Lifting device and stereoscopic warehouse

Abstract

The application provides a lifting device and a stereoscopic warehouse, which comprises a shelf module attached to a shelf column piece and a vehicle body module arranged in the shelf module. The application provides fixation by using a vertical T-shaped guide rail in the shelf module, installs a rack on the surface of the T-shaped guide rail to be engaged with a power assembly in the vehicle body module, and drives the vehicle body frame assembly to run up and down. The vehicle body frame assembly can be guided and limited by a guide assembly rolling on the surface of the T-shaped guide rail, so that the vehicle body module can stably bear goods in the warehouse and shuttle vehicles to change layers up and down, and directly dock with conveying lines or tracks in front of and behind the warehouse shelf. All electrical elements in the application are assembled in the vehicle body module to realize functional integration, break the difficulties of large space occupation, large on-site implementation difficulty and long production cycle of traditional lifting devices, realize detection of related functions and elimination of abnormal conditions before leaving the factory, and avoid the difficulties of on-site treatment.

Description

Technical Field

[0001] This application relates to the field of intelligent warehousing system technology, and in particular to a lifting device and an automated warehouse. Background Technology

[0002] Existing hoisting equipment requires construction teams to assemble components on-site, making modular rapid assembly difficult and resulting in high installation costs. Furthermore, many materials in the hoist are large in size and heavy, and the assembled equipment is quite tall, requiring multiple pieces of equipment and coordinated installation by multiple people. The size, weight of the components, and overall height of the equipment all contribute to low on-site installation efficiency.

[0003] Furthermore, existing hoisting equipment requires a significant amount of time for debugging and adjusting its electrical components and corresponding mechanical parts after installation. Moreover, the coordination and operation of many components and electrical parts can only be tested for functionality and abnormalities after the equipment is installed and powered on. Conventional equipment on the market cannot meet this requirement, thus greatly increasing the risk of malfunctions in existing hoists. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the purpose of this application is to provide a lifting device and an automated warehouse. This application utilizes a module... This method solves the problems of high installation difficulty, long installation time, and high manpower consumption of traditional hoists, reducing the installation difficulty of hoisting equipment. This reduces installation risks and the time required for on-site testing and debugging of numerous electrical components and mechanical parts in the equipment, significantly lowering the overall equipment cost. Synthesize this.

[0005] To achieve the above objectives, the lifting equipment provided in this application includes: a rack module, which is attached to the rack uprights and includes: a vertically arranged T-shaped guide rail, a rack mounted on the surface of the T-shaped guide rail, and a corresponding fixed support structure; and a vehicle module, which includes: a vehicle frame assembly disposed within the rack module, a guide assembly that conforms to the surface of the T-shaped guide rail to guide the vehicle frame assembly to run, and a power assembly mounted on the vehicle frame assembly to mesh with the rack and run.

[0006] Optionally, in any of the lifting devices described above, the vehicle frame assembly is further provided with a pallet placement assembly, which includes: a placement mounting plate disposed on both sides of the vehicle frame assembly along the track direction of the shuttle entering and exiting the lifting device in the rack; a placement end mounting seat vertically supported at the ends of the placement mounting plates on both sides of the vehicle frame assembly; and a placement middle support seat disposed in the middle of each placement mounting plate, supporting the placement mounting plate between the placement mounting plate and the vehicle frame assembly.

[0007] Optionally, in any of the above-described lifting devices, the vehicle frame assembly is further provided with a vehicle body cover assembly, which surrounds the vehicle frame assembly and the power assembly, forming a U-shaped channel that connects with the track for the shuttle car to enter and exit the lifting device in the shelf, wherein the loading position mounting plate is provided parallel to the top of the two elevated platforms on both sides of the U-shaped channel.

[0008] Optionally, as described in any of the above-mentioned lifting devices, the vehicle frame assembly includes: a vehicle frame that matches the rectangular area between the T-shaped guide rails, a base fixing block, a slotted photoelectric sensor, an emergency stop button, a limit switch, and a lidar assembly mounted on the vehicle frame.

