Pallet lifting device for shuttle, and working method
By setting linked claws and guide notches on the front and rear sides of the pallet, the problems of pallet offset and scraping against the rack uprights are solved, realizing stable pallet lifting and efficient handling, and reducing manual intervention.
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- SHANGHAI ZS ROBOTICS CO LTD
- Filing Date
- 2025-04-10
- Publication Date
- 2026-05-21
AI Technical Summary
In existing technologies, when using two-way or four-way shuttles in automated warehouses to transport palletized goods, pallets are prone to shifting or scraping against the rack uprights due to rack track errors and shuttle start-stop, causing goods to tip over. Existing anti-slip and detection methods require manual correction, which affects efficiency and increases costs.
Front and rear grippers are installed on the front and rear sides of the pallet, which are linked to the lifting plate through a linkage structure. Guide notches are set on the front and rear grippers to limit and guide the pallet, eliminating pallet offset and shuttle stop error.
It effectively limits the slippage between the pallet and the lifting platform, prevents the pallet from shifting and scratching the rack uprights, reduces the need for manual correction, and improves the efficiency of automated warehousing.
Smart Images
Figure CN2025088270_21052026_PF_FP_ABST
Abstract
Description
A pallet lifting device for a shuttle and its working method Technical Field
[0001] This invention relates to the field of intelligent automated warehousing, and more specifically to a pallet lifting device and its working method for a shuttle vehicle. Background Technology
[0002] When using two-way or four-way shuttles in automated storage and retrieval systems (AS / RS) to handle palletized goods, risks such as pallet shifting or scraping against rack columns and causing palletized goods to tip over may occur due to rack track errors or shuttle start-stopping. Existing technologies involve applying anti-slip treatment to the lifting pallet on the shuttle to reduce pallet shifting, or deploying multiple sets of photoelectric sensors to detect pallet position. However, manual pallet alignment is still required, which affects the efficiency of AS / RS operations and increases labor costs. Technical issues
[0003] To overcome the shortcomings of existing technologies, this invention provides a pallet lifting device and its working method for a shuttle. Front and rear claws are respectively provided on the front and rear sides of the anti-deviation foot of the pallet, which can effectively limit the sliding between the anti-deviation foot of the pallet and the lifting plate of the shuttle. It can also prevent the pallet from shifting after the goods scrape against the shelf column during the goods handling process. By setting front and rear guide notches on the front and rear claws, the pallet placement error and the shuttle stopping error can be effectively eliminated. Technical solutions
[0004] To achieve the above objectives, the present invention provides a pallet lifting device and working method for a shuttle car, comprising a shuttle car and a pallet. A lifting plate is provided on the upper part of the shuttle car, and a drive device on the shuttle car drives the lifting plate to perform a lifting movement. The bottom of the pallet has several support feet, one of which is designated as an anti-deviation foot near the center of the pallet. A front gripper and a rear gripper are provided on the shuttle car along the travel direction. The front gripper and the rear gripper are linked to the lifting plate through a linkage structure. When the pallet is placed horizontally on the lifting plate, the lifting action of the lifting plate causes the front gripper and the rear gripper to move upward under the transmission of the linkage structure and move closer to each other, and to the front and rear sides of the anti-deviation foot in the travel direction.
[0005] Furthermore, the linkage structure includes a fixed block, A drive rod, B drive rod, drive block, A connecting rod, B connecting rod, C connecting rod, and D connecting rod. The fixed block is fixedly installed inside the shuttle car. The upper end of the drive block is fixedly connected to the lower end of the lifting plate. One end of A drive rod and B drive rod are respectively hinged to the two sides of the drive block through the front hinge and the rear hinge. The other end of A drive rod and B drive rod are respectively hinged to the lower ends of the front chuck and the rear chuck through the first lower hinge and the second lower hinge. A drive rod and B drive rod are symmetrically arranged relative to the drive block.
