Carrying equipment

Abstract

The invention relates to carrying equipment, and belongs to the technical field of intelligent warehousing. The carrying equipment comprises a moving chassis, a portal and accessories, the portal has the height direction and comprises a plurality of sub-portals, the sub-portals comprise the first portal, the second portal and the at least one third portal, the first portal is installed on the moving chassis, and the at least one third portal and the second portal are sequentially and movably connected in the height direction; and the movable parts can respectively move along the height direction. The accessory is installed on the second portal frame and can move in the height direction along the second portal frame. According to the carrying equipment, the pallet fork can be lifted to a high position, and cargoes can be stably lifted.

Description

Technical Field

[0001] The invention relates to a handling device, belonging to the technical field of intelligent warehousing. Background Art

[0002] With the rapid development of the logistics and warehousing industry, the construction of high-rise warehouses for cargo storage is becoming more and more widespread. There are more and more intelligent handling equipment such as stacking AGVs and AMRs used in high-rise warehouses, especially fork-type intelligent handling equipment. The goods are stacked on pallets, and the pallets are picked up by forks to achieve the transfer of goods.

[0003] Generally, due to the limitation of stability requirements, the lifting height of the fork of the handling equipment is relatively limited. For higher stereoscopic warehouses, it is difficult to pick up and place high-rise goods. Summary of the invention

[0004] Based on this, an object of the present invention is to provide a handling device whose forks can be raised to a higher position and lift goods more stably.

[0005] The present invention provides a handling device, comprising:

[0006] Sports chassis;

[0007] A gantry having a height direction, the gantry comprising a plurality of sub-gantrys, the sub-gantrys being respectively a first gantry, a second gantry and at least one third gantry, the first gantry being mounted on the moving chassis, the at least one third gantry and the second gantry being movably connected in sequence along the height direction and being able to move respectively along the height direction;

[0008] The attachment is installed on the second door frame, and the attachment can move along the second door frame in the height direction.

[0009] In one embodiment, the third gantry is provided with one, and the handling device further includes a linkage mechanism, and the linkage mechanism includes:

[0010] A linkage sprocket, rotatably disposed on the third door frame at a top position in the height direction; and

[0011] A linkage chain is wound around the linkage sprocket, one end of the linkage chain is fixed to the first door frame, and the other end of the linkage chain is fixed to the bottom position of the second door frame.

[0012] In one embodiment, the attachment includes a fork, and the fork can be moved downward along the height direction to a preset position. When in the preset position, the fork is in contact with or at a distance from the upper surface of the moving chassis.

[0013] In one embodiment, the motion chassis comprises:

[0014] A bearing body, wherein an installation area is arranged on the bearing body, the first door frame is installed in the installation area, the installation area is eccentrically arranged relative to the center line of the bearing body in the first direction, and is relatively close to the first end of the bearing body in the first direction.

[0015] In one embodiment, the attachment is located on the same side as the second end of the carrying body in the first direction.

[0016] In one of the embodiments, a gantry installation space is provided on one of the two movably connected sub-gantry frames, and the other sub-gantry frame is installed in the gantry installation space. The sub-gantry frame provided with the gantry installation space includes an enclosure portion and a connecting portion, and the gantry installation space is enclosed by the enclosure portion and the connecting portion.

[0017] In one embodiment, there are two enclosure parts, each of which extends along a first direction, and the two enclosure parts are spaced apart along a second direction perpendicular to the height direction, and the second direction is perpendicular to the first direction. The connecting part is arranged between the two enclosure parts, and the opposite ends of the connecting part are respectively fixed to the two enclosure parts, and the other sub-door frame is slidably arranged on the inner walls of the two enclosure parts.

[0018] In one embodiment, the connecting portion comprises:

[0019] A plurality of first connecting plates are arranged at intervals along the height direction, the first connecting plates extend along the second direction, and two ends of the first connecting plates are respectively fixed to the two enclosure parts.

[0020] In one embodiment, the sub-gantry installed in the gantry installation space includes:

[0021] Two limiting parts have a height direction and are spaced apart along the second direction, and the outer walls of the two limiting parts are respectively slidably connected to the inner walls of the two enclosure parts; and

[0022] A plurality of second connecting plates are arranged at intervals along the height direction, the second connecting plates extend along the second direction, and two ends of the second connecting plates are respectively fixed to the two limiting portions.

[0023] In one embodiment, the motion chassis further includes a motion mechanism, and the motion mechanism includes:

[0024] a driving wheel, rotatably disposed on the carrying body and relatively close to a first end of the carrying body in the first direction, wherein part or all of the driving wheel protrudes from a lower surface of the carrying body; and

[0025] A driven wheel is arranged on the bearing body and is relatively close to a second end of the bearing body in the first direction, and part or all of the driven wheel protrudes from a lower surface of the bearing body;

[0026] The driving wheels include two groups spaced apart along a second direction, wherein the second direction is perpendicular to the first direction and the height direction; when the two groups of driving wheels rotate in opposite directions but at the same speed, the moving chassis turns, and the center of rotation is located between the two groups of driving wheels.

[0027] In one embodiment, the motion chassis further comprises:

[0028] A driving wheel set is arranged on the carrying body, the driving wheel set includes two driving wheels, each driving wheel is equipped with a driving motor, and the driving motor is used to drive the corresponding driving wheel to rotate, so that the carrying body can switch between straight travel and turning;

[0029] At least two driven wheels, at least two of the driven wheels and the driving wheel set are used to support the bearing body.

[0030] In one embodiment, the two driving wheels of the driving wheel group are connected by a connecting member so that the rotation axes of the two driving wheels are in a straight line, and the connecting member is pivotally connected to the supporting body so as to be able to adjust the rotation axes of the two driving wheels to be parallel to the walking surface or to form an angle with the walking surface.

[0031] In one embodiment, the motion chassis also includes a first gear, a second gear and a sensor, the first gear and the second gear are meshed and rotatably arranged on the supporting body, the connecting member is pivotally connected to the first gear, the differential rotation of the driving wheel drives the connecting member to rotate, the rotation of the connecting member drives the first gear to rotate, and the second gear is connected to the sensor.

[0032] In one embodiment, the moving chassis moves along a first direction, the driving wheel set is arranged at the first end of the supporting body in the first direction, and is arranged at a middle position of the first end in a second direction, and the second direction is perpendicular to the first direction.

[0033] In one embodiment, the moving chassis moves along a first direction, the two driven wheels are arranged at a second end of the carrying body in the first direction, and the two driven wheels are arranged at intervals on both sides below the carrying body along the second direction.

[0034] In one embodiment, the motion chassis further comprises:

[0035] An auxiliary support member is disposed in the bearing body and can selectively extend out of the lower surface of the bearing body.

[0036] In one of the embodiments, two groups of the auxiliary support members are provided, and the two groups of the auxiliary support members are respectively arranged on both sides of the driving wheel group in a direction perpendicular to the walking direction of the carrying body.

[0037] In one embodiment, the auxiliary support member comprises:

[0038] A floor member, the floor member being used to extend out of the lower surface of the carrying body;

[0039] A lifting drive member, wherein the fixed end of the lifting drive member is arranged on the bearing body, and the driving end of the bearing body is connected to the ground member to drive the ground member to extend out of the lower surface of the bearing body or retract into the bearing body.

