Multi-stage gantry lifting device for material carrying equipment and material carrying equipment

Abstract

The invention provides a multi-stage portal frame lifting device for material carrying equipment and the material carrying equipment, the multi-stage portal frame lifting device comprises a portal frame assembly and a lifting mechanism, the portal frame assembly comprises a first portal frame and a second portal frame, the first portal frame is used for being connected with the material carrying equipment, and the second portal frame is in sliding connection with the first portal frame; the carrying assembly comprises a carrying table and a grabbing mechanism, the carrying table is in sliding connection with the second door frame, and the grabbing mechanism is movably connected with the carrying table; the driving assembly is connected with the portal assembly and the carrying assembly, and the driving assembly is used for driving the second portal to move in the height direction of the first portal, driving the carrying assembly to move in the height direction of the second portal and driving the grabbing mechanism to move relative to the carrying table. According to the multi-stage gantry lifting device in the scheme, the taking and placing height of the material carrying equipment is increased through the telescopic multi-stage gantry, and then the technical problem that the storage space utilization rate is low due to the fact that the material carrying equipment is limited by the height of the gantry is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of material handling, and in particular to a multi-stage gantry lifting device for material handling equipment and the material handling equipment. Background Art

[0002] With the rapid development of the modern warehousing and logistics industry, particularly with the increasing levels of automation and intelligence, the application of material handling equipment (such as AGVs and RGVs) is becoming increasingly widespread. Existing material handling equipment has significant shortcomings when it comes to handling high-shelf goods. Most of this equipment relies on a single-stage gantry structure to lift and move goods. Due to the height limitations of the single-stage gantry, the equipment often cannot effectively reach the high-rise shelves within the warehouse, resulting in low storage space utilization. Furthermore, the taller gantry increases the equipment's center of gravity during handling, reducing its stability. This can easily lead to safety risks, especially in dynamic environments.

[0003] Currently, no effective solution has been proposed to the problem of low storage space utilization due to the limitation of gantry height for material handling equipment. Summary of the Invention

[0004] The main purpose of the present invention is to provide a multi-stage gantry lifting device for material handling equipment and material handling equipment, so as to solve the problem in the prior art that material handling equipment is limited by the gantry height, resulting in low storage space utilization.

[0005] In order to achieve the above-mentioned purpose, according to one aspect of the present invention, there is provided a multi-stage gantry lifting device for material handling equipment, comprising: a gantry assembly, the gantry assembly comprising a first gantry and a second gantry, the first gantry being used to connect with the material handling equipment, and the second gantry being slidably connected to the first gantry; a supporting assembly, the supporting assembly comprising a supporting platform and a gripping mechanism, the supporting platform being slidably connected to the second gantry, and the gripping mechanism being movably connected to the supporting platform; a driving assembly, the driving assembly being respectively connected to the gantry assembly and the supporting assembly, the driving assembly being used to drive the second gantry to move along the height direction of the first gantry, and to drive the supporting assembly to move along the height direction of the second gantry, and to drive the gripping mechanism to move relative to the supporting platform.

[0006] Furthermore, the first gantry includes two first longitudinal beams, the two first longitudinal beams are spaced apart along the width direction of the material handling equipment, and the first longitudinal beams are hollow structures;

[0007] The second door frame includes two second longitudinal beams, which are arranged in a one-to-one correspondence with the first longitudinal beams. The first longitudinal beam is sleeved on the outside of the second longitudinal beam. The second longitudinal beam is slidingly connected to the first longitudinal beam. The second longitudinal beam has a first state of extending into the cavity of the first longitudinal beam, and a second state of partially extending outside the cavity of the first longitudinal beam.

[0008] Furthermore, the first portal frame further includes a first crossbeam, and the first crossbeam is connected between the two first longitudinal beams.

[0009] Furthermore, the second portal frame further includes a second cross beam connected between the two second longitudinal beams.

