Two-stage telescopic pallet and handling equipment

Abstract

The present invention discloses a two-stage telescopic pallet and handling equipment, the handling equipment comprises a vehicle frame, a driving wheel on the vehicle frame; the telescopic pallet comprises a frame, a middle pallet arranged on the frame, and an upper pallet arranged on the middle pallet; one side of the frame is provided with at least two transmission sprockets and a transmission chain rotating around the transmission sprockets, a rack meshing with the transmission chain is provided below one side of the middle pallet, and a passive rope driving device is provided between the upper pallet and the middle pallet to realize the movement of the upper pallet relative to the middle pallet. The handling equipment of the two-stage telescopic pallet in the present invention can extend the extension length of the overall telescopic pallet by providing a two-stage telescopic pallet of an upper pallet and a middle pallet.

Description

Technical Field

[0001] The invention belongs to the technical field of warehousing systems, in particular to a telescopic pallet for picking up and placing shelves, and an automatic handling device for handling cargo boxes. Background Art

[0002] In the existing storage system, a walking trolley is often used as an automatic walking and handling equipment, which is used to move on the shelf track and pick up and place goods. Under the development trend of automation of storage shelves, the existing shelf system can realize the automatic walking and automatic handling of the handling equipment, without the need for manpower to carry and assist in picking up and placing goods. In the existing handling equipment, a cargo box bracket that can be telescoped to one side of the frame is often used to pick up and place the cargo box. That is, the handling equipment walks on the track to a specified position, and then extends the cargo box bracket into the shelf cell where the cargo box is stored and inserts it under the cargo box. However, the current problem is that due to different shelf specifications, such as the depth of the shelf cell in some shelves is deeper, and the length of the cargo box in the depth direction of the shelf cell is also longer, and because the length of the telescopic pallet extended is related to the width of the frame (the length of the bracket retracted behind the frame generally cannot exceed the width of the frame, so the extended length is limited by the width of the frame), the telescopic pallet on the handling equipment is not long enough, and it is difficult to smoothly pick up and place the cargo box.

[0003] Therefore, a new technical solution is needed to solve the above problems. Summary of the invention

[0004] Purpose of the invention: The present invention provides a two-stage telescopic support plate to solve the problem of how to extend the extension length of the telescopic support plate.

[0005] The present invention also provides a handling device with a two-stage telescopic support plate, which solves the problem of how to lengthen the extension length of the telescopic support plate without increasing the width of the frame.

[0006] Technical Solution In order to achieve the above-mentioned purpose, the two-stage telescopic support plate of the present invention can adopt the following technical solution:

[0007] A two-stage telescopic support plate, comprising a frame, a middle support plate arranged on the frame, and an upper support plate arranged on the middle support plate; one side of the frame is provided with at least two transmission sprockets and a transmission chain rotating around the transmission sprockets, the transmission chain includes a reciprocating section located at the top of the entire transmission chain and extending laterally, a rack meshing with the reciprocating section is provided below one side of the middle support plate, and when the transmission chain rotates with the transmission sprocket, the rack reciprocates under the drive of the transmission chain;

[0008] An upper rope fixer is installed at one end of the lower surface of the upper support plate, and a lower rope fixer is installed at the same end of the frame as the end where the upper rope fixer is installed, and the middle support plate has a pulley groove at the opposite end from the upper rope fixer and the lower rope fixer, and a follower pulley is installed in the pulley groove; a rope is connected between the upper rope fixer and the lower rope fixer, one end of the rope is fixed to the upper rope fixer, and the other end of the rope is wound around the follower pulley and extends from the middle support plate to the bottom of the middle support plate and finally fixed to the lower rope fixer.

[0009] Beneficial effect: The two-stage telescopic pallet in the present invention can extend the extension length of the entire telescopic pallet by setting up a two-stage telescopic pallet of an upper pallet and a middle pallet. Among them, since relative movement needs to be achieved between the upper pallet and the middle pallet, but the middle pallet needs to be thin and light, it is difficult to have space to set up an independent driving device to drive the upper pallet to move. Therefore, the present invention adopts a rope drive method to achieve a passive driving method, so there is no need to set up an independent driving device. The upper pallet can be driven to continue to extend relative to the middle pallet directly through the movement of the middle pallet relative to the frame, and the two-stage pallet drive is achieved by a driving method that occupies less space.