[0009] Optionally, in any of the above-described lifting devices, the power component includes: a servo motor mounted on the vehicle frame assembly and fixed to the outside of the loading end mounting seat and the loading middle support seat, located below the loading mounting plate; a reducer connected to the output shaft of the servo motor and mounted on a reducer base; and a gear mounted on the outside of the reducer base and fixedly connected to the output shaft of the reducer via a shrink sleeve, wherein the gear meshes with a rack on the surface of the T-shaped guide rail, driving the entire vehicle module to move up and down within the space enclosed by the T-shaped guide rail.

[0010] Optionally, in any of the lifting devices described above, the first group of the guiding components includes: a guide wheel bracket, which is fixedly installed on the outside of the vehicle frame below the reducer base, the guide wheel bracket being parallel to the output shaft of the servo motor; a first guide eccentric shaft, which is perpendicular to the guide wheel bracket and extends outward from the outside of the vehicle frame; a first guide wheel, which is located at the far end of the first guide eccentric shaft and abuts against one side of the T-shaped guide rail in a direction parallel to the loading position mounting plate; wherein a deep groove ball bearing is connected between the first guide wheel and the first guide eccentric shaft, the inner ring of the end of the deep groove ball bearing is closed by a shaft elastic retaining ring, and the outer ring of the end of the deep groove ball bearing is closed by a hole elastic retaining ring; the connection end of the first guide eccentric shaft and the guide wheel bracket is fixed by a hexagonal nut, the inner side of the hexagonal nut is provided with a spring washer, and the bottom of the spring washer abuts against the surface of the guide wheel bracket through a flat washer.

[0011] Optionally, in any of the lifting devices described above, the second group of the guide assembly includes: an eccentric shaft seat, which is fixedly disposed on the outside of the vehicle frame below the reducer seat, the eccentric shaft seat having a bent structure perpendicular to and parallel to the output shaft of the servo motor; a second guide eccentric shaft, which is connected to the end of the bent structure of the eccentric shaft seat, parallel to the vehicle frame, extending outward from the vehicle frame, and perpendicular to the first guide eccentric shaft; a second guide wheel, which is disposed at the far end of the second guide eccentric shaft, abutting against the other side of the T-shaped guide rail in a direction perpendicular to the first guide wheel; wherein a deep groove ball bearing is connected between the second guide wheel and the second guide eccentric shaft, the inner end of the deep groove ball bearing is closed by a shaft elastic retaining ring, and the outer end of the deep groove ball bearing is closed by a hole elastic retaining ring; the connection end between the second guide eccentric shaft and the eccentric shaft seat is fixed by a hexagonal nut, the inner side of the hexagonal nut is provided with a spring washer, and the bottom of the spring washer abuts against the surface of the eccentric shaft seat through a flat washer.

[0012] Optionally, as described in any of the above-mentioned lifting devices, the rack module includes: side beams that are laterally connected between the rack uprights; T-shaped guide rails that are fitted and fixed to the inner side of the rack uprights, the bottom of the T-shaped guide rails being vertically fixed to the ground by T-rail fixing seats, and a T-rail adjusting pad being provided between the T-rail fixing seats and the ground; pressure guide plates that are laid on the inner side of the T-shaped guide rails for fixing racks; and a top frame with a rectangular structure being provided on the top of the T-shaped guide rails, the four corners of which are fixedly connected to each T-shaped guide rail by top frame fixing seats.

[0013] In addition, based on the above structure, this application also provides an automated warehouse, in which the shelves are equipped with lifting devices as described above.

[0014] Optionally, in any of the above-described automated warehouses, the racks of the automated warehouse include multi-layered tracks supported by rack uprights, on which shuttles run, the shuttles moving along the tracks into and out of the U-shaped channels of the lifting equipment, placing goods on the loading position mounting plates.