[0010] Furthermore, the supporting platform is slidably connected to the second door frame through a support member, and the supporting platform is rotatably connected to the support member.

[0011] Furthermore, the grabbing mechanism includes: a first slide bar, the first slide bar is slidably connected to the supporting platform; a second slide bar, the second slide bar is spaced apart from the first slide bar along the width direction of the supporting platform, a grabbing channel is formed between the second slide bar and the first slide bar, and the second slide bar is slidably connected to the supporting platform; a first deflector bar, the first deflector bar is rotatably connected to the end of the first slide bar, the first deflector bar has a first blocking position for blocking the grabbing channel, and a first avoidance position for avoiding the grabbing channel; a second deflector bar, the second deflector bar is rotatably connected to the end of the first slide bar, the second deflector bar is The shift rod is arranged opposite to the first shift rod along the width direction of the supporting platform, and the second shift rod has a second blocking position for blocking the grabbing channel, and a second avoidance position for avoiding the grabbing channel; the connecting rod is arranged away from the first shift rod, and the connecting rod is connected between the first sliding rod and the second sliding rod; wherein, when the first shift rod is in the first blocking position and the second shift rod is in the second blocking position, the first sliding rod, the second sliding rod, the first shift rod, the second shift rod and the connecting rod are jointly arranged to form a clamping cavity, which is used to accommodate the target material.

[0012] Furthermore, the supporting platform is rotatably connected to the support member through the base, and the supporting platform is slidably connected to the base. The supporting platform has a forking position close to the target material and an initial position away from the target material.

[0013] Furthermore, the supporting assembly also includes: a sensor, the sensor is connected to the supporting platform, the sensor is electrically connected to the driving assembly, the sensor is used to collect the position signal of the target material, and is used to transmit the position signal to the driving assembly.

[0014] Furthermore, the gantry assembly also includes: a storage table, which is connected to the first gantry and is located on a side of the first gantry away from the supporting assembly, and is used to store target materials.

[0015] According to another aspect of the present invention, there is provided a material handling equipment, which includes a multi-stage gantry lifting device, and the multi-stage gantry lifting device is the multi-stage gantry lifting device described above.

[0016] By applying the technical solution of the present invention, the first gantry is slidably connected to the second gantry, and the second gantry can move in the height direction under the guidance of the first gantry. The supporting assembly is slidably connected to the second gantry so that the grabbing mechanism can reach higher shelf layers. The supporting platform is movably connected to the grabbing mechanism. During the grabbing process, there is no need to adjust the material handling equipment as a whole. It is only necessary to adjust the position of the grabbing mechanism to match the material grabbing at different positions to achieve flexible material picking and placement. The multi-stage gantry lifting device in the above solution uses a retractable multi-stage gantry to increase the picking and placement height of the material handling equipment, thereby solving the technical problem of low storage space utilization due to the material handling equipment being limited by the gantry height. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0018] Figure 1 A right side schematic diagram of the multi-stage gantry lifting device of the present invention is shown;

[0019] Figure 2 A schematic front view of a multi-stage gantry lifting device according to the present invention is shown;

[0020] Figure 3 A schematic top view of the multi-stage gantry lifting device of the present invention is shown;

[0021] Figure 4 A partial enlarged view of the multi-stage gantry lifting device of the present invention is shown.

[0022] The above drawings include the following reference numerals:

[0023] 10. First mast;

[0024] 11. First longitudinal beam; 12. First transverse beam; 13. Storage platform;

[0025] 20. Second mast;

[0026] 21. Second longitudinal beam; 22. Second transverse beam;

[0027] 30. Support components;

[0028] 31. Grasping mechanism;

[0029] 311, first sliding rod; 312, second sliding rod; 313, first shifting rod; 314, second shifting rod; 315, connecting rod;

[0030] 32. Support platform;

[0031] 33. Base;

[0032] 34. Support member;

[0033] 35. Sensor;

[0034] 40. Material handling equipment. DETAILED DESCRIPTION

[0035] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0036] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0037] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way are interchangeable where appropriate, so that the embodiments of the present application described herein can, for example, be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0038] Now, exemplary embodiments according to the present application will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in a variety of different forms and should not be interpreted as being limited to the embodiments described herein. It should be understood that these embodiments are provided to make the disclosure of this application thorough and complete, and to fully convey the concepts of these exemplary embodiments to those of ordinary skill in the art. In the accompanying drawings, for the sake of clarity, the thickness of layers and regions may be exaggerated, and the same reference numerals are used to represent the same devices, and thus their descriptions will be omitted.