[0006] One end of links A, B, C, and D is hinged to both sides of the fixed block via hinges A, B, C, and D, respectively. The other ends of links A and C are hinged to the lower ends of the front and rear jaws via the first and second upper hinges, respectively. The other ends of links B and D are hinged to the lower ends of the front and rear jaws together with drive rods A and B via the first and second lower hinges, respectively. The first and second upper hinges are located above the first and second lower hinges, respectively. Links A and B are symmetrically arranged with respect to the fixed block, as are hinges C and D.
[0007] Furthermore, two mounting plates are symmetrically arranged on both sides of the shuttle car along the direction of travel. The mounting plates are located below the lifting plate. The fixing block is fixed to the mounting plate on one side along the length direction, and the upper surface of the drive block is fixedly connected to the center of the lower surface of the lifting plate.
[0008] Furthermore, the first upper hinge, the first lower hinge, hinge A, and hinge B form the four endpoints of a parallelogram, and the lines connecting the four endpoints form the first parallelogram. Let the line connecting the first upper hinge and the first lower hinge be L1, the line connecting hinge A and hinge B be L2, the line connecting the first upper hinge and hinge A be L3, and the line connecting the first lower hinge and hinge B be L4. During the synchronous movement of the front and rear grippers driven by the drive block, L1 and L2 are always parallel, and L3 and L4 are always parallel.
[0009] Furthermore, the second upper hinge, the second lower hinge, the C hinge, and the D hinge form the four endpoints of a parallelogram, and the lines connecting the four endpoints form the second parallelogram. Let the line connecting the second upper hinge and the second lower hinge be L5, the line connecting the C hinge and the D hinge be L6, the line connecting the second upper hinge and the C hinge be L7, and the line connecting the second lower hinge and the D hinge be L8. During the synchronous movement of the front and rear grippers driven by the drive block, L1 and L2 are always parallel, L3 and L4 are always parallel, and the first and second parallelograms are symmetrically arranged relative to the fixed block.
[0010] Furthermore, hinge B, hinge D, front hinge, rear hinge, first lower hinge, and second lower hinge form the six endpoints of a hexagon. The lines connecting the six endpoints together form the first hexagon. The linkage mechanism drives the front and rear pawls to move closer to each other and simultaneously move upward relative to the fixed block through the linkage relationship between the first parallelogram, the second parallelogram, and the first hexagon.
[0011] Furthermore, the front and rear chucks are respectively provided with a front guide notch and a rear guide notch on the upper ends of the sides close to each other, and both the front guide notch and the rear guide notch are funnel-shaped.
[0012] Furthermore, the lifting plate is provided with a front through slot and a rear through slot along the direction of travel. The upper ends of the front pawl and the rear pawl correspond to the front through slot and the rear through slot, respectively. As the front pawl and the rear pawl move upward under the transmission of the linkage structure, they approach each other and pass through the front through slot and the rear through slot, respectively.
[0013] Furthermore, in the initial state, several pallets are placed on the shelf, and each pallet has goods on it. The lifting plate is in a non-lifted state, and the upper ends of the front and rear claws are lower than the lower ends of the anti-deviation feet, so that the shuttle can move on the guide rail and smoothly shuttle under the pallets.
[0014] Furthermore, in the initial state, when the shuttle moves along the guide rail to the bottom of any pallet, the lifting plate moves under the drive of the shuttle's drive device. The drive block moves together with the lifting plate and can move vertically upward relative to the fixed block. During the vertical upward movement of the drive block, the linkage mechanism drives the front and rear pawls to move closer to each other and simultaneously move upward relative to the fixed block through the linkage relationship between the first parallelogram, the second parallelogram, and the first hexagon. During this process, the upper ends of the front and rear pawls pass through the corresponding front and rear through slots, respectively. When the lifting plate stops moving, the upper ends of the front and rear pawls protrude from the upper surface of the lifting plate and are located on the front and rear sides of the anti-deviation foot's travel direction, respectively, limiting the anti-deviation foot. Beneficial effects
[0015] The present invention discloses a pallet lifting device and working method for a shuttle car. Front and rear claws are respectively provided on the front and rear sides of the anti-deviation foot of the pallet. This can effectively limit the sliding between the anti-deviation foot of the pallet and the lifting plate of the shuttle car. It can also prevent the pallet from shifting after the goods scrape against the shelf column during the goods handling process. By providing front guide notches and rear guide notches on the front and rear claws, the pallet placement error and the stopping error of the shuttle car can be effectively eliminated. Attached Figure Description
[0016] Figure 1 is a schematic diagram of the installation of a pallet lifting device for a shuttle car according to the present invention on the shuttle car;
[0017] Figure 2 is a schematic diagram of the structure of a pallet lifting device for a shuttle car according to the present invention;
[0018] Figure 3 is a schematic diagram showing the position between the shuttle and the pallet when the lifting platform is in a non-lifted state.