[0010] Technical solution: To achieve the above-mentioned purpose, the handling equipment with two-stage telescopic pallet of the present invention can adopt the following technical solution:

[0011] A handling device with a two-stage telescopic pallet, comprising a frame and a driving wheel located on the frame; the frame is provided with a telescopic pallet, the telescopic pallet comprising a frame, a middle pallet arranged on the frame, and an upper pallet arranged on the middle pallet; one side of the frame is provided with at least two transmission sprockets and a transmission chain rotating around the transmission sprockets, the transmission chain comprises a reciprocating section located at the top of the entire transmission chain and extending laterally, a rack meshing with the reciprocating section is provided below one side of the middle pallet, and when the transmission chain rotates with the transmission sprocket, the rack is moved on the transmission The upper support plate reciprocates under the drive of the moving chain; an upper rope fixer is installed at one end of the lower surface of the upper support plate, and a lower rope fixer is installed at the same end above the frame as the end where the upper rope fixer is installed, and a pulley groove is provided at the opposite end of the middle support plate from the upper rope fixer and the lower rope fixer, and a follower pulley is installed in the pulley groove; a rope is connected between the upper rope fixer and the lower rope fixer, one end of the rope is fixed to the upper rope fixer, and the other end of the rope is wound around the follower pulley and extends from the middle support plate to the bottom of the middle support plate and finally fixed to the lower rope fixer.

[0012] Beneficial effect: The two-stage telescopic pallet handling equipment of the present invention can extend the extension length of the entire telescopic pallet by setting up a two-stage telescopic pallet of an upper pallet and a middle pallet. Among them, since relative movement needs to be achieved between the upper pallet and the middle pallet, but the middle pallet needs to be thin and light, it is difficult to have space to set up an independent driving device to drive the upper pallet to move. Therefore, the present invention adopts a rope drive method to achieve a passive driving method, so there is no need to set up an independent driving device. The upper pallet can be driven to continue to extend relative to the middle pallet directly through the movement of the middle pallet relative to the frame, and the two-stage pallet drive is achieved by a driving method that occupies less space. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a three-dimensional diagram of the automatic walking and transporting equipment in the present invention.

[0014] Figure 2 It is a three-dimensional diagram of the frame of the automatic walking and handling equipment.

[0015] Figure 3 It is a three-dimensional diagram of a telescopic device in an automatic walking and handling equipment.

[0016] Figure 4 It is a three-dimensional diagram of the automatic walking and transporting equipment of the present invention when it is on the shelf.

[0017] Figure 5 It is a schematic diagram of the coordination between the execution end bracket and the column of the automatic walking handling equipment.

[0018] Figure 6 It is a partial schematic diagram of the location of the middle connecting shaft of the execution end bracket.

[0019] Figure 7 It is a three-dimensional diagram of some parts in the execution end bracket.

[0020] Figure 8 It is a three-dimensional diagram of the telescopic drive device.

[0021] Fig. 9 It is a partial schematic diagram of the screw rod part in the telescopic drive device.

[0022] Fig.10 It is a three-dimensional diagram of the telescopic tray.

[0023] Fig.11 It is a schematic diagram of the upper and middle pallets of the telescopic pallet extending to one side.

[0024] Fig.12 It is a schematic diagram of removing the upper pallet from the telescopic pallet.

[0025] Fig.13 It is a schematic diagram of the telescopic pallet with the upper pallet and the middle pallet removed.

[0026] Fig.14 It is a partial schematic diagram of the rope part.

[0027] Fig.15 It is a three-dimensional diagram of the frame part of the telescopic pallet.

[0028] Fig.16 It is a three-dimensional diagram of the middle tray.

[0029] Fig.17 It is a schematic diagram of the cooperation between the transmission chain and the rack.

[0030] Fig.18 It is a three-dimensional diagram of the upper pallet. DETAILED DESCRIPTION

[0031] like Figure 1 , Figure 2 As shown, the present invention discloses a handling device 100 with a two-stage telescopic pallet, including a frame 110 and a driving wheel 111 located on the frame 110. The frame 110 includes two end walls 112 at both ends, two upper connecting beams 114 connecting the upper corners of the two end walls 112, and a lower beam 115 located at the lower corners of the end walls and parallel to the upper connecting beams 114. The lower beam 115 extends outward with a guide wheel 116. When the automatic walking handling device 100 moves along the ground track 201 under the limit of the ground track 201, the guide wheel 116 abuts against the inner side of the ground track 201 to achieve a guiding effect.