[0039] Combine Figures 1 to 4 As shown, according to a specific embodiment of the present application, a multi-stage mast raising device for material handling equipment 40 is provided.

[0040] Specifically, the multi-stage gantry lifting device includes: a gantry assembly, a supporting assembly 30 and a driving assembly. The gantry assembly includes a first gantry 10 and a second gantry 20, the first gantry 10 is used to connect with the material handling equipment 40, and the second gantry 20 is slidably connected to the first gantry 10. The supporting assembly 30 includes a supporting platform 32 and a gripping mechanism 31, the supporting platform 32 is slidably connected to the second gantry 20, and the gripping mechanism 31 is movably connected to the supporting platform 32. The driving assembly is connected to the gantry assembly and the supporting assembly 30 respectively, and the driving assembly is used to drive the second gantry 20 to move along the height direction of the first gantry 10, and to drive the supporting assembly 30 to move along the height direction of the second gantry 20, and to drive the gripping mechanism 31 to move relative to the supporting platform 32.

[0041] In an embodiment of the present application, the first gantry 10 is slidably connected to the second gantry 20. The second gantry 20 can move in the height direction under the guidance of the first gantry 10. The supporting assembly 30 is slidably connected to the second gantry 20 so that the grabbing mechanism 31 can reach a higher shelf layer. The supporting platform 32 is movably connected to the grabbing mechanism 31. During the grabbing process, there is no need to adjust the material handling equipment 40 as a whole. It is only necessary to adjust the position of the grabbing mechanism 31 to match the material grabbing at different positions to achieve flexible material pickup and placement. The multi-stage gantry lifting device in the above scheme uses a retractable multi-stage gantry to increase the pickup and placement height of the material handling equipment 40, thereby solving the technical problem of low storage space utilization caused by the material handling equipment 40 being limited by the gantry height.

[0042] In an exemplary embodiment of the present application, the first gantry 10 includes two first longitudinal beams 11 spaced apart along the width of the material handling equipment 40. The first longitudinal beams 11 are hollow structures. The second gantry 20 includes two second longitudinal beams 21. The second longitudinal beams 21 are arranged in a one-to-one correspondence with the first longitudinal beams 11. The first longitudinal beams 11 are sleeved outside the second longitudinal beams 21 and are slidably connected to the first longitudinal beams 11. The second longitudinal beams 21 have a first state in which they extend into the cavity of the first longitudinal beams 11, and a second state in which they partially extend outside the cavity of the first longitudinal beams 11.

[0043] In an embodiment of the present application, when the second longitudinal beam 21 is in the first state, the second longitudinal beam 21 is fully extended into the cavity of the first longitudinal beam 11, and the minimum height of the gantry assembly is the height of the first gantry 10, which is conducive to the compact parking of the material handling equipment 40 in the non-operating state. At this time, the center of gravity height of the gantry assembly is relatively low, which is conducive to the stable parking of the gantry assembly; when the second longitudinal beam 21 is in the second state, the second longitudinal beam 21 can be partially or completely extended out of the cavity of the first longitudinal beam 11, and the gantry assembly can reach a higher lifting height than a single gantry, so that the material handling equipment 40 can be suitable for high-rise shelves.

[0044] As an alternative embodiment, the second longitudinal beam 21 may be slidably connected to the outer sidewall of the first longitudinal beam 11 .