[0019] Figure 4 is an enlarged view of the structure within area A;
[0020] Figure 5 is a schematic diagram showing the position between the shuttle car and the pallet when the lifting platform is in the lifted state;
[0021] Figure 6 is an enlarged view of the structure within range B. Embodiments of the present invention
[0022] The invention will now be further described with reference to the accompanying drawings.
[0023] As shown in Figures 1-6, a pallet lifting device and its working method for a shuttle car include a shuttle car 30 and a pallet 40. The pallet 40 is detachably placed on the upper end of the shuttle car 30. A lifting plate 10 is provided on the upper part of the shuttle car 30. A drive device on the shuttle car 30 drives the lifting plate 10 to perform lifting movements. When the lifting plate 10 is in a non-lifted state, the lower surface of the lifting plate 10 is in contact with the upper surface of the shuttle car 30. The bottom of the pallet 40 has several support feet 410, one of which, near the center of the pallet 40, is designated as an anti-deviation foot 420. A front gripper 110A and a rear gripper 110B are arranged on the shuttle car 30 along the direction of travel. The front gripper 110A and the rear gripper 110B are linked to the lifting plate 10 through a linkage structure 100. The pallet 40 is placed horizontally on the lifting plate 10. The lifting action of the lifting plate 10 causes the front gripper 110A and the rear gripper 110B to move upward under the transmission of the linkage structure 100, and move closer to each other. They are located on the front and rear sides of the anti-deviation foot 420 in the direction of travel, or on the front and rear sides of the anti-deviation foot 420 in the direction of travel, respectively. When the shuttle 30 moves along the direction of travel with the tray, and the front gripper 110A and the rear gripper 110B are on the front and rear sides of the anti-deviation foot 420 in the direction of travel, the anti-deviation foot 420 slides within the range between the front gripper 110A and the rear gripper 110B. Finally, one side of the anti-deviation foot 420 presses against the front gripper 110A or the rear gripper 110B.
[0024] The linkage structure 100 includes a fixed block 130, an A drive rod 140A, a B drive rod 140B, a drive block 150, an A connecting rod 160A, a B connecting rod 160B, a C connecting rod 160C, and a D connecting rod 160D. The fixed block 130 is fixedly installed inside the shuttle 30. The upper end of the drive block 150 is fixedly connected to the lower end of the lifting plate 10. When the lifting plate 10 is lifted by the drive device, the drive block 150 moves vertically upward relative to the fixed block 130 along with the lifting movement of the lifting plate 10. One end of the A drive rod 140A and the B drive rod 140B... The front and rear sides of the drive block 150 are respectively hinged by the front hinge 190A and the rear hinge 190B, and the other end is respectively hinged to the lower end of the front claw 110A and the rear claw 110B by the first lower hinge 210A and the second lower hinge 210B, and the A drive rod 140A and the B drive rod 140B are symmetrically arranged with respect to the drive block 150. One end of the A connecting rod 160A, the B connecting rod 160B, the C connecting rod 160C and the D connecting rod 160D is respectively hinged to the fixed block 1 by the A hinge 180A, the B hinge 180B, the C hinge 180C and the D hinge 180D. On the front and rear sides of 30, the other ends of connecting rod A 160A and connecting rod C 160C are respectively hinged to the lower ends of front jaw 110A and rear jaw 110B via first upper hinge 170A and second upper hinge 170B. The other ends of connecting rod B 160B and connecting rod D 160D are respectively hinged to the lower ends of front jaw 110A and rear jaw 110B via first lower hinge 210A and second lower hinge 210B together with driving rod A 140A and driving rod B 140B. The first upper hinge 170A and the second upper hinge 170B are respectively located at the first lower hinge 210A and the second lower hinge 210B. Above the lower hinge 210B, links A 160A and B 160B, along with hinges C 180C and D 180D, are symmetrically arranged relative to the fixed block 130. Under the combined action of links A 160A and B 160B, the front pawl 110A remains perpendicular to the lifting plate 10 as the drive block 150 moves vertically upward relative to the fixed block 130. Under the combined action of links C 160C and D 160D, the rear pawl 110B remains perpendicular to the lifting plate 10 as the drive block 150 moves vertically upward relative to the fixed block 130.