[0015] Compared with existing solutions, this application has the following technical advantages: This application provides a lifting device and an automated warehouse, comprising a rack module attached to the rack uprights and a vehicle module disposed within the rack module. The application utilizes vertically arranged T-shaped guide rails in the rack module for fixation, and racks are installed on the surface of the T-shaped guide rails to mesh with a power component in the vehicle module, driving the vehicle frame assembly to move up and down. The vehicle frame assembly of this application is guided and limited by guide components that roll against the surface of the T-shaped guide rails, ensuring the vehicle module can stably carry goods in the warehouse and facilitate shuttle transfers between layers, and directly connect to the conveyor lines or tracks before and after the warehouse racks. All electrical components in this application's equipment are assembled within the vehicle module. After power-on, the coordination and cooperation between corresponding electrical components and parts can be tested. Before leaving the factory, relevant functions can be tested and abnormalities eliminated, avoiding on-site troubleshooting. The vehicle module of this application integrates all functions, has a compact and exquisite overall appearance, and eliminates the need for various loose parts during shipment, greatly facilitating packaging and transportation. This application breaks through the problems of traditional lifting equipment occupying large space in automated warehouses, being difficult to implement on-site, and having long production cycles.

[0016] Other features and advantages of this application will be set forth in the following description and will be apparent in part from the description or may be learned by practicing the application. Attached Figure Description

[0017] The accompanying drawings are provided to further illustrate the present application and form part of the specification. Together with the embodiments of the present application, they serve to explain the present application but do not constitute a limitation thereof. In the drawings: Figure 1 This is an overview drawing of the lifting equipment according to this application; Figure 2 This is a layout diagram of the vehicle body module in the lifting equipment of this application; Figure 3 This is a schematic diagram of the power component in the lifting equipment of this application; Figure 4 This is a structural schematic diagram of one set of guide components of the lifting device of this application; Figure 5 for Figure 4 A cross-sectional view of a set of guide components is shown. Figure 6 This is a structural schematic diagram of another set of guide components for the lifting device of this application; Figure 7 for Figure 6 A cross-sectional view of another set of guide components is shown. Figure 8 The radar component used in the lifting device of this application. Detailed Implementation

[0018] The preferred embodiments of this application are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit this application.

[0019] The meaning of "and / or" as used in this application includes situations where each exists alone or both exist simultaneously.

[0020] In this application, "inner" and "outer" refer to directions relative to the car frame itself, with the direction pointing towards the center of the car frame between the T-shaped guide rails being "inner" and vice versa; rather than being a specific limitation on the device mechanism of this application.

[0021] The terms "left" and "right" as used in this application refer to the user's left side as the left and the user's right side as the right when the user is facing the direction of travel of the shuttle, and do not constitute a specific limitation on the device mechanism of this application.

[0022] The term "connection" as used in this application can mean a direct connection between components or an indirect connection between components through other components.

[0023] The terms "up" and "down" as used in this application refer to the direction from the ground to the top frame when the user is facing the direction the shuttle is moving, and vice versa, rather than a specific limitation on the device mechanism of this application.

[0024] refer to Figure 1 to Figure 8The vertical two-way vehicle provided in this application allows for the layout of lifting equipment at any storage location within an automated warehouse, greatly simplifying the overall solution and eliminating the limitation of traditional lifting equipment being only allowed to be placed on the outside of the racks. This vertical two-way vehicle comprises a rack module 1 and a vehicle body module 2. The rack module is attached to the rack uprights 101 and includes: side beams 102, T-rail fixing seats 103, T-rail adjusting pads 104, T-shaped guide rails 105, top frames 106, top frame fixing seats 107, racks 109, and pressure guide plates 108. The vehicle body module 2 includes a vehicle body frame assembly 21, a power assembly 22, a pallet storage location assembly 25, a lidar assembly 26, a vehicle body cover assembly 27, and a guide assembly. The guide assembly includes two sets. The first set of guide assembly 23 includes: a first guide wheel bracket 211, a first guide eccentric shaft 212, a first guide wheel 213, a deep groove ball bearing 214, a hexagonal nut 215, a spring washer 216, a flat washer 217, a hole elastic retaining ring 218, and a shaft elastic retaining ring 219. The second set of guide assembly (24) includes: an eccentric shaft seat 220, a second guide eccentric shaft 221, a guide wheel 222, a deep groove ball bearing 214, a hexagonal nut 215, a spring washer 216, a flat washer 217, a hole elastic retaining ring 218, and a shaft elastic retaining ring 219.