[0045] Furthermore, the first portal 10 further includes a first cross beam 12 , which is connected between the two first longitudinal beams 11 .

[0046] In the embodiment of the present application, the provision of the first cross beam 12 enhances the connection strength and stability between the two first longitudinal beams 11, improves the torsional performance of the gantry assembly, can effectively prevent the gantry assembly from twisting due to torque, and ensures the smoothness and safety of the lifting action.

[0047] Furthermore, the second door frame 20 further includes a second cross beam 22 , and the second cross beam 22 is connected between the two second longitudinal beams 21 .

[0048] In the embodiment of the present application, the provision of the second cross beam 22 enhances the connection strength and stability between the two second longitudinal beams 21, improves the torsional resistance of the portal assembly, and can effectively prevent the portal assembly from twisting due to torque, thereby ensuring the smoothness and safety of the lifting action.

[0049] like Figure 1 、 Figure 2 As shown, there are multiple first crossbeams 12, which are spaced apart along the height direction of the first longitudinal beam 11. The second crossbeam 22 is connected to the top of the second longitudinal beam 21. When low-level material is being retrieved and placed and the material handling equipment 40 is moving, the second longitudinal beam 21 is located inside the first longitudinal beam 11. In this case, the multiple first crossbeams 12 and the second crossbeams 22 provide transverse support for the second longitudinal beam 21. When high-level material is being retrieved and placed, at least part of the second longitudinal beam 21 is located outside the first longitudinal beam 11. In this case, the entire material handling equipment 40 does not move, so there is no bumping. The second crossbeam 22 alone is sufficient to provide transverse support for the second longitudinal beam 21.

[0050] Furthermore, the supporting platform 32 is slidably connected to the second gantry 20 via the support member 34 , and the supporting platform 32 is rotatably connected to the support member 34 .

[0051] In an embodiment of the present application, the supporting platform 32 can not only be raised and lowered in the vertical direction along the second gantry 20, but also can be rotated in the horizontal direction. The supporting platform 32 can automatically adjust the angle according to the actual working environment and the position of the goods, thereby realizing flexible adjustment of the posture of the supporting platform 32 and the grasping mechanism 31, improving the flexibility of the grasping mechanism 31, improving the adaptability of the material handling equipment 40 to complex storage environments, and reducing operational difficulties caused by space limitations or irregular placement of goods.

[0052] like Figure 3As shown, the support member 34 is slidably connected to the second gantry 20, and can be driven by the first drive motor to slide the support member 34 along the height direction of the second gantry 20. A rotating disk is provided on the support member 34, and the carrier platform 32 is connected to the rotating disk. The rotating disk is rotatably arranged relative to the support member 34. The second drive motor drives the rotating disk to rotate relative to the support member 34, thereby rotating the carrier relative to the support member 34.

[0053] In an exemplary embodiment of the present application, the grabbing mechanism 31 includes: a first sliding bar 311, a second sliding bar 312, a first deflector bar 313, a second deflector bar 314 and a connecting bar 315. The first sliding bar 311 is slidably connected to the supporting platform 32, the second sliding bar 312 is spaced apart from the first sliding bar 311 along the width direction of the supporting platform 32, a grabbing channel is formed between the second sliding bar 312 and the first sliding bar 311, and the second sliding bar 312 is slidably connected to the supporting platform 32; a deflector bar is rotatably connected to the end of the first sliding bar 311, the first deflector bar 313 has a first blocking position for blocking the grabbing channel, and a first avoiding position for avoiding the grabbing channel; the second deflector bar 314 is rotatably connected to the end of the first sliding bar 311, the second deflector bar 314 is spaced apart from the first deflector bar 314 along the width direction of the supporting platform 32 The rods 313 are arranged relative to each other, and the second lever 314 has a second blocking position for blocking the grabbing channel, and a second avoidance position for avoiding the grabbing channel; the connecting rod 315 is arranged away from the first lever 313, and the connecting rod 315 is connected between the first slide bar 311 and the second slide bar 312; wherein, when the first lever 313 is in the first blocking position and the second lever 314 is in the second blocking position, the first slide bar 311, the second slide bar 312, the first lever 313, the second lever 314 and the connecting rod 315 are jointly arranged to form a clamping cavity, which is used to accommodate the target material.