[0025] The first upper hinge 170A, the first lower hinge 170B, hinge A 180A, and hinge B 180B form the four endpoints of a parallelogram. The lines connecting the four endpoints form the first parallelogram. Let the line connecting the first upper hinge 170A and the first lower hinge 210A be L1, the line connecting hinge A 180A and hinge B 180B be L2, the line connecting the first upper hinge 170A and hinge A 180A be L3, and the line connecting the first lower hinge 210A and hinge B 180B be L4. During the synchronous movement of the front gripper 110A and the rear gripper 110B driven by the drive block 150, L1 and L2 are always parallel, and L3 and L4 are always parallel.
[0026] The second upper hinge 170B, the second lower hinge 210B, the C hinge 180C, and the D hinge 180D form the four endpoints of a parallelogram. The lines connecting the four endpoints form the second parallelogram. Let the line connecting the second upper hinge 170B and the second lower hinge 210B be L5, the line connecting the C hinge 180C and the D hinge 180D be L6, the line connecting the second upper hinge 170B and the C hinge 180C be L7, and the line connecting the second lower hinge 210B and the D hinge 180D be L8. During the synchronous movement of the front gripper 110A and the rear gripper 110B driven by the drive block 150, L1 and L2 are always parallel, L3 and L4 are always parallel, and the first parallelogram and the second parallelogram are symmetrically arranged with respect to the fixed block 130.
[0027] Hinges B 180B, D 180D, front hinge 190A, rear hinge 190B, first lower hinge 210A, and second lower hinge 210B form the six endpoints of a hexagon. The lines connecting the six endpoints together form the first hexagon. The linkage mechanism 100 drives the front claw 110A and rear claw 110B to move closer to each other and simultaneously move upward relative to the fixed block 130 through the linkage relationship between the first parallelogram, the second parallelogram, and the first hexagon.
[0028] Two mounting plates 20 are symmetrically arranged on both sides of the shuttle 30 along the direction of travel. The mounting plates 20 are located below the lifting plate 10 and are fixedly connected to the end body of the shuttle 30. The fixing block 150 is fixed to the mounting plate 20 on one side along the length direction. The upper surface of the drive block 150 is fixedly connected to the center of the lower surface of the lifting plate 10. When the lifting plate 10 is lifted by the drive device of the shuttle 30, the drive block 150 moves together with the lifting plate 10 and can move vertically upward relative to the fixing block 130.
