and are rotatably connected to the bracket. The third transmission member is rotatably connected to the bracket.

2. The shelving device with automatically retractable support legs according to claim 1, characterized in that, The two sets of legs in each support component form an inverted V-shape when the legs are retracted, with the larger end located on the side closest to the bracket.

3. A shelving device with automatically retractable support legs according to claim 1, characterized in that, The transmission component three includes a transmission shaft three that is connected to the transmission shaft four via a gear transmission structure, and a secondary transmission mechanism that is connected to the transmission shaft two and the transmission shaft three; the transmission shaft three is arranged along the X-axis direction.

4. A shelving device with automatically retractable support legs according to claim 3, characterized in that, The auxiliary transmission mechanism includes a second pulley mounted on a second transmission shaft, a third pulley mounted on a third transmission shaft, and an auxiliary transmission belt that is connected to the second and third pulleys. The gear transmission structure includes a third gear mounted on a third transmission shaft and a fourth gear meshing with the third gear and mounted on a fourth transmission shaft.

5. A shelving device with automatically retractable support legs according to claim 1, characterized in that, The drive assembly includes a drive motor mounted on the outside of the bracket, a main gear driven by the output shaft of the drive motor, a driven gear meshing with the main gear, a drive shaft I for mounting the driven gear and rotating with the bracket, a main drive wheel mounted on the outside of drive shaft I, a driven drive wheel mounted on the outside of drive shaft II, and a main drive belt passing through the bracket and driven by the main drive wheel and the driven drive wheel; drive shaft I is arranged along the X-axis direction.

6. A shelving device with automatically extending and retracting support legs according to claim 5, characterized in that, Two sets of vibration dampers are provided on the outside of the bracket, which are rotatably engaged with one end of the drive shaft.

7. A shelving device with automatically retractable support legs according to claim 1, characterized in that, The support leg includes a hinge seat that is hinged to the bracket, and a support column installed at the bottom of the hinge seat; the hinge seat includes a base with a groove, a rotating shaft installed in the groove and rotating with the bracket in the X-axis direction, and the rotating shaft is connected to a transmission assembly.

8. An intelligent transport robot, characterized in that, The device includes a mobile vehicle body, a lifting mechanism mounted on the mobile vehicle body, and a racking device mounted on the mobile vehicle body as described in any one of claims 1-7; the lifting mechanism is drivenly connected to the bottom of the racking device and controls the movement of the racking device along the Z-axis.

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