A bidirectional stacking robot gantry assembly
By using guide wheel limit design in the gantry assembly of the bidirectional stacking robot, the problems of downward and sideways tilting under full load are solved, improving positioning accuracy and safety, while also facilitating the maintenance of the guide wheels.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- ANHUI HELI YUFENG INTELLIGENT TECHNOLOGY CO LTD
- Filing Date
- 2023-04-04
- Publication Date
- 2026-07-21
AI Technical Summary
Existing bidirectional stacking robots are prone to lying down or sideways when fully loaded, leading to inaccurate positioning when picking up and placing goods and posing a risk of collision.
The first and second guide wheels between the outer mast assembly and the middle mast assembly limit the tilting of the middle mast assembly in both directions during longitudinal movement. The first and second guide wheels between the lifting frame assemblies limit the tilting of the lifting frame assembly in the other two directions during longitudinal movement. Combined with the limiting design of the slide rail and guide wheels, this prevents the forks from tilting down or sideways when fully loaded.
It effectively reduces the downward and sideways movement of the forks when fully loaded, improves the positioning accuracy of picking up and placing goods, avoids the risk of collision, and simplifies the lubrication and replacement process of the guide wheels.
Smart Images
Figure CN116553432B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of stacker crane equipment, and more particularly to a bidirectional stacker robot gantry assembly. Background Technology
[0002] Two-way stacking robots, also known as two-way forks, are a type of intelligent warehousing. They are AGVs that can move forward, backward, sideways, rotate, and stack. Two-way fork AGVs are suitable for handling and palletizing goods in narrow aisle warehouses. To better adapt to the needs of different scenarios, there are two typical types of AGVs. One type uses a traditional three-way fork AGV, where the forks rotate in three directions, making it more flexible to use.
[0003] However, existing bidirectional stacking robots suffer from problems when in use. Because the attachments are positioned high and forward, the forks tend to tilt downwards and the attachments tend to tilt to the side when the forks are fully loaded. This leads to inaccurate positioning when picking up or placing goods and the risk of collisions, which can even result in collisions with the shelving. Therefore, a bidirectional stacking robot gantry combination is proposed. Summary of the Invention
[0004] This application proposes a bidirectional stacking robot gantry assembly with the advantages of minimal downward and side-lying deviations, in order to solve the downward and side-lying problems existing in existing bidirectional stacking robots when fully loaded.
[0005] To achieve the above objectives, this application adopts the following technical solution: a bidirectional stacking robot gantry assembly, including a base, an outer gantry assembly on the top of the base, a middle gantry assembly on the inner side of the outer gantry assembly, the middle gantry assembly moving longitudinally along the outer gantry assembly, a lifting frame assembly on the top of the middle gantry assembly, and a telescopic fork on the lifting frame assembly. Two sets of first guide wheels and second guide wheels are respectively provided between the outer gantry assembly and the middle gantry assembly, and between the middle gantry assembly and the lifting frame assembly, and the number of first guide wheels and second guide wheels in each set is not less than two. The first guide wheels and second guide wheels between the outer gantry assembly and the middle gantry assembly limit and prevent tilting in both directions when the middle gantry assembly moves longitudinally, and the first guide wheels and second guide wheels between the lifting frame assembly and the lifting frame assembly limit and prevent tilting in the other two directions when the lifting frame assembly moves longitudinally.
[0006] Furthermore, the outer gantry assembly consists of two lower support plates and a lower center rail, with the lower center rail located between the two lower support plates. The middle gantry assembly consists of two upper support plates and an upper center rail, with the upper center rail located between the two upper support plates. The bottom of both the upper center rail and the upper support plates are connected to the same sliding plate.
[0007] Furthermore, the inner side of the lower support plate is provided with a set of first guide wheels, and the number of first guide wheels in each set is not less than two. The upper support plate is provided with a sliding groove on the side facing the first guide wheel. The first guide wheel is movably connected to the sliding groove on the outer wall of the upper support plate. The middle gantry assembly is provided with second guide wheels located on both sides of the lower middle rail, and the second guide wheels are movably connected to the side of the lower middle rail. The second guide wheels are installed on the rear side of the middle gantry assembly.
[0008] Furthermore, the movable connection structure between the upper support plate and the L-shaped support plate is configured in the same way as the structure between the lower support plate and the upper support plate.
[0009] Furthermore, a set of reinforcing frame plates is provided between the lower support plate and the upper support plate, with no less than two reinforcing frame plates in each set, and the reinforcing frame plates are arranged longitudinally at equal intervals.