[0040] In one embodiment, the auxiliary support member further comprises:

[0041] A pressure sensor is provided on the ground member, and the pressure sensor is configured to sense the pressure value of the ground member on the walking surface of the moving chassis, so as to stop the driving action of the lifting drive member when the pressure value reaches a preset value.

[0042] In one embodiment, balancing weight bins are symmetrically arranged at both ends of the bearing body in the second direction, the balancing weight bins are relatively close to the second end of the bearing body in the first direction, the second direction is perpendicular to the first direction and the height direction, and the balancing weight bins are configured to carry a balancing weight.

[0043] In one embodiment, the counterweight comprises:

[0044] A plurality of balancing sheets are stacked along the first direction in the balancing weight bin.

[0045] In one embodiment, the handling equipment further comprises:

[0046] A guide unit, arranged on both ends of the bearing body in a second direction, wherein the second direction is perpendicular to the first direction and the height direction;

[0047] The guide unit includes at least one guide wheel, which is rotatably arranged on the bearing body, and part or all of the guide wheel protrudes from the side of the bearing body located in the second direction, and the rotation plane of the guide wheel is parallel to the plane defined by the first direction and the second direction.

[0048] In one embodiment, the attachment further comprises a fork frame, the fork frame is directly or indirectly connected to the second mast, the fork is rotatably connected to the fork frame, and the rotation axis of the fork is parallel to the height direction.

[0049] In one embodiment, the attachment further comprises a fork frame, and the fork frame comprises:

[0050] a sliding portion extending along the height direction and connected to the first door frame indirectly or directly;

[0051] The mounting portion extends along the first direction, and the fork is fixed on the mounting portion.

[0052] In one embodiment, the attachment further includes a translation mechanism, wherein the translation mechanism is configured to move the fork along a second direction, wherein the second direction is perpendicular to the first direction and the height direction, and the translation mechanism includes:

[0053] a sliding frame extending along the second direction, arranged on the side of the second door frame, and capable of moving along the height direction,

[0054] The fork is slidably mounted on the slide frame and can move along the second direction.

[0055] In one embodiment, the attachment further includes an identification unit capable of identifying the specific position and distance of the pallet when picking up or putting down goods, and the identification unit includes:

[0056] a telescopic rod, fixed to the bottom end of the fork and capable of being telescoped along the height direction; and

[0057] The identification element is fixed to the telescopic end of the telescopic rod and is located between two fork units in the fork.

[0058] Therefore, the present invention has the following advantages compared with the prior art:

[0059] According to the handling equipment involved in the present invention, by setting the gantry to be composed of a plurality of movably connected sub-gantry frames, it is helpful to reduce the bending deformation of a single sub-gantry, thereby facilitating the improvement of the overall structural strength of the gantry, and further increasing the design height of the gantry while maintaining the stability of the gantry. Furthermore, the attachment is installed on the second gantry farthest from the moving chassis, and the attachment can move in the height direction along the second gantry, so that the attachment cooperates with the second gantry to form a two-stage movement, and the attachment has a larger moving stroke in the height direction, thereby further increasing the lifting height of the attachment, so that the goods at a higher position can be lifted. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] FIG. 1 is a schematic structural diagram of a transport device provided in an embodiment of the present application at one viewing angle.

[0061] FIG. 2 is a schematic structural diagram of a transport device provided in an embodiment of the present application from another perspective.

[0062] FIG3 is a schematic structural diagram of a motion chassis provided in an embodiment of the present application at a viewing angle.

[0063] FIG. 4 is a schematic diagram of the three-dimensional structure of the first door frame provided in one embodiment of the present application.

[0064] FIG. 5 is a schematic diagram of the three-dimensional structure of the third door frame provided in one embodiment of the present application.

[0065] FIG6 is a schematic structural diagram of a motion chassis provided in one embodiment of the present application from another perspective.

[0066] FIG. 7 is a schematic diagram of the motion trajectory of a moving chassis turning in situ provided in one embodiment of the present application.

[0067] FIG8 is a schematic diagram of the motion trajectory of arc steering of a motion chassis provided in an embodiment of the present application.

[0068] FIG. 9 is a schematic diagram of the installation structure of a counterweight provided in an embodiment of the present application.

[0069] FIG. 10 is a schematic diagram of the three-dimensional structure of an attachment provided in one embodiment of the present application.

[0070] FIG. 11 is a schematic diagram of the installation structure of the identification unit provided in one embodiment of the present application.

[0071] FIG. 12 is a schematic diagram of the structure of the warehousing robot provided in the second embodiment of the present application.

[0072] FIG. 13 is a bottom-up structural schematic diagram of the motion chassis provided in the second embodiment of the present application.

[0073] FIG14 is a schematic diagram of the structure of the driving wheel assembly provided in the second embodiment of the present application at one viewing angle.

[0074] FIG15 is a schematic structural diagram of the driving wheel assembly provided in the second embodiment of the present application from another perspective.

[0075] FIG. 16 is a schematic diagram of the structure of the auxiliary support member provided in the second embodiment of the present application.

[0076] FIG. 17 is a schematic diagram of the structure of the contactless charging device and the charging pile provided in the second embodiment of the present application.

[0077] Reference numerals:

[0078] 100. handling equipment; 100a. moving chassis;

[0079] 100b, door frame; 10, first door frame; 101, door frame installation space; 11, enclosure portion; 12, connection portion; 121, first connection plate; 20, second door frame; 30, third door frame; 301, limit portion; 302, second connection plate;

[0080] 100c, attachment; 31, fork; 32, fork frame; 321, sliding part; 322, mounting part; 33, translation mechanism; 331, slide; 332, driving unit; 332c, rack; 34, identification unit; 341, telescopic rod; 342, identification element;

[0081] 50, bearing body; 51, installation area; 511, connection hole; 52, balance weight compartment; 521, balance weight; 521a, balance sheet; 53, installation plate; 54, first avoidance hole; 55, second avoidance hole;

[0082] 100d, linkage mechanism; 71, linkage sprocket; 72, linkage chain;

[0083] 80, motion mechanism; 801, driving wheel set; 81, driving wheel; 811, driving motor; 812, connecting block; 813, first gear; 814, second gear; 82, driven wheel;

[0084] 100e, guide unit; 91, guide wheel;

[0085] 100f, driving mechanism; 42, driving chain; 43, driving sprocket;

[0086] 100g; non-contact charging pile; 110, power supply end;

[0087] 100h, auxiliary support member; 501, floor member; 502, lifting drive member; 5021, lifting installation plate; 5022, lifting motor; 5023, lifting reducer; 503, universal wheel installation plate; 504, universal wheel bracket;

[0088] 100j, non-contact charging device; 610, power receiving end. DETAILED DESCRIPTION

[0089] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0090] Embodiment 1:

[0091] The present embodiment provides a handling device, and FIG. 1 and FIG. 2 are schematic diagrams of the structure of the handling device in the present embodiment at different viewing angles. Referring to FIG. 1 to FIG. 2, the handling device 100 includes a moving chassis 100a, a gantry 100b and an attachment 100c. The gantry 100b has a height direction. The gantry 100b includes a plurality of sub-gantrys, and the sub-gantrys are respectively a first gantry 10, a second gantry 20 and at least one third gantry 30. The first gantry 10 is mounted on the moving chassis 100a, and at least one third gantry 30 and the second gantry 20 are movably connected in sequence along the height direction and can move in the height direction respectively. The attachment 100c is mounted on the second gantry 20, and the attachment 100c can move in the height direction along the second gantry 20.