[0054] In an embodiment of the present application, a combination design of a first sliding rod 311, a second sliding rod 312, a first shift rod 313 and a second shift rod 314 is adopted, and the target material is moved by the first shift rod 313 and the second shift rod 314 to adapt to grabbing targets of different sizes; in addition, the grabbing mechanism 31 only needs to push the target material, and the target material does not need to move in the vertical direction, making the grabbing process safer.

[0055] like Figure 3As shown, the first sliding rod 311 and the second sliding rod 312 are respectively disposed on the left and right sides of the supporting platform 32. The first sliding rod 311 and the second sliding rod 312 are arranged in parallel and are respectively slidably connected to the support member 34. The third drive motor drives the first sliding rod 311 and the second sliding rod 312 to move along the length direction of the supporting platform 32. The first deflector rod 313 is disposed at one end of the first sliding rod 311 and is rotationally connected to the first sliding rod 311. The fourth drive motor drives the first deflector rod 313 to rotate. The second deflector rod 314 is disposed at one end of the second sliding rod 312 and is disposed opposite the first deflector rod 313 along the width direction of the supporting platform 32. The second deflector rod 314 is rotationally connected to the second sliding rod 312. The fifth drive motor drives the second deflector rod 314 to rotate.

[0056] The first slide bar 311 and the second slide bar 312 move synchronously along the length direction of the supporting platform 32 to the grabbing position. At this time, the first slide bar 311 and the second slide bar 312 are respectively arranged on the left and right sides of the target material; then, the first lever 313 rotates to the first blocking position, and the second lever 314 rotates to the second blocking position. At this time, the first lever 313 and the second lever 314 abut against one end surface of the target material; the first slide bar 311 and the second slide bar 312 move in opposite directions along the length direction of the supporting platform 32, and the first lever 313 and the second lever 314 push the target material to move synchronously along the length direction of the supporting platform 32 until the target material is pushed onto the supporting platform 32, thereby realizing the grabbing of the target material.

[0057] After the target material moves to the supporting platform 32, the second driving motor drives the supporting platform 32 to rotate 180° relative to the support member 34, the first lever 313 rotates to the first avoidance position, the second lever 314 rotates to the second avoidance position, the first slide bar 311 and the second slide bar 312 move synchronously along the length direction of the supporting platform 32, and the connecting rod 315 pushes the target material to slide along the length direction of the supporting platform 32 to detach from the supporting platform 32 and move to other shelves or storage equipment.

[0058] In an exemplary embodiment of the present application, the supporting platform 32 is rotatably connected to the support member 34 through the base 33, and the supporting platform 32 is slidably connected to the base 33. The supporting platform 32 has a forking position close to the target material and an initial position away from the target material.

[0059] In the embodiment of the present application, the supporting platform 32 is slidably connected to the base 33, and the sixth drive motor drives the supporting platform 32 to slide relative to the base 33. When grabbing the target material, the supporting platform 32 can move to abut against the edge of the shelf to stably support the target material.

[0060] In an exemplary embodiment of the present application, the supporting assembly 30 also includes: a sensor 35, the sensor 35 is connected to the supporting platform 32, the sensor 35 is electrically connected to the driving assembly, and the sensor 35 is used to collect the position signal of the target material and to transmit the position signal to the driving assembly.

[0061] In the embodiment of the present application, the provision of the sensor 35 can achieve accurate positioning of the supporting assembly 30 and the target material, thereby achieving effective and stable grasping.

[0062] like Figure 4 As shown, the sensor 35 is disposed at the forking end of the carrier 32 and at the bottom of the carrier 32 .