[0010] Furthermore, two channel steels are provided on both sides of the upper central rail, with the two channel steels located on the outer sides of the two slide rails. The two slide rails are fixedly connected by a positioning connecting plate, and one side wall of the positioning connecting plate is close to but not in contact with one side wall of the upper central rail. An mounting plate is fixedly installed on the side of the positioning connecting plate away from the upper central rail, and an L-shaped support plate is fixedly fitted onto the mounting plate. A rotating shaft is respectively mounted on the top and bottom of the channel steel with bearings, and a first guide wheel is fixedly fitted onto one end of the rotating shaft. The bearing is located inside the channel steel, and the rotating shaft is provided with bearings located on both sides of the channel steel. The sealing ring is movably connected to the outer side of the first guide wheel and the inner walls of both sides of the slide. Two limiting sleeves are fixedly fitted on the inner concave wall of the channel steel, and the two limiting sleeves are respectively close to the two first guide wheels. The inner bearing of the limiting sleeve is fitted with a rotating rod. The second guide wheel is fixedly fitted on one end of the rotating rod, and the outer side of the second guide wheel is movably connected to the inner concave wall of the slide. The first guide wheel does not contact the inner concave wall of the slide. The connection structure between the lower middle rail and the bottom sliding plate of the upper support plate is exactly the same as the connection structure between the upper middle rail and the L-shaped support plate.
[0011] Furthermore, the upper central rail has four slots facing the L-shaped support plate. The four slots are connected to the slide rail. The height of the four slots is greater than the outer diameter of the first guide wheel and the second guide wheel. Limiting plates are fixedly installed in the four slots. The inner wall of the limiting plate is on the same plane as the inner wall of the slide rail.
[0012] Furthermore, the top of the channel steel is fixedly installed in an oil storage box, and the bottom of the channel steel is fixedly installed in an oil receiving box. The oil storage box is connected to the bearing mounting chamber inside the channel steel and the bearing mounting chamber inside the limiting sleeve in sequence through an oil guide pipe.
[0013] 1. The bidirectional stacking robot gantry assembly provided in this application limits the tilting of the middle gantry assembly in both directions during longitudinal movement by using the first and second guide wheels between the outer gantry assembly and the middle gantry assembly, and limits the tilting of the lifting frame assembly in the other two directions during longitudinal movement by using the first and second guide wheels between the lifting frame assemblies. This makes the degree of fork tilting and side tilting less when the forks are fully loaded compared to existing conventional settings, thus avoiding inaccurate positioning of the forks when picking up and placing goods and the problem of collision.
[0014] 2. By opening slideways on both sides of the upper central rail, and using a limiting method where the first guide wheel is movably connected to the inner walls of both sides of the slideway, and the second guide wheel is movably connected to the concave wall of the slideway, the telescopic fork assembly on the L-shaped pallet can be prevented from tilting or leaning to the side when fully loaded. At the same time, the structure design of the bearing chambers required for the rotation of the first and second guide wheels being distributed vertically and interconnected facilitates quick addition of lubricating oil by the operator. Both the first and second guide wheels can be moved out from one side of the slideway for easy replacement of the bearings inside. Compared with embodiment one, there is no need to disassemble the connection structure between the lower and upper support plates, or the connection structure between the upper support plate and the L-shaped pallet, making the disassembly and replacement of bearings more efficient and convenient. Attached Figure Description
[0015] The accompanying drawings, which form part of this specification, illustrate embodiments disclosed in this application and, together with the specification, serve to explain the principles disclosed in this application.
[0016] This disclosure will become clearer with reference to the accompanying drawings and the following detailed description, wherein:
[0017] Figure 1 This is a three-dimensional structural diagram of the bidirectional stacking robot gantry assembly in Example 1;
[0018] Figure 2 for Figure 1 The figure shows the structural diagrams of the outer gantry assembly and the middle gantry assembly;
[0019] Figure 3 for Figure 2 Rear view;
[0020] Figure 4 for Figure 2 A magnified view of the structure at point A;
[0021] Figure 5 This is a schematic diagram of the connection structure between the upper middle rail and the L-shaped support plate in Embodiment 2;
[0022] Figure 6 for Figure 5 The front view;
[0023] Figure 7 for Figure 5 A schematic diagram of the connection structure between the two channel steels and the guide wheel.