[0025] The vehicle frame assembly includes a vehicle frame 201, a base fixing block 202, a slotted photoelectric sensor 203, an emergency stop button 204, a limit switch 205, etc.

[0026] The power assembly 22 includes a gear 206, a shrink sleeve 207, a reducer 208, a servo motor 209, and a reducer base 210.

[0027] Pallet positioning assembly 25 includes a pallet mounting plate 223, a pallet end mounting base (224), and a pallet middle support base 225; radar assembly 26 includes a radar support 226, a radar support fixing plate 227, and a lidar 228.

[0028] Specific reference Figure 1 As shown, the shelving module 1 of this application is attached to the shelving upright plate 101 and includes: a vertically arranged T-shaped guide rail 105, a rack 109 installed on the surface of the T-shaped guide rail 105, and a corresponding fixed support structure. The vehicle body module 2 in the equipment can be configured to include: a vehicle body frame assembly 21 disposed in the shelf module 1, a guide assembly that conforms to the surface of the T-shaped guide rail 105 to guide the vehicle body frame assembly 21 to run, and a power assembly 22 that is installed on the vehicle body frame assembly 21 and meshes with the rack 109 to run.

[0029] The vehicle body frame assembly 21 can be referenced. Figure 2 The system includes a pallet placement assembly 25. Specifically, this pallet placement assembly 25 may include components mounted on the vehicle body frame assembly 21. The pallet mounting plate 223 is set on both sides of the vehicle frame assembly 21 along the track direction of the shuttle car entering and exiting the lifting equipment in the rack; The end mounting base 224 for the cargo space is vertically supported at the ends of the cargo space mounting plates 223 on both sides of the vehicle frame assembly 21. The central support 225 for the loading bay is located in the middle of each loading bay mounting plate 223 and is supported between the loading bay mounting plate 223 and the vehicle frame assembly 21.

[0030] The vehicle frame assembly 21 may further be provided with a vehicle body cover assembly 27 that surrounds the vehicle frame assembly 21 and the power assembly 22. Its shape structure can form a U-shaped channel that connects with the track of the shuttle car entering and exiting the lifting equipment in the shelf. The loading position mounting plate 223 is provided parallel to the top of the two high platforms in the U-shaped channel, which is used for the shuttle car to directly connect from the shelf track into the vehicle frame and support the goods on the loading position mounting plates 223 on both sides.

[0031] In this structure, the vehicle frame assembly 21 can be specifically configured to include: a vehicle frame that matches the rectangular area between the T-shaped guide rails 105, a base fixing block, a slotted photoelectric sensor, an emergency stop button 204, a limit switch 205, and a lidar assembly 26 set on the vehicle frame, so as to realize real-time detection and timely response to the equipment operating status and cargo status.

[0032] The vehicle frame is made of Figure 3 The power assembly 22 shown is driven vertically. This power assembly 22 includes components respectively mounted at the four corners of the vehicle body frame: The servo motor 209 is mounted on the vehicle frame assembly 21 and fixed to the outside of the loading position end mounting base 224 and the loading position middle support base 225, located below the loading position mounting plate 223. The reducer 208 has its output shaft, which is connected to the servo motor 209, mounted on the reducer base 210; Gear 206 is located on the outside of reducer base 210 and is fixedly connected to the output shaft of reducer 208 via expansion sleeve 207. Gear 206 meshes with rack 109 on the surface of T-shaped guide rail 105, driving the entire vehicle module 2 to move up and down within the space enclosed by T-shaped guide rail 105.