[0092] It should be noted that the direction indicated by A in FIG. 2 is the height direction.

[0093] By configuring the gantry 100b to be composed of a plurality of movable sub-gantry frames, it is helpful to reduce the bending deformation of a single sub-gantry, thereby facilitating the improvement of the overall structural strength of the gantry 100b, and further improving the design height of the gantry 100b while maintaining the stability of the gantry 100b. Furthermore, the attachment 100c is installed on the second gantry 20 farthest from the moving chassis 100a, and the attachment 100c can move in the height direction along the second gantry 20, so that the attachment 100c cooperates with the second gantry 20 to form a two-stage movement, and the attachment 100c has a larger moving stroke in the height direction, thereby further improving the lifting height of the attachment 100c, so that it can lift goods at a higher position.

[0094] In one embodiment, as shown in FIG. 2 , a third gantry 30 is provided, the third gantry 30 is slidably provided on the first gantry 10, the second gantry 20 is slidably provided on the third gantry 30, and when the second gantry 20 and the third gantry 30 both slide upward to the top, the gantry 100b reaches a maximum height, which is substantially equal to the sum of the heights of the first gantry 10, the third gantry 30 and the second gantry 20.

[0095] FIG. 3 is a schematic diagram of the three-dimensional structure of the motion chassis in this embodiment.

[0096] As shown in combination with Fig. 2 and Fig. 4, the moving chassis 100a includes a load-bearing body 50, on which a mounting area 51 is provided, and the first door frame 10 is installed in the mounting area 51. The mounting area 51 is eccentrically arranged relative to the center line of the load-bearing body 50 in the first direction, and is relatively close to the first end of the load-bearing body 50 in the first direction.

[0097] It should be noted that the direction indicated by B in FIG. 3 is the first direction.

[0098] It can be understood that since the installation area 51 is eccentrically arranged and relatively close to the first end of the supporting body 50 in the first direction, that is, the installation area 51 is relatively close to the edge of the supporting body 50, only two rows of spaced wheels need to be arranged on one side of the bottom of the supporting body 50. Compared with the prior art, the structure is simpler.

[0099] In one embodiment, a plurality of connection holes 511 are provided at the installation area 51 of the bearing body 50 , so that the bearing body 50 is connected to the first door frame 10 by bolts.

[0100] 1 and 3 , relative to both sides of the first gantry 10 in the first direction, the attachment 100c and the second end of the load-bearing body 50 in the first direction are on the same side, so that the center of gravity of the attachment 100c is located at the center of the load-bearing body 50, which is beneficial to maintaining the overall balance of the handling equipment.

[0101] FIG. 4 is a schematic diagram of the three-dimensional structure of the first door frame in this embodiment.

[0102] In order to realize the movable connection between the first gantry 10 and the third gantry 30, and between the third gantry 30 and the second gantry 20, a gantry installation space 101 is provided on one of the two movably connected sub-gantrys, and the other sub-gantry is installed in the gantry installation space 101. The sub-gantry provided with the gantry installation space 101 includes an enclosure portion 11 and a connecting portion 12, and the gantry installation space 101 is enclosed by the enclosure portion 11 and the connecting portion 12.

[0103] As shown in FIG. 4 , taking the mast installation space 101 provided on the first mast 10 as an example, the third mast 30 is correspondingly installed in the mast installation space 101 on the first mast 10. The first mast 10 includes an enclosure portion 11 and a connection portion 12, and the mast installation space 101 is enclosed by the enclosure portion 11 and the connection portion 12. Of course, the mast installation space 101 can also be provided on the third mast 30, and the first mast 10 can be installed in the mast installation space 101 of the third mast 30. The third mast 30 and the second mast 20 also adopt the same connection method; when two or more third masts 30 are provided, this connection method is also adopted between adjacent third masts 30, and will not be repeated here.

[0104] It can be understood that a gantry installation space 101 is formed on one side of the first gantry 10 through the cooperation between the enclosing portion 11 and the connecting portion 12 , so as to provide an installation space for the third gantry 30 .

[0105] Specifically, the second door frame 20 is installed in the third door frame 30, and the door frame installation space 101 on the third door frame 30 is set toward the second end of the load-bearing body 50 to expose the side of the second door frame 20 toward the second end of the load-bearing body 50, thereby facilitating the installation of the attachment 100c.

[0106] As shown in Figures 2 to 4, there are two enclosure parts 11, which extend along a first direction. The two enclosure parts 11 are spaced apart along a second direction perpendicular to the height direction, and the second direction is perpendicular to the first direction. The connecting part 12 is arranged between the two enclosure parts 11, and the opposite ends of the connecting part 12 are respectively fixed to the two enclosure parts 11, and another sub-door frame is slidably arranged on the inner walls of the two enclosure parts 11.

[0107] It should be noted that the direction indicated by C in FIG. 3 is the second direction.

[0108] In one embodiment, the two enclosure portions 11 are parallel to each other, the connecting portion 12 is perpendicular to the two enclosure portions 11 , and the gantry installation space 101 is a rectangular space.

[0109] As shown in FIG. 4 , the connection portion 12 includes a plurality of first connection plates 121 , which are spaced apart along the height direction, extend along the second direction, and have two ends of the first connection plates 121 fixed to the two enclosure portions 11 .

[0110] It can be understood that the two enclosure parts 11 are connected together by multiple first connecting plates 121, so that the first door frame 10 can form a stable frame structure to support the third door frame 30, the second door frame 20 and the accessories 100c.

[0111] FIG5 is a schematic diagram of the three-dimensional structure of the third door frame in this embodiment.

[0112] As shown in FIG. 2 , the second door frame 20 is installed in the door frame installation space 101 of the third door frame 30, the first door frame 10 is located at the outermost side, the second door frame 20 is located at the innermost side, and the third door frame 30 is located between the first door frame 10 and the second door frame 20. That is to say, the second door frame 20 and the third door frame 30 adopt a substantially identical structure. Taking the third door frame 30 as an example, as shown in FIG. 5 , the third door frame 30 includes two limit portions 301 and a plurality of second connecting plates 302. The limit portions 301 have a height direction and are arranged at intervals along the second direction. The outer walls of the two limit portions 301 are respectively slidably connected to the inner walls of the two enclosure portions 11. The plurality of second connecting plates 302 are arranged at intervals along the height direction. The second connecting plates 302 extend along the second direction, and the two ends of the second connecting plates 302 are respectively fixed to the two limit portions 301.

[0113] It can be understood that the two second limiting parts 301 are connected together by a plurality of second connecting plates 302, so that the second door frame 20 and the third door frame 30 can form a stable frame structure. In addition, the cooperation between the limiting part 301 and the enclosure part 11 can realize the sliding connection between the second door frame 20 and the third door frame 30, and between the third door frame 30 and the first door frame 10, so that the second door frame 20 can move along the third door frame 30, and the third door frame 30 can move along the first door frame 10 in the height direction.

[0114] At the same time, the limiting portion 301 and the plurality of second connecting plates 302 can enclose a door frame installation space 101 to achieve installation of the second door frame 20, or when the second door frame 20 encloses the door frame installation space 10, installation of the attachment 100c can be achieved.