[0032] like Figures 10 to 18The figure shows an implementation of a two-stage telescopic pallet used in the present invention. A telescopic pallet 150 is provided in the middle of the frame 110, and the telescopic drive device and the climbing drive device are respectively located on both sides of the telescopic pallet 150. The telescopic drive device and the climbing drive device do not interfere with each other in the frame 110. The telescopic pallet 150 includes a frame 151, a middle pallet 152 arranged on the frame 151, and an upper pallet 153 arranged on the middle pallet 152. At least two transmission sprockets and a transmission chain 154 rotating around the transmission sprockets are provided on one side of the frame 151, and the transmission chain 154 includes a reciprocating moving section 1541 located at the top of the entire transmission chain 154 and extending laterally. A rack 155 meshing with the reciprocating section 1541 is provided below one side of the middle support plate 152. When the transmission chain 154 rotates with the transmission sprocket, the rack 155 reciprocates under the drive of the transmission chain 154; thus, the middle support plate 152 can also reciprocate with the rack 155. That is, when in use, the middle support plate 152 can extend to the shelf cells 202 located on both sides of the automatic walking and handling equipment 100. Specifically, the transmission sprocket on the side of the frame 151 includes a driving sprocket 156 and two driven sprockets 157. The two driven sprockets 157 are arranged on the side of the frame 151 at the same height, and the driving sprocket 156 is located in the middle position below the two driven sprockets 157. A chain bracket 158 ​​extending laterally between the two driven sprockets 157 is also provided on the side of the frame 151. The upper surface of the chain bracket 158 ​​is higher than the uppermost end of the driven sprocket 157. When the reciprocating section 1541 of the transmission chain is meshed with the rack 155, the chain bracket 158 ​​abuts against the lower part of the reciprocating section 1541. The function of the chain bracket 158 ​​is to raise the reciprocating section 1541 relative to the two driven sprockets 157 so that the moving position of the rack 155 is always higher than the driven sprocket 157 and does not interfere with the driven sprocket 157 to hinder the movement of the rack 155.