[0063] In an exemplary embodiment of the present application, the gantry assembly further includes: a storage table 13, which is connected to the first gantry 10, and is located on a side of the first gantry 10 away from the supporting assembly 30, and is used to store target materials.

[0064] In the embodiment of the present application, the storage table 13 is provided to facilitate the storage of grabbed materials, enabling multiple grabbing actions and improving work efficiency.

[0065] like Figure 1 As shown, there are multiple storage platforms 13, and the multiple storage platforms 13 are arranged at intervals along the height direction of the first door frame 10 to achieve the nearby storage of target materials.

[0066] According to another specific embodiment of the present application, a material handling equipment 40 is provided. The material handling equipment 40 includes a multi-stage gantry lifting device. The multi-stage gantry lifting device is the multi-stage gantry lifting device in the above embodiment.

[0067] Specifically, the multi-stage gantry lifting device includes: a gantry assembly, a supporting assembly 30 and a driving assembly. The gantry assembly includes a first gantry 10 and a second gantry 20, the first gantry 10 is used to connect with the material handling equipment 40, and the second gantry 20 is slidably connected to the first gantry 10. The supporting assembly 30 includes a supporting platform 32 and a gripping mechanism 31, the supporting platform 32 is slidably connected to the second gantry 20, and the gripping mechanism 31 is movably connected to the supporting platform 32. The driving assembly is connected to the gantry assembly and the supporting assembly 30 respectively, and the driving assembly is used to drive the second gantry 20 to move along the height direction of the first gantry 10, and to drive the supporting assembly 30 to move along the height direction of the second gantry 20, and to drive the gripping mechanism 31 to move relative to the supporting platform 32.

[0068] In the present application, the first gantry 10 is slidably connected to the second gantry 20. The second gantry 20 can move in the height direction under the guidance of the first gantry 10. The supporting assembly 30 is slidably connected to the second gantry 20 so that the grabbing mechanism 31 can reach a higher shelf layer. The supporting platform 32 is movably connected to the grabbing mechanism 31. During the grabbing process, there is no need to adjust the material handling equipment 40 as a whole. It is only necessary to adjust the position of the grabbing mechanism 31 to match the material grabbing at different positions to achieve flexible material picking and placement. The multi-stage gantry lifting device in the above scheme uses a retractable multi-stage gantry to increase the picking and placement height of the material handling equipment 40, thereby solving the technical problem of low storage space utilization due to the material handling equipment 40 being limited by the gantry height.

[0069] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0070] In addition to the above, it should be noted that references to "one embodiment," "another embodiment," "an embodiment," and the like in this specification refer to specific features, structures, or characteristics described in conjunction with that embodiment as included in at least one embodiment generally described in this application. The appearance of the same expression in multiple places in the specification does not necessarily refer to the same embodiment. Furthermore, when a specific feature, structure, or characteristic is described in conjunction with any embodiment, it is intended that such feature, structure, or characteristic, when implemented in conjunction with other embodiments, also falls within the scope of the present invention.

[0071] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0072] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A multi-stage gantry lifting device for material handling equipment, characterized in that: include: A gantry assembly, the gantry assembly comprising a first gantry (10) and a second gantry (20), the first gantry (10) being used to connect to material handling equipment (40), the second gantry (20) being slidably connected to the first gantry (10); A supporting assembly (30), the supporting assembly (30) comprising a supporting platform (32) and a grabbing mechanism (31), the supporting platform (32) being slidably connected to the second door frame (20), and the grabbing mechanism (31) being movably connected to the supporting platform (32); A driving assembly, wherein the driving assembly is connected to the gantry assembly and the supporting assembly (30) respectively, and the driving assembly is used to drive the second gantry (20) to move along the height direction of the first gantry (10), and to drive the supporting assembly (30) to move along the height direction of the second gantry (20), and to drive the grasping mechanism (31) to move relative to the supporting platform (32).