[0115] Please refer to FIG. 4. In order to drive the third gantry 30 to slide along the first gantry 10, the handling equipment 100 further includes a driving mechanism 100f, which includes a driving member (not shown in the figure), a driving sprocket 43 and a driving chain 42. The driving sprocket 43 is rotatably arranged on the top position of the first gantry 10 in the height direction. The driving chain 42 is wound around the driving sprocket 43. One end of the driving chain 42 extends downward in the height direction and is connected to the driving end of the driving member, and the other end is connected to the bottom position of the third gantry 30 in the height direction. When the driving member pulls the driving chain 42 downward, the third gantry 30 will be pulled upward by the driving chain 42; when the driving member releases the driving chain 42, the third gantry 30 will move downward under the action of gravity. The driving member can specifically adopt a linear driving structure such as an oil cylinder, an air cylinder or an electrode screw module.

[0116] Please refer to FIG5 , in order to drive the second door frame 20 to move up and down when the third door frame 30 moves up and down, the handling device further includes a linkage mechanism 100d, the linkage mechanism 100d includes a linkage sprocket 71 and a linkage chain 72, the linkage sprocket 71 is rotatably arranged at the top position in the height direction of the third door frame 30. The linkage chain 72 is wound around the linkage sprocket 71, one end of the linkage chain 72 is fixed to the first door frame 10, and the other end is fixed to the bottom position of the second door frame 20.

[0117] It can be understood that when the third gantry 30 moves in the height direction, it can drive the interlocking sprocket 71 thereon to move synchronously. Since one end of the interlocking chain 72 is fixed to the third gantry 30, when the interlocking sprocket 71 moves with the third gantry 30, it can pull the interlocking chain 72 to make the second gantry 20 move upward in the height direction, or release the interlocking chain 72 to make the second gantry 20 move downward under the action of gravity, thereby realizing the linkage between the second gantry 20 and the third gantry 30, and the second gantry 20 and the third gantry 30 are 2:1 in rising height coordination.

[0118] In one embodiment, in order to make the attachment 100c move in linkage with the second door frame 20, the linkage mechanism 100d mentioned above can also be arranged between the second door frame 20 and the attachment 100c, and the linkage sprocket 71 is rotatably arranged at the top position in the height direction of the second door frame 20. The linkage chain 72 is wound around the linkage sprocket 71, and one end of the linkage chain 72 extends downward in the height direction to be fixed to the third door frame 30, and the other end extends downward in the height direction to be fixed to the attachment 100c.

[0119] It can be understood that when the second gantry 20 moves in the height direction relative to the third gantry 30, it can drive the interlocking sprocket 71 thereon to move synchronously. Since one end of the interlocking chain 72 is fixed to the third gantry 30, when the interlocking sprocket 71 moves with the second gantry 20, it can pull the interlocking chain 72 to move the accessory 100c upward in the height direction, or release the interlocking chain 72 to move the accessory 100c downward under the action of gravity, thereby realizing the linkage between the accessory 100c and the second gantry 20, and the accessory 100c and the second gantry 20 are 2:1 in rising height coordination.

[0120] FIG. 6 is a schematic diagram of the installation structure of the driven wheel in this embodiment.

[0121] As shown in combination with FIG. 3 and FIG. 6 , the moving chassis 100a further includes a moving mechanism 80, and the moving mechanism 80 includes a driving wheel 81 and a driven wheel 82. The driving wheel 81 is rotatably disposed on the bearing body 50 and relatively close to a first end of the bearing body 50 located in the first direction, and part or all of the driving wheel 81 protrudes from the lower surface of the bearing body 50. The driven wheel 82 is disposed on the bearing body 50 and relatively close to a second end of the bearing body 50 located in the first direction, and part or all of the driven wheel 82 protrudes from the lower surface of the bearing body 50.

[0122] It can be understood that the forward, backward, turning and other movements of the moving chassis 100 a can be achieved through the cooperation between the driving wheel 81 and the driven wheel 82 .

[0123] Most of the wheel pressure of the entire vehicle is on the driving wheel 81, which improves the grip between the driving wheel 81 and the ground and is not easy to slip when traveling. When the vehicle is traveling in a straight line, the driven wheel 82 may be slightly deflected by the ground conditions, thereby dragging the driving wheel 81 to slide slightly, affecting the straight-line accuracy of the vehicle, which manifests as a serpentine walking. The greater the grip of the driving wheel 81, the less likely this situation is to occur. When the vehicle is changing direction, especially when changing from front drive to rear drive, the vehicle needs to correct its direction due to the swing of the driven wheel 82. The greater the driving wheel pressure, the greater the correction acceleration, and the easier it is to correct the deviation.

[0124] FIG. 7 is a schematic diagram of the motion trajectory of the moving chassis turning in situ in this embodiment; FIG. 8 is a schematic diagram of the motion trajectory of the moving chassis turning in an arc in this embodiment.

[0125] 7 and 8 , the driving wheels 81 include two sets spaced apart in the second direction. When the two sets of driving wheels 81 rotate in opposite directions but at the same speed, the moving chassis 100a turns in situ, and the rotation center is located between the two sets of driving wheels 81.

[0126] In this embodiment, there are two driving wheels 81 and two driven wheels 82 , which are spaced apart along the second direction. Each driving wheel 81 is connected to a driving motor and a servo controller, and the driven wheel 82 is a universal wheel.

[0127] It should be noted that when the motion chassis 100a moves, the control system sends instructions to the servo controller, and the servo controller controls the operation of the two drive motors, thereby driving the two drive wheels 81 to move. When the two drive wheels 81 rotate in the same direction and at the same speed, the whole vehicle can move forward or backward; when the two drive wheels 81 rotate in opposite directions and at the same speed, the whole vehicle can turn in place; when the two drive wheels 81 rotate in the same direction and at different speeds, the whole vehicle can turn in an arc; when the two drive wheels 81 rotate in opposite directions and at different speeds, the whole vehicle can turn in a near-circular arc. When the motion chassis 100a is in operation, different operating modes can be executed according to working conditions and scene requirements to improve efficiency.

[0128] FIG. 9 is a schematic diagram of the installation structure of the counterweight in this embodiment.

[0129] As shown in FIG. 9 , balancing weight bins 52 are symmetrically arranged at both ends of the carrying body 50 in the second direction. The balancing weight bins 52 are relatively close to the second end of the carrying body 50 in the first direction. The balancing weight bins 52 are configured to carry a balancing weight 521 .

[0130] It can be understood that since the center of gravity of the gantry 100b after installation is close to the driving wheel 81, that is, close to the first end of the load-bearing body 50 located in the first direction, the counterweight bin 52 is relatively close to the second end of the load-bearing body 50 located in the first direction, the counterweight 521 in the counterweight bin 52 can balance the gravity exerted by the carrier on the load-bearing body 50, thereby effectively preventing the load-bearing body 50 from tipping over and ensuring the stability of the load-bearing body 50 supporting the gantry 100b.

[0131] As shown in FIG. 9 , the balance weight 521 includes a plurality of balance sheets 521 a , and the plurality of balance sheets 521 a are stacked in the balance weight compartment 52 along a first direction.

[0132] It can be understood that since the installation area 51 and the balancing weight chamber 52 are spaced apart relative to the first direction, the multiple balancing plates 521a stacked along the first direction in the balancing weight chamber 52 can better balance the gravity exerted by the carrier on the carrying body 50, and further ensure the stability of the carrying body 50 in supporting the carrier.

[0133] In this embodiment, chamfers are designed around the balancing piece 521 a to avoid weld protrusions at the corners of various installation areas 51 .