[0033] like Figures 12 to 16As shown, the two outer sides of the middle support plate 152 are provided with outer roller tracks 1521 concave inwardly; the two inner sides are provided with inner roller tracks 1522 concave inwardly, and the inner roller tracks 1522 and the outer roller tracks 1521 are opposite to each other and extend in the same direction. The upper ends of the two side surfaces of the frame 151 are provided with a row of first rollers 1511 extending transversely, and the first rollers 1511 are located in the inner roller tracks 1522. Through the cooperation between the first rollers 1511 and the inner roller tracks 1522, the middle support plate 152 can be freely extended or retracted relative to the frame 151. The two sides of the upper support plate 153 are bent downwardly with upper folding plates 1531. The inner sides of the two upper folding plates 1531 are provided with second rollers 1532, and the second rollers 1532 are carried on the outer roller tracks 1521 and slide along the outer roller tracks 1521. An upper rope fixer 161 is installed at one end of the lower surface of the upper folding plate 1531, and a lower rope fixer 162 is installed at the same end as the upper end of the frame 151. That is, if one end of the frame 151 and the upper folding plate 1531 is the front end and the other end is the rear end, then if the upper rope fixer 161 is set at the front end of the upper folding plate 1531, then the lower rope fixer 162 that cooperates with the upper rope fixer 161 is located at the front end of the frame 151 (here, "located at the same end" is limited to the outermost edge of the frame 151 and the upper folding plate 1531, but the position close to the edge but not yet at the edge can also achieve the push and pull of the rope described below). The middle support plate 152 has a pulley groove at the opposite end to the upper rope fixer 161 and the lower rope fixer 162, and a follower pulley 163 is installed in the pulley groove. A rope 164 is connected between the upper rope fixer 161 and the lower rope fixer 162, one end of the rope 164 is fixed to the upper rope fixer 161, and the other end of the rope 164 is wound around the follower pulley 163 and extends from the upper side of the middle pallet 152 to the lower side of the middle pallet 152 and finally fixed to the lower rope fixer 162. The structure in which the upper rope fixer 161, the follower pulley 163, and the lower rope fixer 162 are connected by the rope 164 can drive the upper pallet 153 to further extend outward relative to the middle pallet 152 to the side when the middle pallet 152 extends toward the frame 151, thereby further lengthening the extension length of the upper pallet 153 and the middle pallet 152 combination, which is beneficial to the picking and placing operation of the deeper goods in the shelf unit 202. That is, in this embodiment, the structure in which the upper rope fixer 161 , the follower pulley 163 , and the lower rope fixer 162 are connected by the rope 164 serves as a driver for the upper support plate 153 to extend further relative to the middle support plate 152 .The specific principle is that, since the length of the rope 164 is constant and the lower rope fixer 162 is always kept at a fixed position, when the middle support plate 152 extends to one side relative to the frame 151, the follower pulley 163 also moves away from the lower rope fixer 162 (the distance between the two becomes longer, and the rope required between the two also becomes longer), then the upper rope fixer 161 must be close to the follower pulley 163 (the rope required between the two becomes shorter), and the upper rope fixer 161 drives the entire upper support plate 153 to continue to extend relative to the middle support plate 152 toward the side where the middle support plate 152 extends. Furthermore, since it is necessary to realize that the upper support plate 153 can be retracted as the middle support plate 152 is retracted relative to the frame 151, and when the upper support plate 153 extends to the other side, the middle support plate 152 can also extend to the other side at the same time following the upper support plate 153, it is necessary to set two sets of upper rope fixers 161, follower pulleys 163, and lower rope fixers 162. The positions of the two groups of upper rope fixers 161, follower pulleys 163, and lower rope fixers 162 are opposite, that is, if one group (the first group) of upper rope fixers 161 and lower rope fixers 162 is installed at the front end of the upper support plate 153 and the frame 151, the other group (the second group) of upper rope fixers 161 and lower rope fixers 162 is installed at the rear end of the upper support plate 153 and the frame 151, and the positions of the two groups of upper rope fixers 161, follower pulleys 163, and lower rope fixers 162 are symmetrical to each other, and the lengths of the two groups of ropes 164 are also the same. In this way, when the first group of upper rope fixers 161, upper rope fixers 161, and lower rope fixers 162 extend the upper support plate 153 to one side, the second group of upper rope fixers 161, upper rope fixers 161, and lower rope fixers 162 can make the upper support plate 153 retract as the middle support plate 152 is retracted relative to the frame 151. Similarly, the second group of upper rope fixers 161, upper rope fixers 161, and lower rope fixers 162 can also enable the upper support plate 153 to extend as the middle support plate 152 extends to the other side, which will not be repeated here.

[0034] It should be noted that the two-stage telescopic support provided in the present invention can be arranged on a fixed platform in a shelf as a fixed position device for picking up and placing goods. At the same time, the telescopic support can also be applied to the handling equipment provided in the present invention that can automatically travel on the shelf track.

[0035] like Fig.10As shown, the driving wheel 111 of the automatic walking and transporting equipment 100 is also arranged on the frame 151, and a driving wheel 111 is respectively installed below the two ends of the frame 151 through a bearing, and a wheel motor device 1111 (including a motor and a reducer) is provided inside the frame to drive the driving wheel 111 to rotate. The driving of the driving wheel 111 belongs to the prior art in this technical field. In the present invention, the driving wheel 111 is only installed at the two ends of the frame 151 to form a modular frame 151 structure. At the same time, when the frame 151 is installed in the frame 110, the two ends of the frame 151 are against the two sides of the frame 110, and the two driving wheels 111 are located inside the two sides of the frame 110, and two auxiliary wheels 113 are also provided at the two ends of the frame 110.