[0029] The front claw 110A and the rear claw 110B are respectively provided with a front guide notch 200A and a rear guide notch 200B on their upper ends, which are close to each other. Both the front guide notch 200A and the rear guide notch 200B are flared in shape. Since the pallet 40 cannot be completely guaranteed to be in the exact center of the shelf when it is placed on it, and the anti-deviation foot 420 on the pallet 40 cannot be completely guaranteed to be in the center area of the upper surface of the shuttle 30 when the shuttle 30 needs to stop while shuttling under the pallet 40, the lifting plate 10 moves upward under the drive of the shuttle 30's drive device. Therefore, when the lifting plate 10 moves upward under the drive of the shuttle 30's drive device, the front claw 110A and the rear claw 110B move closer to each other and move upward relative to the fixed block 130 at the same time until the upper ends of the front claw 110A and the rear claw 110B pass through the corresponding front through groove 40A and the rear through groove 40B, respectively. At this time, the front claw 110A and the rear claw 110B move upward. The upper front guide notch 200A of A guides the front side of the anti-deviation foot 420 and applies a force close to the rear pawl 110B to the front side of the anti-deviation foot 420, causing the anti-deviation foot 420 to move towards the rear pawl 110B. Alternatively, the upper rear guide notch 200B of the rear pawl 110B guides the rear side of the anti-deviation foot 420 and applies a force close to the front pawl 110A to the rear side of the anti-deviation foot 420, causing the anti-deviation foot 420 to move towards the rear pawl 110B. The front gripper 110A moves forward, and finally the front gripper 110A and the rear gripper 110B are on the front and rear sides of the anti-deviation foot 420 in the direction of travel, so that the anti-deviation foot 420 slides within the range between the front gripper 110A and the rear gripper 110B, or the side of the front gripper 110A and the rear gripper 110B that is close to each other presses against the front and rear sides of the anti-deviation foot 420 in the direction of travel, clamping the anti-deviation foot 420 and limiting the anti-deviation foot 420 at the same time.
[0030] The lifting plate 10 has a front through groove 40A and a rear through groove 40B respectively along the direction of travel. The upper ends of the front pawl 110A and the rear pawl 110B correspond to the front through groove 40A and the rear through groove 40B respectively. When the front pawl 110A and the rear pawl 110B move upward under the transmission of the linkage structure 100, they approach each other and pass through the front through groove 40A and the rear through groove 40B respectively.
[0031] In the initial state, several pallets 40 are placed on the shelf, and each pallet 40 has goods on it. The lifting plate 10 is in the non-lifted state. The upper ends of the front claw 110A and the rear claw 110B are lower than the lower ends of the anti-deviation foot 420, so that the shuttle 30 can move on the guide rail and smoothly shuttle under the pallets 40.
[0032] A method for operating a pallet lifting device for a shuttle: In the initial state, when the shuttle 30 moves along the guide rail to below any pallet 40, the lifting plate 10 is lifted under the drive of the shuttle 30's drive device. The drive block 150 moves together with the lifting plate 10 and can move vertically upward relative to the fixed block 130. During the vertical upward movement of the drive block 150, the linkage mechanism 100 is activated through the linkage between the first parallelogram, the second parallelogram, and the first hexagon. The front claw 110A and the rear claw 110B move closer to each other and simultaneously move upward relative to the fixed block 130. During this process, the upper ends of the front claw 110A and the rear claw 110B pass upward through the corresponding front through slot 40A and the rear through slot 40B, respectively. When the lifting plate 10 stops lifting, the upper ends of the front claw 110A and the rear claw 110B protrude from the upper surface of the lifting plate 10 and are located on the front and rear sides of the anti-deviation foot 420 in the direction of travel, respectively, to limit the anti-deviation foot 420.
[0033] Alternatively, the linkage mechanism 100, through the linkage relationship between the first parallelogram, the second parallelogram, and the first hexagon, drives the front claw 110A and the rear claw 110B to move closer to each other and simultaneously move upward relative to the fixed block 130 until the upper ends of the front claw 110A and the rear claw 110B pass through the corresponding front through slot 40A and the rear through slot 40B respectively. Then, the upper ends of the front claw 110A and the rear claw 110B protrude from the upper surface of the lifting plate 10, and the sides of the upper ends of the front claw 110A and the rear claw 110B that are close to each other press against the front and rear sides of the anti-deviation foot 420 respectively, clamping the anti-deviation foot 420 and limiting the anti-deviation foot 420.