[0134] As shown in FIG3 , the handling device 100 further includes a guide unit 100e, which is disposed at both ends of the carrying body 50 in the second direction. The guide unit 100e includes at least one guide wheel 91, which is rotatably disposed on the carrying body 50, and part or all of the guide wheel 91 protrudes from the side surface of the carrying body 50 in the second direction. The rotation plane of the guide wheel 91 is parallel to the plane defined by the first direction and the second direction.

[0135] It can be understood that when the lane is too narrow, the guide wheel 91 cooperates with the lane guide rail, and the guide wheel 91 moves in the guide rail, so that the moving chassis 100a can be suitable for the working environment of moving in a narrow lane.

[0136] In this embodiment, the number of the guide wheels 91 is four, and they are arranged in groups of two at both ends of the carrying body 50 in the second direction.

[0137] FIG. 10 is a schematic diagram of the three-dimensional structure of the attachment in this embodiment.

[0138] As shown in FIG. 10 , the attachment 100c includes a fork 31 and a fork frame 32. The fork frame 32 is directly or indirectly connected to the second mast 20. The fork 31 is rotatably connected to the fork frame 32, and the rotation axis of the fork 31 is parallel to the height direction. The fork 31 rotates in a plane perpendicular to the height direction, thereby adjusting the position of the fork 31 relative to the moving chassis 100a, so that the fork 31 can be extended from different sides of the moving chassis 100a, thereby improving the application flexibility.

[0139] Specifically, the fork 31 is rotatably connected to the fork frame 32 via a rotating shaft, the rotating shaft is connected to the output end of the rotary motor, and the rotating shaft is driven to rotate by the rotary motor, thereby driving the fork 31 to rotate.

[0140] In one embodiment, the fork frame 32 includes a sliding portion 321 and a mounting portion 322. The sliding portion 321 extends along the height direction and is indirectly or directly connected to the corresponding second mast 20. The mounting portion 322 extends along a first direction perpendicular to the height direction, and the fork 31 is rotatably mounted on the mounting portion 322. Optionally, the mounting portion 322 and the sliding portion 321 are configured as an integrally formed or fixedly connected structure.

[0141] As shown in FIG. 10 , the attachment 100c further includes a translation mechanism 33, which is configured to move the fork 31 along the second direction. The translation mechanism 33 includes a slide 331, which extends along the second direction, is disposed on the side of the corresponding second gantry 20, and can move along the height direction. The fork frame 32 is slidably mounted on the slide 331, and can move along the second direction.

[0142] It can be understood that when the slide 331 moves in the height direction, it can drive the fork frame 32 thereon to move synchronously, so that the fork 31 can move in the height direction to fork or transfer the pallet. In addition, the fork frame 32 can also move in the second direction relative to the slide 331, so that the fork 31 can move in the second direction to fork or transfer the pallet.

[0143] In this embodiment, the second direction is a horizontal direction in use and is perpendicular to the first direction, and two fork units of the fork 31 are arranged horizontally and spaced apart.

[0144] As shown in FIG10 , the translation mechanism 33 further includes a driving unit 332, which is used to drive the fork frame 32 to move along the second direction. The driving unit 332 includes a driving motor (not shown in the figure), a gear (not shown in the figure), and a rack 332c. The driving motor is fixed to the fork frame 32. The gear is fixed to the output shaft of the driving motor. The rack 332c is fixed to the slide 331 and extends along the second direction. The gear is meshed with the rack 332c.

[0145] It can be understood that when the driving motor rotates, it can drive the gear to rotate. When the gear rotates, it can rotate along the extension direction of the rack 332c under the action of the rack 332c, thereby driving the fork frame 32 to move along the second direction.

[0146] In this embodiment, the driving motor adopts servo control, which can accurately control the moving distance of the fork frame 32. A translation position sensor is provided on the fork frame 32 to detect the translation position of the fork frame 32 and feed back a signal to the attachment 100c controller.

[0147] FIG. 11 is a schematic diagram of the installation structure of the identification unit in this embodiment.

[0148] As shown in FIG. 11 , the attachment 100c further includes an identification unit 34 capable of identifying the specific position and distance of the pallet when picking up or placing goods, and the identification unit 34 includes a telescopic rod 341 and an identification element 342. The telescopic rod 341 is fixed to the bottom end of the fork frame 32 and can be extended and retracted in the height direction. The identification element 342 is fixed to the telescopic end of the telescopic rod 341 and is located between the two fork units in the fork 31.

[0149] It can be understood that the identification element 342 in the identification unit 34 can identify the specific position and distance of the pallet when picking up and placing goods, so as to control the corresponding fork to move accurately to the picking and placing position. If there is goods on the fork or the pallet blocks the identification element 342, the telescopic rod 341 can be controlled to extend to drive the identification element 342 to extend for identification. When it is not needed to be extended, the telescopic rod 341 can be controlled to be retracted.

[0150] In this embodiment, the identification element 342 is a 3D camera.

[0151] Embodiment 2:

[0152] Embodiment 2 of the present application provides a transport device, which is basically the same as the transport device in Embodiment 1, except for the structure of the moving chassis 100a.

[0153] Specifically, the moving chassis 100a moves along a first direction, which is defined as direction B shown in FIG. 12 , with the first end of the moving chassis 100a facing the forward direction and the second end of the moving chassis 100a facing the backward direction. The door frame 100b is disposed on the upper side of the second end of the moving chassis 100a, and the attachment 100c is disposed on the front side of the door frame 100b. After the attachment 100c carries the goods, the center of gravity falls above the moving chassis 100a, which is conducive to keeping the center of gravity of the storage robot stable.

[0154] It should be noted that the embodiments of the present application mainly involve improvements to the moving chassis 100a, and do not limit the specific structures of the mast 100b and the attachments 100c and the arrangement of them on the moving chassis 100a. The above is one arrangement of the mast 100b and the attachments 100c on the moving chassis 100a. In some other embodiments, the attachments 100c may also be arranged on the rear side of the mast 100b, or the mast 100b may be arranged at the first end of the moving chassis 100a.

[0155] Please refer to Figures 13 and 14. Figure 13 shows a bottom-up structural schematic diagram of the motion chassis 100a provided in an embodiment of the present application; Figure 14 shows a structural schematic diagram of the driving wheel group 801 provided in an embodiment of the present application at a viewing angle.

[0156] The motion chassis 100a includes a load-bearing body 50, a driving wheel set 801 and at least two driven wheels 82. The driving wheel set 801 is disposed on the load-bearing body 50. The driving wheel set 801 includes two driving wheels 81. Each driving wheel 81 is equipped with a driving motor 811. The driving motor 811 is used to drive the corresponding driving wheel 81 to rotate so that the load-bearing body 50 can switch between straight travel and turning. The at least two driven wheels 82 and the driving wheel set 801 are used to support the load-bearing body 50.

[0157] According to the motion chassis 100a involved in the embodiment of the present invention, a driving wheel group 801 is provided on the bearing body 50 to provide driving force for the movement of the bearing body 50. The driving wheel group 801 includes two driving wheels 81. By configuring a driving motor 811 for each driving wheel 81, the two driving wheels 81 can be driven to rotate at different speeds or directions. When the motion chassis 100a needs to go straight, the two driving wheels 81 are rotated in the same direction and at the same speed; when the motion chassis 100a needs to turn, the two driving wheels 81 are driven to rotate in opposite directions by the driving motor 811, so that the motion chassis 100a rotates in place with the center point of the rotation axis of the two driving wheels 81 as the center of the circle, thereby improving the turning flexibility of the motion chassis 100a.