[0036] Therefore, the above implementation mode enables the automatic walking transport device 100 to rise to the designated shelf cell 202 position, and the telescopic bracket (including the upper pallet 153 and the middle pallet 152) can be extended to the shelf cell 202 position to realize the picking and placing operation of the cargo box. The use mode of the overall handling equipment assembly is as follows: first, the handling equipment 100 moves to a position between two adjacent columns 210 on a certain side through the active wheels 111 on the ground track 201, and then the execution end brackets 124 on both sides (two on each side, a total of four execution end brackets 124) are respectively extended outward along the corresponding robot arm guide blocks 121 and abut against the chains 211 on the four columns 210 (two on each side), and the climbing sprocket 125 cooperates with the chain 211; then, the climbing shaft 123 is rotated to make the automatic walking handling equipment 100 climb upward to the shelf cell 202 of the specified height (that is, the automatic walking handling equipment 100 can rise to mid-air); and then, after the telescopic bracket is extended into the shelf cell 202 to complete the picking and placing of the goods, the telescopic bracket is retracted, and the climbing shaft 123 is reversed to make the automatic walking handling equipment 100 descend until it returns to the ground track 201. Then the execution end bracket 124 is separated from the chain 211 on the column 210 and retracted, and the automatic walking transport device 100 can continue to walk on the ground track 201 to carry out the next cargo box pick-up and placement operation. The transport device assembly also solves the problem of setting a walking trolley and a track for the walking trolley to walk on each layer in the prior art, and the track occupies a large space in the shelf, that is, the space for storing cargo boxes, resulting in low storage efficiency in the warehouse. Because the transport device assembly does not need to set tracks at the height of each layer, but only needs to set tracks on the ground, it can improve the space utilization efficiency inside the shelf.

[0037] like Figure 3As shown, the two sides of the frame 110 are provided with a telescopic device respectively. The telescopic device comprises two mechanical arm guide blocks 121 and a connecting member 122 connecting the two mechanical arm guide blocks 121. The connecting member 122 is fixed with an execution end bracket 124.

[0038] like Figure 8 and Fig. 9 As shown, since the robot arm guide block 121 needs to be extended outward or retracted inward in the telescopic device, a telescopic drive mechanism that meets the requirements needs to be designed in the handling equipment 100 accordingly. The telescopic driving device includes a mounting plate 141 fixed in the frame 110, a screw rod 142 fixed on the mounting plate 141, a telescopic driving motor 143 (including a motor and a reducer matched with the motor, collectively referred to as a telescopic driving motor) for driving the screw rod 142 to rotate, a nut 144 sleeved on the screw rod 142 and moving with the rotation of the screw rod 142, a nut mounting seat 145 for accommodating the nut 144 and fixed to the nut 144, a connecting rod 146 extending outward from the outside of the nut mounting seat 145, and a push-pull seat 147 connected to the outside of the connecting rod 146. The push-pull seat 147 is fixed on the inner side of the connecting member 122, so as to drive the connecting member 122, the mechanical arm guide blocks 121 at both ends of the connecting member 122, the climbing shaft 123 and the execution end bracket 124 to move together. The nut 144 drives the nut mounting seat 145 and the push-pull seat 147 to move outward or inward, so that the connecting member 122 and the robot arm guide block 121 slide outward or retract along the slide rail to the outside of the frame 110. The connecting rod 146 includes a thick rod 1461 connected to the nut mounting seat 145 and a thin rod 1462 coaxially extending from the front end of the thick rod 1461. The push-pull seat 147 is provided with a through hole 1463 for the thin rod 1462 to pass through. The thin rod 1462 is sleeved with a first spring 1464. One end of the first spring 1464 abuts against the push-pull seat 147 and the other end abuts against the end surface of the thick rod 1461. The first spring 1464 plays a damping compensation role. When the execution end bracket 124 abuts against the chain 211 and the reaction force of the chain 211 on the execution end bracket 124 is transmitted to the push-pull seat 147, the first spring 1464 can provide a reverse elastic force to perform damping compensation.

[0039] Since the telescopic drive device needs to drive the mechanical arm guide blocks 121 on both sides of the frame, and the mechanical arm guide blocks 121 on both sides need to move in opposite directions at the same time, two screw rods 142, two telescopic drive motors 143, two screw nuts 144, two screw nut mounting seats 145, two connecting rods 146, and two push-pull seats 147 are fixed on the mounting plate 141. Each screw rod 142, telescopic drive motor 143, screw nut 144, screw nut mounting seat 145, connecting rod 146, and push-pull seat 147 cooperate and jointly drive the telescopic device on one side; the two screw rods 142 are parallel to each other, and the two push-pull seats 147 are arranged opposite to each other. The mounting plate 141 also includes a guide device, which also includes two light rods 1411, each light rod 1411 is located above each screw rod 142 and extends parallel to the screw rod 142. The smooth rod 1411 is sleeved with a slider 1412, and the lower part of the slider 1412 is connected and fixed to the screw nut mounting seat 145, and moves with the screw nut mounting seat 145; the smooth rod 1411 is mounted on the upper surface of the mounting plate 141 through the smooth rod mounting seat 1413. The mounting plate 141 is installed with a slot below the smooth rod 1411, and the screw rod 142 is fixed to the lower surface of the mounting plate 141 through the screw rod mounting seat 1421. After the slider 1412 is fixed to the screw nut mounting seat 145, it passes through the slot to avoid interference with the mounting plate 141. The telescopic drive motor 143 is also mounted on the lower surface of the mounting plate 141, and the push-pull seat 147 is also located on the lower surface of the mounting plate 141 along with the position of the screw rod 142. Two position sensors 1414 are installed on the upper surface of the mounting plate 141 corresponding to each smooth rod 1411, and the position sensors 1414 are respectively located at both ends of the smooth rod 1411 for detecting the position of the slider 1412.