[0034] The above are the preferred embodiments described in this invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this invention, and these improvements and modifications should also be considered within the scope of protection of this invention.
Claims
1. A pallet lifting device for a shuttle car, characterized in that: Includes a shuttle (30) and a pallet (40). The shuttle (30) is equipped with a lifting plate (10) on its upper part. The drive device on the shuttle (30) drives the lifting plate (10) to perform lifting movements. The bottom of the pallet (40) has several support feet (410). One of the support feet (410) closest to the center of the pallet (40) is designated as an anti-deviation foot (420). The shuttle (30) is equipped with a front gripper (110A) and a rear gripper along the direction of travel. (110B), the front gripper (110A) and the rear gripper (110B) are linked to the lifting plate (10) through the linkage structure (100). When the tray (40) is placed horizontally on the lifting plate (10), the lifting action of the lifting plate (10) causes the front gripper (110A) and the rear gripper (110B) to move upward under the transmission of the linkage structure (100) and move closer to each other, and are on the front and rear sides of the anti-deviation foot (420) in the direction of travel.
2. The pallet lifting device for a shuttle car according to claim 1, characterized in that: The linkage structure (100) includes a fixed block (130), an A drive rod (140A), a B drive rod (140B), a drive block (150), an A connecting rod (160A), a B connecting rod (160B), a C connecting rod (160C), and a D connecting rod (160D). The fixed block (130) is fixedly installed inside the shuttle car (30). The upper end of the drive block (150) is fixedly connected to the lower end of the lifting plate (10). The A drive rod (140A) and the B drive rod (140B) are connected to the lower end of the lifting plate (100). One end of the A drive rod (140A) and the B drive rod (140B) are respectively hinged to the front and rear sides of the drive block (150) via the front hinge (190A) and the rear hinge (190B). The other ends of the A drive rod (140A) and the B drive rod (140B) are respectively hinged to the lower ends of the front pawl (110A) and the rear pawl (110B) via the first lower hinge (210A) and the second lower hinge (210B). The A drive rod (140A) and the B drive rod (140B) are symmetrically arranged with respect to the drive block (150). One end of each of the connecting rods A (160A), B (160B), C (160C), and D (160D) is hinged to the front and rear sides of the fixed block (130) via hinges A (180A), B (180B), C (180C), and D (180D), respectively. The other ends of the connecting rods A (160A) and C (160C) are hinged to the lower ends of the front and rear jaws (110A and 110B), respectively, via the first upper hinge (170A) and the second upper hinge (170B). The other ends of the connecting rods B (160B) and D (160D) are hinged to the front and rear sides of the fixed block (130). The other end of D) is hinged together with the A drive rod (140A) and the B drive rod (140B) at the lower ends of the front claw (110A) and the rear claw (110B) via the first lower hinge (210A) and the second lower hinge (210B), respectively. The first upper hinge (170A) and the second upper hinge (170B) are located above the first lower hinge (210A) and the second lower hinge (210B), respectively. The A link (160A) and the B link (160B) are symmetrically arranged with respect to the fixed block (130) with respect to the front and rear of the C hinge (180C) and the D hinge (180D).
3. A pallet lifting device for a shuttle car according to claim 1, characterized in that: The shuttle (30) has two mounting plates (20) symmetrically arranged on both sides along the direction of travel inside. The mounting plates (20) are located below the lifting plate (10). The fixing block (150) is fixed on one side along the length direction of the mounting plate (20). The upper surface of the driving block (150) is fixedly connected to the center of the lower surface of the lifting plate (10).
4. A pallet lifting device for a shuttle car according to claim 2, characterized in that: The first upper hinge (170A), the first lower hinge (170B), hinge A (180A), and hinge B (180B) form the four endpoints of a parallelogram. The lines connecting the four endpoints form the first parallelogram. Let the line connecting the first upper hinge (170A) and the first lower hinge (210A) be L1, the line connecting hinge A (180A) and hinge B (180B) be L2, the line connecting the first upper hinge (170A) and hinge A (180A) be L3, and the line connecting the first lower hinge (210A) and hinge B (180B) be L4. During the synchronous movement of the front gripper (110A) and the rear gripper (110B) driven by the drive block (150), L1 and L2 are always parallel, and L3 and L4 are always parallel.