[0158] In one embodiment, as shown in FIG. 13 , the moving chassis 100a moves along a first direction, the driving wheel set 801 is arranged at the first end of the supporting body 50 in the first direction, and is arranged at the middle position of the first end in the second direction, the second direction is perpendicular to the first direction, and the second direction is specifically the C direction shown in FIG. 13 .

[0159] By setting the driving wheel set 801 at the middle position of the first end, compared with the solution in the prior art in which the two driving wheels 81 are set at the top corners of the supporting body 50, the axle spacing of the two driving wheels 81 is reduced, which is beneficial to reducing the turning radius of the moving chassis 100a, thereby further improving the turning flexibility.

[0160] In one embodiment, two driven wheels 82 are provided. The two driven wheels 82 are provided at the second end of the supporting body 50 in the first direction, and the two driven wheels 82 are provided at intervals on both sides below the supporting body 50 along the second direction.

[0161] The two driven wheels 82 and the driving wheel group 801 form three contact points on the walking surface of the moving chassis 100a. The three-point support structure can keep the three contact points in contact with the walking surface at all times, which is beneficial to maintaining the walking stability of the moving chassis 100a, especially on uneven walking surfaces. The driving wheels 81 and driven wheels 82 of the driving wheel group 801 can float with the ups and downs of the walking surface, but will not detach from the walking surface, thereby preventing the moving chassis 100a from losing balance due to sudden loss of support from a certain support point.

[0162] As shown in Figure 12, the door frame 100b and the driven wheel 82 are installed at the same end of the carrying body 50, and are both located at the second end of the carrying body 50. The driving wheel 81 is arranged at the first end of the carrying body 50, the first end faces the forward direction of the moving chassis 100a, and the second end faces the backward direction of the moving chassis 100a. Therefore, the moving chassis 100a is a front driving force, which is more flexible in turning and has a smaller turning radius than the rear driving force method.

[0163] The attachment 100c is arranged on the front side of the gantry 100b. When the warehouse robot moves forward, the attachment 100c faces forward and can be moved directly to the front of the shelf. Compared with the solution in which the attachment 100c is arranged on the rear side of the gantry 100b, it can be closer to the front shelf.

[0164] Please continue to refer to FIG. 13 . In order to allow the driving wheel 81 to extend out of the lower surface of the carrying body 50 , a first avoidance hole 54 is provided on the bottom plate of the carrying body 50 . The driving wheel 81 extends out of the first avoidance hole 54 to be able to contact the walking surface.

[0165] In one embodiment, as shown in FIG. 13 , the two driven wheels 82 are respectively disposed at the top corners of the second end of the moving chassis 100a, and the driving wheel group 801 is close to the front edge of the first end of the moving chassis 100a, so that the two driven wheels 82 and the driving wheel group 801 maintain as large a distance as possible, which is beneficial to improving the stability of the moving chassis 100a.

[0166] Please refer to Figure 15, which is a schematic diagram of the structure of the driving wheel set 801 provided in one embodiment of the present application at another viewing angle. In order to facilitate the installation of the driving wheel 81 and the driving motor 811, the driving wheel set 801 also includes a connecting member, and the two driving wheels 81 of the driving wheel set 801 are connected by the connecting member so that the rotation axes of the two driving wheels 81 are in a straight line, and the connecting member is rotatably connected to the bearing body 50 so that the rotation axes of the two driving wheels 81 can be adjusted to be parallel to the walking surface or to form an angle with the walking surface.

[0167] When the walking surface is relatively flat, the contact points of the two driving wheels 81 with the walking surface are on the same plane, and the rotation axes of the two driving wheels 81 are parallel to the walking surface. When the walking surface is uneven, if the rotation axes of the driving wheels 81 cannot be adjusted, one of the driving wheels 81 may be suspended due to potholes on the walking surface below the two driving wheels 81, resulting in unstable support. By adopting the above-mentioned method of pivoting the connecting member with the bearing body 50, the connecting member can drive the two driving wheels 81 to rotate relative to the bearing body 50. When potholes appear on the walking surface below the two driving wheels 81, the connecting member can rotate a certain angle relative to the bearing body 50, thereby driving the two driving wheels 81 to tilt with the potholes of the walking surface to adapt to the potholes of the walking surface, thereby keeping the two driving wheels 81 in contact with the walking surface at all times, so that the two driving wheels 81 can maintain a stable support force on the bearing body 50.

[0168] Specifically, please continue to refer to Figures 14 and 15. A mounting plate 53 is provided on the carrier body 50. The motion chassis 100a further includes a first gear 813, a second gear 814 and a sensor. The first gear 813 and the second gear 814 are meshed and rotatably provided on the carrier body 50, specifically provided on the mounting plate 53. The connecting member is pivotally connected to the first gear 813. The two driving wheels 81 rotate differentially to drive the connecting member to rotate. The connecting member rotates to drive the first gear 813 to rotate. The second gear 814 is connected to the sensor to sense the rotation angle of the second gear 814 through the sensor to confirm whether the driving wheel 81 is in a straight-ahead or turning state. Among them, the sensor can adopt a wire encoder.

[0169] Specifically, the connecting member includes a connecting block 812 and a pivot shaft (not shown in the figure), one end of the pivot shaft is pivotally connected to the connecting block 812, and the other end of the pivot shaft is pivotally connected to the first gear 813, so as to realize the pivot connection between the driving wheel 81 and the bearing body 50. The pivot shaft can be set as a flat shaft, which can rotate in a vertical plane relative to the connecting block 812 and the first gear 813 but cannot rotate in a horizontal plane, so that the connecting block 812 can be tilted and deflected with the two driving wheels 81, and can rotate with the rotation of the connecting block 812 in the horizontal plane.

[0170] In one embodiment, the two driving wheels 81 are respectively arranged on the left and right sides of the connecting block 812, and the two driving motors 811 are respectively arranged on the front and rear sides of the connecting block 812. The two driving wheels 81 and the two driving motors 811 are distributed more evenly on the connecting block 812.

[0171] In one embodiment, please refer back to FIG. 13 , in order to ensure the flexibility of steering, the wheelbase L between the two driving wheels 81 is designed to be no greater than 1 / 2 of the width of the bearing body 50 in the second direction, and the ratio is generally set within the range of 1 / 3-1 / 2.

[0172] During the process of the storage robot picking up and placing goods, the attachment 100c may need to rise to a higher position, and placing goods on the attachment 100c or unloading goods from the attachment 100c will change the center of gravity of the storage robot, which may easily cause the storage robot to tilt or even fall.

[0173] To solve the above problems, please refer to FIG. 13 . The moving chassis 100a also includes an auxiliary support member 100h, which is arranged in the bearing body 50 and can selectively extend out of the lower surface of the bearing body 50. When the storage robot moves, the auxiliary support member 100h is adjusted to retract upward so that the lower end surface of the auxiliary support member 100h is higher than the lowest point of the driving wheel 81 and the driven wheel 82, that is, the auxiliary support member 100h is kept away from the walking surface to ensure that only the driving wheel 81 and the driven wheel 82 of the moving chassis 100a are in contact with the walking surface during the movement, so as to maintain smooth movement. In order to prevent the auxiliary support member 100h from scratching the protruding walking surface when moving on an uneven walking surface, the auxiliary support member 100h can be retracted to the inside of the bearing body 50.