[0040] Through the above-mentioned embodiment, the execution end bracket 124 can be extended and retracted relative to the vehicle frame to move the execution end bracket 124 to a desired position to implement the operation of the execution end. The execution end bracket 124 can be equipped with a variety of execution end mechanisms, such as commonly used execution mechanisms in the prior art, including sensors, manipulators, distance measuring instruments, grabbing mechanisms, etc.

[0041] In this embodiment, an execution end device specially designed for the handling equipment is provided. Figures 5 to 7 As shown, the telescopic device also includes a climbing shaft 123 located outside the connecting member 122 and extending in the same direction as the connecting member 122. The two ends of the climbing shaft 123 respectively pass through the outside of the front climbing sprockets 125 of the two mechanical arm guide blocks 121 and protrude onto the execution end bracket 124. The execution end bracket 124 is provided with a climbing sprocket 125. The climbing shaft 123 passes through the execution end bracket 124 and the climbing sprocket 125. The climbing sprocket 125 is fixed on the climbing shaft 123.

[0042] The robot guide block 121 is also provided with a climbing drive device for driving the climbing shaft 123 to rotate. Since the robot guide block 121 needs to move inward or outward, a slide rail 1121 that cooperates with the robot guide block 121 is provided on the end wall 112 of the frame 110. The robot guide block 121 cooperates with the slide rail 1121 and slides out or retracts along the slide rail 1121 to the outside of the frame 110; the frame 110 is provided with a driving connector 122 and a telescopic drive device for the robot guide block 121 to slide out or retract along the slide rail 1121. In this embodiment, the slide rail 1121 is divided into two upper and lower parts on the inner side of each end wall 112, and the robot guide block 121 is clamped between the upper and lower slide rails 1121. The upper edge and the lower edge of the robot guide block 121 cooperate with the two slide rails 1121 respectively.

[0043] like Figure 3 and Figure 5 As shown, in order to cooperate with the execution end bracket 124, the shelf 200 includes a column 210 corresponding to the telescopic device, and between each two adjacent columns 210 are a plurality of shelf cells 202 stacked up and down. A chain 211 extending from top to bottom is installed on the side of the column 210 facing the telescopic device; both ends of the chain 211 are fixed on the column; when the guide block and the slide rail in the telescopic device slide outward from the frame 110, the climbing sprocket 125 meshes with the chain 211 and abuts against the chain 211, and the climbing sprocket 125 is driven to rotate by the rotation of the climbing shaft 123, and the climbing sprocket 125 rises or falls along the chain 211, thereby driving the entire handling device 100 to rise to the height of any shelf cell 202.

[0044] like Figure 3 and Figure 5 As shown, the climbing drive device includes a climbing drive motor 131 (including a motor and a reducer matched with the motor, collectively referred to as a climbing drive motor) installed on the inner side of the robot arm guide block 121, a driving pulley 132 located on the outer side of the robot arm guide block 121, a driven pulley 133 located at one end of the climbing shaft 123, and a belt 134 surrounding the driving pulley 132 and the driven pulley 133. The output shaft of the climbing drive motor 131 passes through the robot arm guide block 121. The driving pulley 132 is fixed to the end of the output shaft and rotates with the rotation of the output shaft, thereby driving the driven pulley 133, the climbing shaft 123, and the climbing sprocket 125 to rotate. When the climbing sprocket 125 is docked with the chain 211, the handling device 100 is raised or lowered along the chain 211 by the forward rotation or flipping of the climbing shaft 123.