5. A pallet lifting device for a shuttle car according to claim 2, characterized in that: The second upper hinge (170B), the second lower hinge (210B), the C hinge (180C), and the D hinge (180D) form the four endpoints of a parallelogram. The lines connecting the four endpoints form the second parallelogram. Let the line connecting the second upper hinge (170B) and the second lower hinge (210B) be L5, the line connecting the C hinge (180C) and the D hinge (180D) be L6, the line connecting the second upper hinge (170B) and the C hinge (180C) be L7, and the line connecting the second lower hinge (210B) and the D hinge (180D) be L8. During the synchronous movement of the front gripper (110A) and the rear gripper (110B) driven by the driving block (150), L1 and L2 are always parallel, L3 and L4 are always parallel, and the first parallelogram and the second parallelogram are symmetrically arranged relative to the fixed block (130).
6. A pallet lifting device for a shuttle car according to claim 2, characterized in that: The B hinge (180B), D hinge (180D), front hinge (190A), rear hinge (190B), first lower hinge (210A), and second lower hinge (210B) form the six endpoints of a hexagon. The lines connecting the six endpoints together form the first hexagon. The linkage mechanism (100) drives the front claw (110A) and the rear claw (110B) to move closer to each other and simultaneously move upward relative to the fixed block (130) through the linkage relationship between the first parallelogram, the second parallelogram, and the first hexagon.
7. A pallet lifting device for a shuttle car according to claim 1, characterized in that: The front jaw (110A) and the rear jaw (110B) are respectively provided with a front guide notch (200A) and a rear guide notch (200B) on the upper ends of the sides close to each other. The front guide notch (200A) and the rear guide notch (200B) are both funnel-shaped.
8. A pallet lifting device for a shuttle car according to claim 1, characterized in that: The lifting plate (10) is provided with a front through groove (40A) and a rear through groove (40B) along the traveling direction. The upper ends of the front pawl (110A) and the rear pawl (110B) correspond to the front through groove (40A) and the rear through groove (40B) respectively. When the front pawl (110A) and the rear pawl (110B) move upward under the transmission of the linkage structure (100) and approach each other, they pass through the front through groove (40A) and the rear through groove (40B) respectively.
9. A pallet lifting device for a shuttle car according to claim 1, characterized in that: In the initial state, several pallets (40) are placed on the shelf, and each pallet (40) has goods on it. The lifting plate (10) is in a non-lifted state. The upper ends of the front claw (110A) and the rear claw (110B) are lower than the lower ends of the anti-deviation foot (420), so that the shuttle (30) can move on the guide rail and smoothly shuttle under the pallet (40).
10. The method of operating a pallet lifting device for a shuttle car according to claim 1, characterized in that: In the initial state, when the shuttle (30) moves along the guide rail to below any pallet (40), the lifting plate (10) is lifted under the drive of the shuttle (30) drive device, and the drive block (150) moves together with the lifting plate (10) and can move vertically upward relative to the fixed block (130); during the vertical upward movement of the drive block (150), the linkage mechanism (100) drives the front chuck (40) through the linkage relationship between the first parallelogram, the second parallelogram and the first hexagon. The front claw (110A) and the rear claw (110B) move closer to each other and move upward relative to the fixed block (130) at the same time. During this process, the upper ends of the front claw (110A) and the rear claw (110B) pass upward through the corresponding front through slot (40A) and the rear through slot (40B) respectively. When the lifting plate (10) stops lifting, the upper ends of the front claw (110A) and the rear claw (110B) protrude from the upper surface of the lifting plate (10) and are located on the front and rear sides of the anti-deviation foot (420) in the direction of travel, respectively, to limit the anti-deviation foot (420).