[0033] Further reference Figure 4 and Figure 5 The first group of guide components in the lifting device of this application may include those respectively disposed at the four corners of the vehicle frame: The guide wheel bracket 211 is fixedly installed on the outside of the vehicle frame below the reducer base 210, and the guide wheel bracket 211 is parallel to the output shaft of the servo motor 209; The first guide eccentric shaft 212 is perpendicular to the guide wheel bracket 211 and extends outward to the outside of the vehicle frame; The first guide wheel 213 is located at the far end of the first guide eccentric shaft 212 and abuts against one side of the T-shaped guide rail 105 in a direction parallel to the loading position mounting plate 223; A deep groove ball bearing 214 is connected between the first guide wheel 213 and the first guide eccentric shaft 212. The inner ring of the end of the deep groove ball bearing 214 is closed by a shaft elastic retaining ring 219, and the outer ring of the end of the deep groove ball bearing 214 is closed by a hole elastic retaining ring 218. The connection end between the first guide eccentric shaft 212 and the guide wheel bracket 211 is fixed by a hexagonal nut 215. A spring washer 216 is provided on the inner side of the hexagonal nut 215, and the bottom of the spring washer 216 abuts against the surface of the guide wheel bracket 211 through a flat washer 217.

[0034] refer to Figure 6 and Figure 7 The second group of guide components in the lifting device of this application may include those respectively disposed at the four corners of the vehicle frame: An eccentric shaft seat 220 is fixedly installed on the outside of the vehicle frame below the reducer seat 210. The eccentric shaft seat 220 has a bent structure that is perpendicular to and parallel to the output shaft of the servo motor 209. The second guide eccentric shaft 221 is connected to the end of the bent structure of the eccentric shaft seat 220, parallel to the vehicle frame, extends outward from the vehicle frame, and is perpendicular to the first guide eccentric shaft 212. The second guide wheel 222 is located at the far end of the second guide eccentric shaft 221 and abuts against the other side of the T-shaped guide rail 105 in a direction perpendicular to the first guide wheel 213. A deep groove ball bearing 214 is connected between the second guide wheel 222 and the second guide eccentric shaft 221. The inner end of the deep groove ball bearing 214 is closed by a shaft elastic retaining ring 219, and the outer end of the deep groove ball bearing 214 is closed by a hole elastic retaining ring 218. The connection end between the second guide eccentric shaft 221 and the eccentric shaft seat 220 is fixed by a hexagonal nut 215. A spring washer 216 is provided on the inner side of the hexagonal nut 215, and the bottom of the spring washer 216 abuts against the surface of the eccentric shaft seat 220 through a flat washer 217.

[0035] The second set of guide components 24 can be cancelled depending on the load conditions, when the load is low and lateral tilting is unlikely.

[0036] In shelf module 1: The side beams 102 are horizontally connected between the uprights 101 of the shelving; The T-shaped guide rail 105 is attached and fixed to the inner side of the shelf upright 101. Its two longitudinally perpendicular sides are respectively abutted by two sets of guide components located at the four corners of the vehicle frame in different directions, providing guidance for the vertical movement of the vehicle frame. The bottom of the T-shaped guide rail 105 can be specifically fixed vertically to the ground by the T-rail fixing seat 103. The T-rail fixing seat 103 and the ground can generally be padded with a T-rail adjusting pad 104 to ensure that it is in a vertical state, ensuring that the vehicle frame runs smoothly without lateral deviation or tilting. The T-rail fixing seat 103 can be fixed to the ground with expansion bolts to prevent the overall strength and stability of the shelf from being affected by the lifting equipment. To ensure a stable connection between the T-shaped guide rail 105 and the rack, a pressure guide plate 108 is typically installed between them. This pressure guide plate 108 is laid on the inner side of the T-shaped guide rail 105 to fix the rack 109. The top of the T-shaped guide rail 105 can be closed and provided with lateral support by a top frame 106 that is connected to each other in a rectangular structure. The four corners of the top frame 106 are fixedly connected to each T-shaped guide rail 105 by a top frame fixing seat 107.