[0024] In the diagram: 1. Base; 2. Lower support plate; 201. Lower center rail; 3. Upper support plate; 301. Upper center rail; 302. Slide rail; 4. L-shaped support plate; 401. Limiting cross plate; 5. First guide wheel; 6. Second guide wheel; 7. Reinforcing frame plate; 8. Channel steel; 9. Positioning connecting plate; 10. Mounting plate; 11. Limiting sleeve; 12. Oil reservoir; 13. Oil receiving box; 14. Oil guide pipe; 15. Limiting plate. Detailed Implementation
[0025] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.
[0026] Example 1
[0027] Please see Figures 1-3 A bidirectional stacking robot gantry assembly includes a base 1, the bottom of which is fixed to a mobile trolley. The mobile trolley drives the base 1 to move as a whole. An outer gantry assembly is located on the top of the base 1. The outer gantry assembly consists of two lower support plates 2 and a lower central rail 201, with the lower central rail 201 located between the two lower support plates 2. A middle gantry assembly is located inside the outer gantry assembly. The middle gantry assembly consists of two upper support plates 3 and an upper central rail 301, with the upper central rail 301 located between the two upper support plates 3. The bottoms of the upper central rail 301 and the upper support plates 3 are connected to the same sliding plate. A lifting mechanism is located on the top of the middle gantry assembly. The lifting frame assembly consists of two sets of L-shaped pallets 4, a limiting cross plate 401, and a telescopic fork assembly. The two sets of L-shaped pallets 4 are respectively located on both sides of the top of the middle gantry assembly, and two sets of limiting cross plates 401 are fixedly connected between the two sets of L-shaped pallets 4. The two sets of limiting cross plates 401 are arranged vertically between the two sets of L-shaped pallets 4, and there are two sets of each set of L-shaped pallets 4 and limiting cross plates 401. The telescopic fork assembly is set on the two sets of L-shaped pallets 4. The middle gantry assembly moves longitudinally along the outer gantry assembly, and the lifting frame assembly moves longitudinally along the middle gantry assembly, thereby controlling the height of the telescopic fork assembly so that the forks in the telescopic fork assembly can transfer goods.
[0028] Please see Figure 2 and Figure 4Each lower support plate 2 has a set of first guide wheels 5 on its inner side, and each set of first guide wheels 5 has no less than two. The upper support plate 3 has a groove on the side facing the first guide wheels 5. The first guide wheels 5 are movably connected to the groove on the outer wall of the upper support plate 3. The first guide wheels 5 limit the longitudinal movement of the upper support plate 3 to prevent the telescopic fork assembly from tilting when fully loaded, which could cause the forks in the telescopic fork assembly to drop. The movable connection structure between the upper support plate 3 and the L-shaped pallet 4 is set in the same way as the structure between the lower support plate 2 and the upper support plate 3 to prevent the forks in the telescopic fork assembly from dropping when the L-shaped pallet 4 moves along the upper support plate 3.
[0029] Please see Figures 2-4 The middle mast assembly is provided with second guide wheels 6 on both sides of the lower middle rail 201, and the second guide wheels 6 are movably connected to the side of the lower middle rail 201. The second guide wheels 6 are installed on the rear side of the middle mast assembly. The lower middle rail 201 limits the second guide wheels 6 on both sides to prevent the telescopic fork assembly from tilting in the direction of the fork extension when fully loaded, which would cause the fork to fall to the side. The upper middle rail 301 is provided with second guide wheels 6 on both sides that communicate with the lower middle rail 201, and the second guide wheels 6 are installed on the rear side of the lifting frame assembly.
[0030] A set of reinforcing frame plates 7 is provided between the two lower support plates 2 and the two upper support plates 3. Each set of reinforcing frame plates 7 has no less than two plates, and the reinforcing frame plates 7 are arranged longitudinally at equal intervals. The reinforcing frame plates 7 are used to reinforce the structure and ensure that the lower support plates 2 and the upper support plates 3 will not deform beyond the required amount when under pressure, thereby improving the overall stability of the bidirectional stacking robot gantry assembly.
[0031] In use, the mobile trolley moves the base 1 to the designated cargo location. Then, the middle mast assembly moves upward along the outer mast assembly, while the lifting frame assembly moves upward along the middle mast assembly until the forks on the telescopic fork assembly move to the cargo's load-bearing height. The forks on the telescopic fork assembly are then moved to carry the cargo and transferred to the designated location.