[0174] In one embodiment, as shown in FIG13 , two groups of auxiliary support members 100h are provided, and the two groups of auxiliary support members 100h are respectively provided on both sides of the driving wheel group 801 in the second direction, that is, the two groups of auxiliary support members 100h are respectively provided on the left and right sides of the driving wheel group 801. By providing two groups of auxiliary support members 100h, support points are formed on both sides of the driving wheel group 801, and the support for the bearing body 50 is more uniform, which is conducive to further improving the stability of the storage robot when picking up and placing goods.

[0175] Optionally, as shown in FIG. 13 , auxiliary support members 100 h are disposed at two vertex corners of the first end of the carrier body 50 to further improve the uniformity of supporting the carrier body 50 .

[0176] Specifically, as shown in FIG. 13 , a second avoidance hole 55 is provided on the bottom plate of the carrying body 50 , and the auxiliary support member 100 h movably passes through the second avoidance hole 55 so as to be able to extend out of the lower surface of the carrying body 50 .

[0177] In order to realize the extension and retraction of the auxiliary support member 100h, the auxiliary support member 100h is structurally designed. Please refer to Figures 13 and 16. Figure 16 shows a schematic structural diagram of the auxiliary support member 100h provided in an embodiment of the present application. Specifically, the auxiliary support member 100h includes a floor member 501 and a lifting drive member 502. The floor member 501 is used to extend out of the lower surface of the bearing body 50. The fixed end of the lifting drive member 502 is arranged on the bearing body 50. The driving end of the bearing body 50 is connected to the floor member 501 to drive the floor member 501 to extend out of the lower surface of the bearing body 50 or retract into the bearing body 50.

[0178] It can be understood that the distance that the floor member 501 extends out of the load-bearing body 50 determines the supporting force of the floor member 501 on the load-bearing body 50. The supporting force provided by the floor member 501 should be consistent with the supporting force provided by the driving wheel 81 and the driven wheel 82. Too large or too small a distance is not conducive to the stability of the motion chassis 100a.

[0179] To this end, the auxiliary support member 100h also includes a pressure sensor (not shown in the figure), which is arranged on the ground member 501. The pressure sensor is configured to sense the pressure value of the ground member 501 on the walking surface of the moving chassis 100a, so as to stop the driving action of the lifting drive member 502 when the pressure value reaches a preset value, thereby controlling the distance that the ground member 501 extends out of the supporting body 50, and further ensuring that the ground member 501 provides a supporting force of appropriate size to the supporting body 50.

[0180] In one embodiment, as shown in Figure 16, the lifting drive component 502 includes a lifting mounting plate 5021, a lifting motor 5022 and a lifting reducer 5023. The lifting mounting plate 5021 is connected to the inner wall of the supporting body 50, the fixed end of the lifting reducer 5023 is connected to the lifting mounting plate 5021, the fixed end of the lifting motor 5022 is connected to the fixed end of the lifting reducer 5023, the landing component 501 is connected to the output end of the lifting reducer 5023, and the lifting motor 5022 drives the landing component 501 to rise and fall after being decelerated by the lifting reducer 5023.

[0181] Specifically, the lifting reducer 5023 and the floor member 501 are connected by a motor screw module to convert the rotational motion of the output end of the lifting reducer 5023 into the linear motion of the floor member 501. This is a conventional structure in the prior art, and its specific structure and working principle will not be described in detail.

[0182] After the storage robot moves to the position for picking up and placing goods, the floor member 501 is driven down and supported on the walking surface. If the position of the storage robot is found to be inaccurate, it needs to be slightly adjusted. Since the floor member 501 is already supported on the ground, it will interfere with the movement of the storage robot. The floor member 501 needs to be raised, and the storage robot needs to adjust its position before lowering it again. The operation is relatively cumbersome and affects the working efficiency of the storage robot.

[0183] To this end, in one embodiment, as shown in FIG. 16 , the floor-standing member 501 is configured as a universal wheel, which can rotate 360° on the walking surface. Therefore, the moving chassis 100a can walk when the universal wheel is in contact with the walking surface without raising the universal wheel, thereby simplifying the position adjustment steps of the warehouse robot and helping to save the operation time of the position adjustment of the warehouse robot.

[0184] In order to facilitate the installation of the universal wheel, the auxiliary support 100h also includes a universal wheel mounting plate 503 and a universal wheel bracket 504. The universal wheel mounting plate 503 is connected to the output end of the lifting reducer 5023, and the universal wheel bracket 504 is rotatably connected to the universal wheel mounting plate 503. The universal wheel is rotatably set on the universal wheel bracket 504.

[0185] In one embodiment, two universal wheels are provided, and the two universal wheels are connected to the universal wheel bracket 504 side by side.

[0186] In one embodiment, as shown in FIG. 17 , for the convenience of charging, a non-contact charging device 100j is provided on the moving chassis, and the non-contact charging device 100j is used to cooperate with the non-contact charging pile 100g to charge the warehouse robot.

[0187] Specifically, a contactless charging pile 100g is provided in the workshop environment. The contactless charging pile 100g includes a power supply end 110, and the contactless charging device 100j includes a power receiving end 610. When the warehouse robot needs to be charged, the warehouse robot is moved to the contactless charging pile 100g, and the power receiving end 610 is aligned with the power supply end 110 for charging, which is more convenient.

[0188] In one embodiment, the moving chassis 100a is also provided with a charging plug, and charging can be performed by plugging the charging plug into a power source. In actual working conditions, a suitable charging method can be selected according to the actual conditions on site.

[0189] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0190] The above embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A handling device, characterized in that: include: Sports chassis (100a); A gantry (100b) having a height direction, the gantry (100b) comprising a plurality of sub-gantrys, the sub-gantrys being respectively a first gantry (10), a second gantry (20) and at least one third gantry (30), the first gantry (10) being mounted on the moving chassis (100a), and at least one third gantry (30) and the second gantry (20) being movably connected in sequence along the height direction and being capable of moving respectively along the height direction; An accessory (100c), wherein the accessory (100c) is installed on the second door frame (20), and the accessory (100c) can move in the height direction along the second door frame (20).

2. The handling equipment according to claim 1, characterized in that: The third door frame (30) is provided with one, and the handling equipment further comprises a linkage mechanism (100d), and the linkage mechanism (100d) comprises: a linkage sprocket (71) rotatably disposed on the third door frame (30) at a top position in the height direction; and A linkage chain (72) is wound around the linkage sprocket (71); one end of the linkage chain (72) is fixed to the first door frame (10), and the other end is fixed to the bottom position of the second door frame (20).

3. The handling equipment according to claim 1, characterized in that: The attachment (100c) comprises a fork (31), and the fork (31) can be moved downward along the height direction to a preset position. When in the preset position, the fork (31) is in contact with or at a distance from the upper surface of the moving chassis (100a).

4. The handling equipment according to claim 3, characterized in that: The moving chassis (100a) comprises: A bearing body (50), wherein an installation area (51) is arranged on the bearing body (50), and the first door frame (10) is installed in the installation area (51), and the installation area (51) is eccentrically arranged relative to a center line of the bearing body (50) in a first direction, and is relatively close to a first end of the bearing body (50) in the first direction.