[0045] like Figure 6 and Figure 7As shown, in order to enable the execution end bracket 124 to dock with the chain 211 smoothly and to be able to position after docking. The execution end bracket 124 needs to be further designed. The execution end bracket 124 includes a fixed seat 1241 fixed on the connecting member 122 and a frame 1242 for accommodating the climbing sprocket 125. The two sides of the fixed seat 1241 are respectively bent outward to extend with bending pieces 1243, and a connecting shaft 1244 connecting the two bending pieces 1243 is provided between the two bending pieces. The connecting shaft 1244 passes through the frame 1242, and two second springs 1245 are provided on the connecting shaft 1242, one second spring 1245 abuts between the frame 1242 and one bending piece 1243, and the other second spring abuts between the frame and the other bending piece. A guide block 1246 is provided at at least one position above or below the frame 1242 (in this embodiment, guide blocks 1246 are provided at both the top and the bottom of the frame 1242), and the outer surface of the guide block 1246 has a positioning through groove 1247 extending up and down. A symmetrically arranged positioning guide wheel 1248 is provided on the side of the frame 1242, and the wheel axle of the positioning guide wheel 1248 is parallel to the climbing shaft 123. A chain receiving groove 212 extending from top to bottom is provided on the side of the column 210 facing the telescopic device, and the chain 211 is located in the chain receiving groove 212. When the execution end bracket 124 is docked with the column 210, the guide block 1246 is inserted into the chain receiving groove 212. In order to enable the guide block 1246 to be smoothly inserted into the chain receiving groove 212 under a certain lateral error, inclined guiding slopes 1249 are provided on both sides of the front end of the guide block 1246. After the guide block 1246 is inserted into the chain receiving groove 212, the chain 211 passes through the positioning groove 1247 up and down, and the wheel surface of the positioning guide wheel 1248 abuts against the surface of the column 210 facing the telescopic device. That is, the guide block 1246 is inserted into the positioning groove 1247 so that the execution end bracket 124 and the chain receiving groove 212 are positioned in the horizontal direction of the column without shaking; the positioning guide wheel 1248 abuts against the outer surface of the column 210 to play a positioning and unloading role at the same time. When the guide block 1246 and the positioning groove 1247 are docked, if there is a lateral matching error, the second spring 1245 can play a damping and buffering role so that the guide block 1246 can be slightly offset relative to the frame 1242 until the guide block 1246 is smoothly inserted into the chain receiving groove 212.

[0046] The above introduces how to make the automatic walking and transporting equipment 100 cooperate with the chain 211 through the protruding climbing sprocket 125 of the robot arm guide block 121, and then drive the climbing shaft 123 to rotate through the climbing drive device to drive the climbing sprocket 125 to climb or descend on the chain 211, thereby realizing the function of the automatic walking and transporting equipment to climb or descend on shelves at different heights.

[0047] There are many methods and approaches to implement the technical solution of the present invention, and the above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention. All components not specified in this embodiment can be implemented by existing technologies.