2. The multi-stage mast raising device according to claim 1, characterized in that: The first gantry (10) includes two first longitudinal beams (11), the two first longitudinal beams (11) are spaced apart along the width direction of the material handling equipment (40), and the first longitudinal beams (11) are hollow structures; The second door frame (20) includes two second longitudinal beams (21), the second longitudinal beams (21) are arranged in a one-to-one correspondence with the first longitudinal beam (11), the first longitudinal beam (11) is sleeved on the outside of the second longitudinal beam (21), the second longitudinal beam (21) is slidably connected to the first longitudinal beam (11), and the second longitudinal beam (21) has a first state of extending into the cavity of the first longitudinal beam (11), and a second state of partially extending out of the cavity of the first longitudinal beam (11).

3. The multi-stage mast raising device according to claim 2, characterized in that: The first door frame (10) further comprises a first cross beam (12), wherein the first cross beam (12) is connected between the two first longitudinal beams (11).

4. The multi-stage mast raising device according to claim 3, characterized in that: The second door frame (20) further comprises a second cross beam (22), wherein the second cross beam (22) is connected between the two second longitudinal beams (21).

5. The multi-stage mast raising device according to any one of claims 1 to 4, characterized in that: The supporting platform (32) is slidably connected to the second door frame (20) via a support member (34), and the supporting platform (32) is rotatably connected to the support member (34).

6. The multi-stage mast raising device according to claim 5, characterized in that: The gripping mechanism (31) comprises: a first sliding rod (311), the first sliding rod (311) being slidably connected to the supporting platform (32); a second sliding bar (312), the second sliding bar (312) being spaced apart from the first sliding bar (311) along the width direction of the supporting platform (32), a grabbing channel being formed between the second sliding bar (312) and the first sliding bar (311), and the second sliding bar (312) being slidably connected to the supporting platform (32); a first shifting rod (313), the first shifting rod (313) being rotatably connected to the end of the first sliding rod (311), the first shifting rod (313) having a first blocking position for blocking the grabbing channel, and a first avoiding position for avoiding the grabbing channel; a second shifting rod (314), the second shifting rod (314) being rotatably connected to an end portion of the first sliding rod (311), the second shifting rod (314) being arranged opposite to the first shifting rod (313) along the width direction of the supporting platform (32), the second shifting rod (314) having a second blocking position for blocking the grabbing channel, and a second avoiding position for avoiding the grabbing channel; a connecting rod (315), the connecting rod (315) being arranged away from the first shifting rod (313), and the connecting rod (315) being connected between the first sliding rod (311) and the second sliding rod (312); When the first shift rod (313) is located at the first blocking position and the second shift rod (314) is located at the second blocking position, the first sliding rod (311), the second sliding rod (312), the first shift rod (313), the second shift rod (314) and the connecting rod (315) are jointly arranged to form a clamping cavity, and the clamping cavity is used to accommodate the target material.

7. The multi-stage mast raising device according to claim 6, characterized in that: The supporting platform (32) is rotatably connected to the support member (34) via a base (33), and the supporting platform (32) is slidably connected to the base (33). The supporting platform (32) has a forking position close to the target material and an initial position away from the target material.

8. The multi-stage mast raising device according to claim 1, characterized in that: The supporting assembly (30) further includes: A sensor (35), wherein the sensor (35) is connected to the supporting platform (32), the sensor (35) is electrically connected to the driving component, and the sensor (35) is used to collect a position signal of a target material and to transmit the position signal to the driving component.

9. The multi-stage mast raising device according to claim 1, characterized in that: The door frame assembly also includes: A storage platform (13), the storage platform (13) is connected to the first door frame (10), the storage platform (13) is located on a side of the first door frame (10) away from the supporting assembly (30), and the storage platform (13) is used to store target materials.

10. A material handling equipment comprising a multi-stage gantry lifting device, characterized in that: The multi-stage gantry lifting device is the multi-stage gantry lifting device according to any one of claims 1 to 9.

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