[0037] Therefore, in this application, the shelving module can be installed together with the shelving. The tools and equipment required for installation are the same as those required for shelving installation, and the materials of the shelving module do not require separate manpower and equipment for installation and debugging. Furthermore, the height of the lifting device depends entirely on the height of the shelving.

[0038] The automated warehouse equipped with this lifting device can have its shelves supported by several shelf uprights 101 to form multi-level tracks, so that shuttle cars can run on the tracks. The tracks of the shuttle cars are set to be the same width as the U-shaped channels of the lifting device, so that the shuttle cars can carry goods in the warehouse along the tracks to enter and exit the lifting device, and place the goods on the loading position mounting plate 223 of the lifting device's body frame, realizing the transfer of goods between upper and lower levels.

[0039] The side beams are installed using the rack uprights, saving the installation and adjustment of uprights required by conventional lifting equipment. The T-rails are also installed using the side beams, and the tops of the four T-rails are connected by a top frame. Below the T-rails are T-rail fixing seats and T-rail connecting plates for adjusting the height of the T-rails and ensuring surface contact between the lower surface of the T-rail and other parts. This also reduces stress at the ends of the T-rails. In some cases, such as when the load on the goods in the storage system is relatively light, this top frame 106 can be omitted depending on the load conditions.

[0040] All electrical components in the equipment are assembled in the vehicle body module. After power is applied, the coordination and cooperation between the corresponding electrical components and parts can be tested. Before the equipment leaves the factory, the relevant functions can be tested and abnormalities can be eliminated, avoiding the need to handle abnormalities on the project site.

[0041] The vehicle body module integrates all functions, and its overall shape is compact and exquisite. There are no various loose parts when shipping, which brings great convenience to packaging and transportation.

[0042] A lidar unit is positioned at both the front and rear of the vehicle module to detect whether the goods inside the equipment exceed the permissible range. This area detection covers the blind spots of conventional equipment, enhancing its safety. Conventional lifting equipment mostly uses photoelectric sensors, which perform line detection, resulting in larger blind spots and higher operational risks.

[0043] The power components of the vehicle body module are arranged as shown in the diagram. During installation and maintenance, the screws connecting the power components and the vehicle body frame are removed. The power components retract inward along the guide groove on the frame. This inward retraction and outward movement easily achieves the combination and separation of the rack module and the vehicle body module, and enables the meshing and disengagement of the rack in the rack module and the gear in the vehicle body module.

[0044] The four sets of guide components are arranged as shown in the diagram to restrict the degree of freedom in the X direction.

[0045] The four sets of guide components are arranged as shown in the diagram to restrict the degree of freedom in the Y direction.

[0046] Four-way tracks are welded onto the vehicle frame to ensure that the four-way vehicle can enter and exit smoothly.

[0047] The vehicle frame is equipped with a cargo placement unit for placing pallets and other goods.

[0048] Both types of guide components achieve preload on the guide wheel and the contact surface through the rotation of the eccentric shaft.

[0049] In some other implementations, this application may also set a vertical chain structure in the rack module 1, and accordingly adjust the power component of the vehicle module to a sprocket that cooperates with the chain, so as to drive the entire vehicle frame to move up and down through the transmission relationship between the chain and the sprocket, thereby replacing the aforementioned gear-rack transmission method to realize the lifting and transporting of goods and shuttle cars.