[0032] The first guide wheel 5 and the second guide wheel 6 between the outer mast assembly and the middle mast assembly limit the tilting of the middle mast assembly in both directions during longitudinal movement. The first guide wheel 5 and the second guide wheel 6 between the lifting frame assembly limit the tilting of the lifting frame assembly in the other two directions during longitudinal movement. This makes the degree of fork tilting and leaning when the forks are fully loaded less than that of the existing conventional settings, thus avoiding inaccurate positioning of the forks when picking up and placing goods and the problem of collision.
[0033] Example 2
[0034] Please see Figures 5-7Unlike Embodiment 1, the first guide wheel 5 and the second guide wheel 6 are fixed in different positions on the outer gantry assembly and the middle gantry assembly. Two channel steels 8 are provided on both sides of the upper middle rail 301. The two channel steels 8 are respectively located on the outer side of the two slide rails 302. The two slide rails 302 are fixedly connected by a positioning connecting plate 9. One side wall of the positioning connecting plate 9 is close to but does not contact one side wall of the upper middle rail 301. An mounting plate 10 is fixedly installed on the side of the positioning connecting plate 9 away from the upper middle rail 301. The L-shaped support plate 4 is fixedly fitted on the mounting plate 10.
[0035] The top and bottom of the channel steel 8 are respectively fitted with bearings and rotating shafts. The first guide wheel 5 is fixedly fitted at one end of the rotating shaft. The bearings are located inside the channel steel 8, and the rotating shaft is equipped with sealing rings on both sides of the channel steel 8, thereby ensuring that the internal bearings of the channel steel 8 are not affected by external impurities. The outer side of the first guide wheel 5 is movably connected to the inner walls of both sides of the slide rail 302. Two limiting sleeves 11 are fixedly fitted on the inner concave wall of the channel steel 8, and the two limiting sleeves 11 are respectively close to the two first guide wheels 5. The internal bearings of the limiting sleeves 11 are fitted with rotating rods. The second guide wheel 6 is fixedly fitted at one end of the rotating rod. The outer side of 6 is movably connected to the inner concave wall of the slide 302. The first guide wheel 5 does not contact the inner concave wall of the slide 302. The upper middle rail 301 has four slots facing the L-shaped support plate 4. The four slots are connected to the slide 302. The height of the four slots is greater than the outer diameter of the first guide wheel 5 and the second guide wheel 6. Limiting plates 15 are fixedly installed in the four slots. The inner side wall of the limiting plate 15 is on the same plane as the inner side wall of the slide 302. The connection structure between the lower middle rail 201 and the bottom sliding plate of the upper support plate 3 is exactly the same as the connection structure between the upper middle rail 301 and the L-shaped support plate 4.
[0036] The top of the channel steel 8 is fixedly installed in the oil reservoir 12, and the bottom of the channel steel 8 is fixedly installed in the oil receiving box 13. The oil reservoir 12 is connected to the bearing mounting chamber inside the channel steel 8 and the bearing mounting chamber inside the limiting sleeve 11 in sequence through the oil guide pipe 14, so that the lubricating oil added in the oil reservoir 12 can automatically flow to each bearing to lubricate each bearing, which is convenient for use and eliminates the need to add lubricating oil separately to each bearing.
[0037] When the L-shaped pallet 4 moves longitudinally along the upper central rail 301, the inner walls on both sides of the slide rail 302 limit the two first guide wheels 5, and the concave wall of the slide rail 302 limits the second guide wheel 6. This prevents the telescopic fork assembly on the L-shaped pallet 4 from tilting or tilting under full load. The bearing chambers for the rotation of the first guide wheel 5 and the second guide wheel 6 are arranged vertically and interconnected, making it easy for operators to quickly add lubricating oil. At the same time, by removing the limiting plate 15, the entire structure of the first guide wheel 5 and the second guide wheel 6 can be pulled out from one side, making it easy to replace the bearings inside the first guide wheel 5 and the second guide wheel 6. Compared with the first embodiment, it is not necessary to disassemble the connection structure between the lower support plate 2 and the upper support plate 3, or the connection structure between the upper support plate 3 and the L-shaped pallet 4, making the disassembly and replacement of the bearings more efficient and convenient.