Claims

1. A handling device with a two-stage telescopic pallet, comprising a frame and active wheels located on the frame; characterized in that: A telescopic support plate is provided on the frame, and the telescopic support plate includes a frame, a middle support plate arranged on the frame, and an upper support plate arranged on the middle support plate; at least two transmission sprockets and a transmission chain rotating around the transmission sprockets are provided on one side of the frame, and the transmission chain includes a reciprocating moving section located at the top of the entire transmission chain and extending laterally, and a rack meshing with the reciprocating moving section is provided below one side of the middle support plate, and when the transmission chain rotates with the transmission sprocket, the rack reciprocates under the drive of the transmission chain; An upper rope fixer is installed at one end of the lower surface of the upper support plate, a lower rope fixer is installed at the same end of the frame as the end where the upper rope fixer is installed, and a pulley slot is provided at the opposite end of the middle support plate from the upper rope fixer and the lower rope fixer, a follower pulley is installed in the pulley slot; a rope is connected between the upper rope fixer and the lower rope fixer, one end of the rope is fixed to the upper rope fixer, the other end of the rope is wound around the follower pulley and extends from the middle support plate to the bottom of the middle support plate and finally fixed to the lower rope fixer; The frame includes two end walls at both ends; each side of the frame is provided with a telescopic device; the telescopic device includes two mechanical arm guide blocks, a connecting piece connecting the two mechanical arm guide blocks, and a climbing shaft located outside the connecting piece and extending in the same direction as the connecting piece, and the two ends of the climbing shaft respectively pass through the front ends of the two mechanical arm guide blocks; a docking bracket is fixed on the connecting piece, a climbing sprocket is provided in the docking bracket, the climbing shaft passes through the docking bracket and the climbing sprocket, the climbing sprocket is fixed on the climbing shaft, and the outer side of the climbing sprocket protrudes from the docking bracket; the mechanical arm guide block is also provided with a climbing drive device for driving the climbing shaft to rotate; The end walls of the frame are provided with slide rails that cooperate with the guide blocks of the mechanical arm; the guide blocks of the mechanical arm cooperate with the slide rails and slide out or retract along the slide rails to the outside of the frame; the frame is provided with a drive connector and a telescopic drive device for the guide blocks of the mechanical arm to slide out or retract along the slide rails; The telescopic drive device comprises a mounting plate fixed in the frame, two screw rods fixed on the mounting plate, two telescopic drive motors, two screw nuts, two screw nut mounting seats, two connecting rods, and two push-pull seats. Each screw rod, telescopic drive motor, screw nut, screw nut mounting seat, connecting rod, and push-pull seat cooperate and jointly drive one side of the telescopic device; the two screw rods are parallel to each other, and the two push-pull seats are arranged opposite to each other. Among them, in each group of screw rods, telescopic drive motors, nut, nut mounting seat, connecting rod and push-pull seat, the nut is sleeved on the screw rod and moves with the rotation of the screw rod, the nut mounting seat accommodates the nut and is fixed to the nut, the connecting rod extends outward from the outside of the nut mounting seat, the push-pull seat is connected to the outside of the connecting rod, and the push-pull seat is fixed to the inside of the connecting piece; the nut drives the nut mounting seat and the push-pull seat to move outward or inward, then the connecting piece and the mechanical arm guide block slide out to the outside of the frame along the slide rail or retract again; the connecting rod includes a thick rod connected to the nut mounting seat and a thin rod extending coaxially from the front end of the thick rod, the push-pull seat is provided with a through hole for the thin rod to pass through, and the thin rod is sleeved with a first spring, one end of the first spring abuts against the push-pull seat and the other end abuts against the end face of the thick rod; Two position sensors are installed on the upper surface of the mounting plate corresponding to each polished rod. The position sensors are respectively located at two ends of the polished rod and are used to detect the moving position of the slider.

2. The handling device according to claim 1, characterized in that: The transmission sprocket on the side of the frame includes a driving sprocket and two driven sprockets; the two driven sprockets are arranged on the side of the frame at the same height, and the driving sprocket is located in the middle position below the two driven sprockets; the side of the frame is also provided with a transversely extending chain bracket located between the two driven sprockets, the upper surface of the chain bracket is higher than the uppermost end of the driven sprocket, and when the reciprocating moving section of the transmission chain is engaged with the rack, the chain bracket rests under the reciprocating moving section.

3. The handling equipment according to claim 1 or 2, characterized in that: Two groups of upper rope fixers, follower pulleys, and lower rope fixers are provided; and the positions of the two groups of upper rope fixers, follower pulleys, and lower rope fixers are opposite, that is, if the upper rope fixers and lower rope fixers of the first group are installed at the front end of the upper support plate and the frame, the upper rope fixers and lower rope fixers of the second group are installed at the rear end of the upper support plate and the frame, and the positions of the two groups of upper rope fixers, follower pulleys, and lower rope fixers are symmetrical to each other, and the lengths of the two groups of ropes are also the same.

4. The handling device according to claim 3, characterized in that: The two outer side surfaces of the middle support plate are provided with outer roller tracks that are concave inwards; the two inner side surfaces are provided with inner roller tracks that are concave inwards, and the inner roller tracks and the outer roller tracks are opposite to each other and extend in the same direction; a row of first rollers extending laterally are provided at the upper ends of the two side surfaces of the frame, and the first rollers are located in the inner roller tracks.

5. The handling device according to claim 4, characterized in that: Upper folding plates are bent downward on both sides of the upper supporting plate, and the inner sides of the two upper folding plates are provided with second rollers, which are carried on the outer roller track and slide along the outer roller track.

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