[0050] In other implementations, this application may also set a vertical steel cable structure in the rack module 1, and accordingly adjust the power component of the vehicle module to a pulley that cooperates with the steel cable, so as to drive the entire vehicle frame to move up and down through the transmission relationship between the steel cable and the pulley, thereby replacing the aforementioned gear-rack transmission method to realize the lifting and transporting of goods and shuttle cars.

[0051] The advantages of this application are: The combination of rack modules and vehicle modules allows the equipment to be assembled and transported in a modular manner, reducing the difficulty of on-site construction and debugging, and improving the installation efficiency on the construction site. The layout of the vehicle body modules facilitates the integration of multiple functions, ensuring stable and safe operation of the vehicle body structure. It can stably carry shuttle cars and cargo docking tracks, and enter and exit each layer of the automated racking system. The combination and separation of rack modules and vehicle modules can be flexibly adjusted according to the needs of goods and shuttle vehicles, achieving accurate docking with the track structure in the rack and ensuring the safety of goods on it during the operation of the lifting equipment; In particular, this application integrates the electrical cabinet of the traditional lifting equipment into the internal structure, resulting in higher equipment integration and easier transportation, testing, installation, and commissioning. At the same time, the equipment provided by this application only occupies one storage location in the automated warehouse, greatly improving the utilization rate of the automated warehouse and breaking the problems of traditional lifting equipment occupying large space in the automated warehouse, being difficult to implement on-site, and having long production cycles.

[0052] It will be understood by those skilled in the art that the above descriptions are merely preferred embodiments of this application and are not intended to limit this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A lifting device, characterized in that, include: The shelving module (1), which is attached to the shelving upright plate (101), includes: a vertically arranged T-shaped guide rail (105), a rack (109) installed on the surface of the T-shaped guide rail (105), and a corresponding fixed support structure; The vehicle body module (2) includes: a vehicle body frame assembly (21) disposed in the rack module (1), a guide assembly that conforms to the surface of the T-shaped guide rail (105) to guide the vehicle body frame assembly (21) to run, and a power assembly (22) mounted on the vehicle body frame assembly (21) and meshing with the rack (109) to run.

2. The lifting device as described in claim 1, characterized in that, The vehicle frame assembly (21) is also provided with a pallet loading position assembly (25), which includes the following components disposed on the vehicle frame assembly (21): The pallet mounting plate (223) is set on both sides of the vehicle frame assembly (21) along the track direction of the shuttle car entering and exiting the lifting equipment in the rack; The end mounting bracket (224) for the cargo space is vertically supported at the ends of the cargo space mounting plates (223) on both sides of the vehicle frame assembly (21); The central support seat (225) of the loading bay is located in the middle of each loading bay mounting plate (223) and is supported between the loading bay mounting plate (223) and the vehicle frame assembly (21).

3. The lifting device as described in claim 2, characterized in that, The vehicle frame assembly (21) is also provided with a vehicle body cover assembly (27), which surrounds the vehicle frame assembly (21) and the power assembly (22) to form a U-shaped channel that connects with the track of the shuttle car entering and exiting the lifting equipment in the shelf. The loading position mounting plate (223) is provided parallel to the top of the two high platforms in the U-shaped channel.

4. The lifting device as described in claim 1, characterized in that, The vehicle frame assembly (21) includes: The vehicle frame is designed to fit the rectangular area between the T-shaped guide rails (105), and includes a base fixing block, a slotted photoelectric sensor, an emergency stop button (204), a limit switch (205), and a lidar assembly (26) mounted on the vehicle frame.

5. The lifting device as described in claim 3, characterized in that, The power assembly (22) includes a servo motor (209), which is mounted on the vehicle frame assembly (21), fixed to the outside of the loading end mounting base (224) and the loading middle support base (225), and located below the loading mounting plate (223); A speed reducer (208) is provided on a speed reducer base (210), the output shaft of which is connected to the servo motor (209). The gear (206) is located on the outside of the reducer base (210) and is fixedly connected to the output shaft of the reducer (208) by a shrink sleeve (207). The gear (206) meshes with the rack (109) on the surface of the T-shaped guide rail (105) and drives the entire vehicle module (2) to move up and down in the space enclosed by the T-shaped guide rail (105).