5. The handling equipment according to claim 4, characterized in that: The attachment (100c) is located on the same side as the second end of the supporting body (50) located in the first direction.

6. The handling equipment according to claim 1, characterized in that: A gantry installation space (101) is provided on one of the two movably connected sub-gantry frames, and the other sub-gantry frame is installed in the gantry installation space (101). The sub-gantry frame provided with the gantry installation space (101) comprises an enclosure portion (11) and a connecting portion (12), and the gantry installation space (101) is enclosed by the enclosure portion (11) and the connecting portion (12).

7. The handling equipment according to claim 6, characterized in that: There are two enclosure parts (11), and the enclosure parts (11) extend along a first direction. The two enclosure parts (11) are spaced apart along a second direction perpendicular to the height direction, and the second direction is perpendicular to the first direction. The connecting part (12) is arranged between the two enclosure parts (11), and the opposite ends of the connecting part (12) are respectively fixed to the two enclosure parts (11), and the other sub-door frame is slidably arranged on the inner walls of the two enclosure parts (11).

8. The handling equipment according to claim 4, characterized in that: The moving chassis (100a) further comprises a moving mechanism (80), wherein the moving mechanism (80) comprises: a driving wheel (81) rotatably disposed on the carrying body (50) and relatively close to a first end of the carrying body (50) located in the first direction, wherein part or all of the driving wheel (81) protrudes from a lower surface of the carrying body (50); and A driven wheel (82) is arranged on the carrying body (50) and is relatively close to a second end of the carrying body (50) in the first direction, and part or all of the driven wheel (82) protrudes from a lower surface of the carrying body (50); The driving wheels (81) include two groups spaced apart along a second direction, wherein the second direction is perpendicular to the first direction and the height direction; when the two groups of driving wheels (81) rotate in opposite directions but at the same speed, the moving chassis (100a) turns, and at this time the rotation center is located between the two groups of driving wheels (81).

9. The handling equipment according to claim 4, characterized in that: The moving chassis (100a) further comprises: A driving wheel set (801) is arranged on the carrying body (50), the driving wheel set (801) comprises two driving wheels (81), each driving wheel (81) is equipped with a driving motor (811), and the driving motor (811) is used to drive the corresponding driving wheel (81) to rotate, so that the carrying body (50) can switch between straight travel and turning; At least two driven wheels (82), at least two of the driven wheels (82) and the driving wheel set (801) are used to support the bearing body (50).

10. The handling equipment according to claim 9, characterized in that: The two driving wheels (81) of the driving wheel group (801) are connected by a connecting piece so that the rotation axes of the two driving wheels (81) are on a straight line. The connecting piece is pivotally connected to the supporting body (50) so that the rotation axes of the two driving wheels (81) can be adjusted to be parallel to the walking surface or to form an angle with the walking surface.

11. The handling equipment according to claim 10, characterized in that: The moving chassis (100a) further comprises a first gear (813), a second gear (814) and a sensor; the first gear (813) and the second gear (814) are meshed with each other and are rotatably arranged on the supporting body (50); the connecting member is pivotally connected to the first gear (813); the driving wheel (81) rotates differentially to drive the connecting member to rotate; the rotation of the connecting member drives the first gear (813) to rotate; and the second gear (814) is connected to the sensor.

12. The handling equipment according to claim 9, characterized in that: The moving chassis (100a) moves along a first direction, and the driving wheel set (801) is arranged at a first end of the supporting body (50) in the first direction, and is arranged at a middle position of the first end in a second direction, and the second direction is perpendicular to the first direction.

13. The handling device according to claim 12, characterized in that: The moving chassis (100a) moves along a first direction, the two driven wheels (82) are arranged at the second end of the carrying body (50) in the first direction, and the two driven wheels (82) are arranged at intervals on both sides below the carrying body (50) along the second direction.

14. The handling equipment according to claim 9, characterized in that: The moving chassis (100a) further comprises: An auxiliary support member (100h), wherein the auxiliary support member (100h) is disposed in the carrying body (50) and can selectively extend out of the lower surface of the carrying body (50).

15. The handling device according to claim 14, characterized in that: The auxiliary support members (100h) are provided in two groups, and the two groups of the auxiliary support members (100h) are respectively arranged on both sides of the driving wheel group (801) in a direction perpendicular to the walking direction of the bearing body (50).

16. The handling device according to claim 14, characterized in that: The auxiliary support member (100h) comprises: A floor member (501), the floor member (501) being used to extend out of the lower surface of the carrying body (50); A lifting drive member (502), wherein the fixed end of the lifting drive member (502) is arranged on the supporting body (50), and the driving end of the supporting body (50) is connected to the ground member (501) to drive the ground member (501) to extend out of the lower surface of the supporting body (50) or retract into the supporting body (50).

17. The handling device according to claim 16, characterized in that: The auxiliary support member (100h) further comprises: A pressure sensor is provided on the ground member (501), and the pressure sensor is configured to sense the pressure value of the ground member (501) on the walking surface of the moving chassis (100a), so as to stop the driving action of the lifting drive member (502) when the pressure value reaches a preset value.

18. The handling equipment according to claim 4, characterized in that: The two ends of the bearing body (50) located in the second direction are symmetrically provided with balancing weight bins (52), the balancing weight bins (52) are relatively close to the second end of the bearing body (50) located in the first direction, the second direction is perpendicular to the first direction and the height direction, and the balancing weight bins (52) are configured to carry a balancing weight (521).

19. The handling equipment according to claim 4, characterized in that: The handling equipment also includes: A guide unit (100e) is arranged on both ends of the bearing body (50) in a second direction, wherein the second direction is perpendicular to the first direction and the height direction; The guide unit (100e) comprises at least one guide wheel (91), the guide wheel (91) being rotatably arranged on the carrier body (50), and part or all of the guide wheel (91) protrudes from the side surface of the carrier body (50) located in the second direction, and the rotation plane of the guide wheel (91) is parallel to the plane defined by the first direction and the second direction.

20. The handling device according to claim 4, characterized in that: The attachment (100c) further comprises a fork frame (32), wherein the fork frame (32) is directly or indirectly connected to the second door frame (20), the fork (31) is rotatably connected to the fork frame (32), and the rotation axis of the fork (31) is parallel to the height direction.

21. The handling device according to claim 4, characterized in that: The attachment (100c) further comprises a fork frame (32), wherein the fork frame (32) comprises: A sliding portion (321) extending along the height direction and connected to the first door frame (10) indirectly or directly; The mounting portion (322) extends along the first direction, and the fork (31) is fixed on the mounting portion (322).

22. The handling device according to claim 21, characterized in that The attachment (100c) further comprises a translation mechanism (33), wherein the translation mechanism (33) is configured to enable the fork (31) to move along a second direction, wherein the second direction is perpendicular to the first direction and the height direction, and the translation mechanism (33) comprises: A sliding frame (331) extends along the second direction, is arranged on the side of the second door frame (20), and is movable along the height direction. The fork (31) is slidably mounted on the slide frame (331) and is capable of moving along the second direction.

23. The handling device according to claim 22, characterized in that: The attachment (100c) further includes an identification unit (34) capable of identifying the specific position and distance of the pallet when picking up or putting down goods, and the identification unit (34) includes: a telescopic rod (341) fixed to the bottom end of the fork (31) and capable of being telescoped along the height direction; and The identification element (342) is fixed to the telescopic end of the telescopic rod (341) and is located between two fork units in the fork (31).

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