Claims
1. A bidirectional stacking robot gantry assembly, comprising a base (1), an outer gantry assembly on the top of the base (1), a middle gantry assembly on the inner side of the outer gantry assembly, the middle gantry assembly moving longitudinally along the outer gantry assembly, a lifting frame assembly on the top of the middle gantry assembly, and a telescopic fork on the lifting frame assembly, characterized in that, Two sets of first guide wheels (5) and second guide wheels (6) are respectively provided between the outer gantry assembly and the middle gantry assembly, and between the middle gantry assembly and the lifting frame assembly. The number of first guide wheels (5) and second guide wheels (6) in each set is not less than two. The first guide wheels (5) and second guide wheels (6) between the outer gantry assembly and the middle gantry assembly limit and prevent tilting in both directions when the middle gantry assembly moves longitudinally. The first guide wheels (5) and second guide wheels (6) between the lifting frame assembly and the lifting frame assembly limit and prevent tilting in the other two directions when the lifting frame assembly moves longitudinally. The outer gantry assembly consists of two lower support plates (2) and a lower middle rail (201), with the lower middle rail (201) located between the two lower support plates (2). The middle gantry assembly consists of two upper support plates (3) and an upper middle rail (301), with the upper middle rail (301) located between the two upper support plates (3). The bottom of the upper middle rail (301) and the upper support plates (3) are both connected to the same sliding plate. Two channel steels (8) are provided on both sides of the upper central rail (301), and slide rails (302) are provided on both sides of the upper central rail (301). The two channel steels (8) are respectively located on the outside of the two slide rails (302). The two channel steels (8) are fixedly connected by a positioning connecting plate (9), and one side wall of the positioning connecting plate (9) is close to but does not contact one side wall of the upper central rail (301). An mounting plate (10) is fixedly installed on the side of the positioning connecting plate (9) away from the upper central rail (301). An L-shaped support plate (4) is fixedly fitted on the mounting plate (10). The top and bottom of the channel steel (8) are respectively fitted with rotating shafts, and the first guide wheel (5) is fixedly fitted on one end of the rotating shaft. The bearing is located inside the channel steel (8). The rotating shaft is provided with a positioning plate (4). The sealing rings on both sides of the channel steel (8) are connected to the outer side of the first guide wheel (5) and the inner walls of both sides of the slide (302). Two limiting sleeves (11) are fixedly fitted on the inner concave wall of the channel steel (8), and the two limiting sleeves (11) are close to the two first guide wheels (5) respectively. The bearings inside the limiting sleeves (11) are fitted with rotating rods. The second guide wheel (6) is fixedly fitted on one end of the rotating rod, and the outer side of the second guide wheel (6) is connected to the inner concave wall of the slide (302). The first guide wheel (5) does not contact the inner concave wall of the slide (302). The connection structure between the lower middle rail (201) and the bottom sliding plate of the upper support plate (3) is exactly the same as the connection structure between the upper middle rail (301) and the L-shaped support plate (4). The upper middle rail (301) has four slots facing the L-shaped support plate (4). The four slots are connected to the slide rail (302). The height of the four slots is greater than the outer diameter of the first guide wheel (5) and the second guide wheel (6). Limiting plates (15) are fixedly installed in the four slots. The inner wall of the limiting plate (15) and the inner wall of the slide rail (302) are on the same plane.
2. The bidirectional stacking robot gantry assembly according to claim 1, characterized in that, The lower support plate (2) is provided with a set of first guide wheels (5) on its inner side, and the number of each set of first guide wheels (5) is not less than two. The upper support plate (3) is provided with a sliding groove on the side facing the first guide wheel (5). The first guide wheel (5) is movably connected to the sliding groove on the outer wall of the upper support plate (3). The middle gantry assembly is provided with second guide wheels (6) located on both sides of the lower middle rail (201), and the second guide wheels (6) are movably connected to the side of the lower middle rail (201). The second guide wheels (6) are installed on the rear side of the middle gantry assembly.
3. The bidirectional stacking robot gantry assembly according to claim 2, characterized in that, The movable connection structure between the upper support plate (3) and the L-shaped support plate (4) is configured in the same way as the structure between the lower support plate (2) and the upper support plate (3).
4. The bidirectional stacking robot gantry assembly according to claim 1, characterized in that, A set of reinforcing frame plates (7) is provided between the lower support plate (2) and the upper support plate (3). The number of each set of reinforcing frame plates (7) is not less than two, and the reinforcing frame plates (7) are arranged longitudinally at equal intervals.
5. The bidirectional stacking robot gantry assembly according to claim 1, characterized in that, The top of the channel steel (8) is fixedly installed in the oil storage box (12), and the bottom of the channel steel (8) is fixedly installed in the oil receiving box (13). The oil storage box (12) is connected to the bearing installation chamber inside the channel steel (8) and the bearing installation chamber inside the limiting sleeve (11) in sequence through the oil guide pipe (14).