6. The lifting device as described in claim 5, characterized in that, The first group of the guiding components includes: The guide wheel bracket (211) is fixedly installed on the outside of the vehicle frame below the reducer base (210), and the guide wheel bracket (211) is parallel to the output shaft of the servo motor (209); The first guide eccentric shaft (212) is perpendicular to the guide wheel bracket (211) and extends outward to the outside of the vehicle frame; The first guide wheel (213) is located at the far end of the first guide eccentric shaft (212) and abuts against one side of the T-shaped guide rail (105) in a direction parallel to the loading position mounting plate (223); A deep groove ball bearing (214) is connected between the first guide wheel (213) and the first guide eccentric shaft (212). The inner ring of the end of the deep groove ball bearing (214) is closed by a shaft elastic retaining ring (219), and the outer ring of the end of the deep groove ball bearing (214) is closed by a hole elastic retaining ring (218). The connection end between the first guide eccentric shaft (212) and the guide wheel bracket (211) is fixed by a hexagonal nut (215). A spring washer (216) is provided on the inner side of the hexagonal nut (215), and the bottom of the spring washer (216) abuts against the surface of the guide wheel bracket (211) through a flat washer (217).

7. The lifting device as described in claim 6, characterized in that, The second group of the guiding components includes: An eccentric shaft seat (220) is fixedly installed on the outside of the vehicle frame below the reducer seat (210). The eccentric shaft seat (220) is provided with a bent structure perpendicular to and parallel to the output shaft of the servo motor (209). The second guide eccentric shaft (221) is connected to the end of the bent structure of the eccentric shaft seat (220), parallel to the vehicle frame, extends outward from the vehicle frame, and is perpendicular to the first guide eccentric shaft (212). The second guide wheel (222) is located at the far end of the second guide eccentric shaft (221) and abuts against the other side of the T-shaped guide rail (105) in a direction perpendicular to the first guide wheel (213); Among them, a deep groove ball bearing (214) is connected between the second guide wheel (222) and the second guide eccentric shaft (221). The inner end of the deep groove ball bearing (214) is closed by a shaft elastic retaining ring (219), and the outer end of the deep groove ball bearing (214) is closed by a hole elastic retaining ring (218). The connection end between the second guide eccentric shaft (221) and the eccentric shaft seat (220) is fixed by a hexagonal nut (215). A spring washer (216) is provided on the inner side of the hexagonal nut (215), and the bottom of the spring washer (216) abuts against the surface of the eccentric shaft seat (220) through a flat washer (217).

8. The lifting device as described in claim 1, characterized in that, The shelving module (1) includes: a side beam (102) which is laterally connected between the shelving uprights (101); The T-shaped guide rail (105) is attached and fixed to the inner side of the shelf upright plate (101). The bottom of the T-shaped guide rail (105) is vertically fixed to the ground by the T-rail fixing seat (103). A T-rail adjusting pad (104) is also provided between the T-rail fixing seat (103) and the ground. A pressure guide plate (108) is laid on the inner side of the T-shaped guide rail (105) to fix the rack (109); the top of the T-shaped guide rail (105) is provided with a top frame (106) with a rectangular structure, and the four corners of the top frame (106) are fixedly connected to each T-shaped guide rail (105) through the top frame fixing seat (107).

9. An automated warehouse, characterized in that, The automated warehouse is equipped with lifting devices as described in any one of claims 2-8.

10. The automated warehouse as described in claim 9, characterized in that, The racks of the automated warehouse include multi-layered rails supported by rack uprights (101), on which shuttles run. The shuttles move along the rails into and out of the U-shaped channels of the lifting equipment and place goods on the loading position mounting plates (223).

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