Carrying equipment

Abstract

The utility model relates to carrying equipment, and belongs to the technical field of intelligent warehousing. The carrying equipment comprises a moving chassis, a portal frame and at least two accessories. The door frame has a height direction and comprises a first door frame and at least two second door frames which are installed on the moving chassis. The at least two second door frames are movably installed on the first door frame and can move in the height direction. The at least two accessories are installed on the at least two second portals respectively and can move in the height direction respectively. According to the carrying equipment, a plurality of trays can be forked or transferred at a time, efficiency is effectively improved, in addition, due to the fact that the accessory can move relative to the second portal frame in the height direction, the accessory and the second portal frame are matched to form two-stage movement, and the accessory has a larger moving stroke in the height direction.

Description

Technical Field

[0001] The utility model relates to a handling device and belongs to the technical field of intelligent warehousing. Background Art

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

[0003] Existing AMR forklift products can only pick up or transfer one cargo pallet at a time, which is inefficient. Utility Model Content

[0004] Based on this, the utility model aims to provide a handling device that can fork or transfer multiple pallets at one time.

[0005] The utility model provides a handling device, comprising:

[0006] Sports chassis;

[0007] A gantry having a height direction, and comprising a first gantry mounted on the moving chassis and at least two second gantrys, wherein the at least two second gantrys are respectively movably mounted on the first gantry and can respectively move along the height direction; and

[0008] At least two attachments are respectively installed on the at least two second door frames and can move along the height direction respectively.

[0009] In one embodiment, the attachments include ground attachments and aerial attachments, and each of the attachments includes a fork;

[0010] The fork of the ground attachment can be moved downward along the height direction to a first preset position, and when in the first preset position, the fork is in contact with the walking surface carrying the moving chassis or below the walking surface;

[0011] The fork of the aerial attachment can move downward along the height direction to a second preset position. When the fork is at the second preset position, it is in contact with or at a distance from the upper surface of the moving chassis.

[0012] In one embodiment, the number of the second door frames is two, and they are located on both sides of the first door frame in a first direction perpendicular to the height direction.

[0013] The moving chassis comprises a bearing body, the bearing body is provided with an installation area, the first gantry is installed in the installation area,

[0014] The installation area is eccentrically disposed relative to a center line of the bearing body in the first direction and is relatively close to a first end of the bearing body in the first direction.

[0015] In one embodiment, relative to both sides of the first gantry in the first direction, the ground attachment is on the same side as the first end of the carrying body in the first direction, and the aerial attachment is on the same side as the second end of the carrying body in the first direction.

[0016] In one embodiment, a gantry installation space is respectively provided on both sides of the first gantry in the first direction, and each of the second gantry is correspondingly installed in one of the gantry installation spaces.

[0017] The first gantry includes an enclosure portion and a connecting portion, and the two gantry installation spaces are enclosed by the enclosure portion and the connecting portion.

[0018] In one embodiment, there are two enclosures, and the two enclosures are spaced apart along a second direction perpendicular to the height direction, and the second direction is perpendicular to the first direction.

[0019] The connecting portion is disposed between the two enclosure portions, and the two opposite ends are respectively fixed to the two enclosure portions.

[0020] The blocking portion extends along the first direction, and the two extending ends protrude a distance relative to the two ends of the connecting portion located in the first direction, respectively.

[0021] The area between the two enclosure parts and located on one side of the connecting part constitutes a mast installation space.

[0022] The second door frame is slidably arranged on the inner walls of the two enclosure parts.

[0023] In one embodiment, the connecting portion comprises:

[0024] A plurality of first connecting plates are arranged at intervals along the height direction, the first connecting plates extend along the second direction, and the two extending ends are respectively fixed to the two enclosure parts.

[0025] In one embodiment, each of the second portals comprises:

[0026] Two limiting parts have a height direction and are spaced apart along the second direction, and the outer walls of the two limiting parts are respectively slidably connected to the inner walls of the two enclosure parts; and

[0027] A plurality of second connecting plates are arranged at intervals along the height direction, the second connecting plates extend along the second direction, and the two extending ends are respectively fixed to the two limiting portions.

[0028] In one embodiment, the door frame is further provided with a reinforcing member, the reinforcing member having four connecting ends, and arranged between two adjacent first connecting plates on the first door frame, or arranged between two adjacent second connecting plates on the second door frame;

[0029] Two of the connection ends are fixed to one of the two adjacent first connection plates or one of the two adjacent second connection plates, and the other two connection ends are fixed to the other of the two adjacent first connection plates or the other of the two adjacent second connection plates.

[0030] In one embodiment, the handling device further includes a linkage mechanism, which corresponds to the at least two attachments and includes:

[0031] a sprocket wheel rotatably disposed on the second gantry at a top position in the height direction; and

[0032] A chain is wound around the sprocket, one end of the chain is fixed to the first door frame, and the other end of the chain is fixed to the corresponding attachment.

[0033] In one embodiment, the motion chassis further includes a motion mechanism, and the motion mechanism includes:

[0034] a driving wheel, rotatably disposed on the carrying body and relatively close to a first end of the carrying body in the first direction, wherein part or all of the driving wheel protrudes from a lower surface of the carrying body; and

[0035] The driven wheel is arranged on the bearing body and relatively close to the second end of the bearing body in the first direction, and part or all of the driven wheel protrudes from the lower surface of the bearing body.

[0036] In one embodiment, the driving wheels include two groups spaced apart along the second direction.

[0037] When the two sets of driving wheels rotate in opposite directions but at the same speed, the moving chassis turns, and the center of rotation is located between the two sets of driving wheels.

[0038] In one embodiment, the two ends of the bearing body in the second direction are symmetrically provided with balancing weights, and the balancing weights are relatively close to the second end of the bearing body in the first direction.

[0039] The counterweight bin is configured to carry a counterweight.

[0040] In one embodiment, the counterweight includes a plurality of counterweight plates, and the plurality of counterweight plates are stacked along the first direction in the counterweight bin.

[0041] In one embodiment, it also includes:

[0042] A guide unit is arranged on both ends of the bearing body in the second direction,

[0043] The guide unit comprises at least one guide wheel, which is rotatably arranged on the bearing body, and part or all of the guide wheel protrudes from a side surface of the bearing body located in the second direction.

[0044] The rotation plane of the guide wheel is parallel to a plane defined by the first direction and the second direction.

[0045] In one embodiment, the fork of the ground attachment is a ground fork, and the ground attachment also includes a ground fork frame, and the ground fork frame includes:

[0046] a sliding portion extending along the height direction and connected to the second door frame indirectly or directly;

[0047] A mounting portion extending in a first direction perpendicular to the height direction, the ground fork being fixed on the mounting portion; and

[0048] The extension portion connects the sliding portion and the mounting portion as a whole, and extends obliquely downward from the lower end of the sliding portion toward a side away from the bearing body, so that the ground fork can move downward along the height direction to the first preset position.

[0049] In one embodiment, the fork of the aerial attachment is an aerial fork, and the aerial attachment further includes an aerial fork frame.

[0050] The ground attachment and the aerial attachment both further include a translation mechanism, and the translation mechanism is configured to move the ground fork or the aerial fork along the second direction, including:

[0051] a slide extending along the second direction, disposed on the side of the corresponding second door frame, and capable of moving along the height direction,

[0052] The ground fork frame or the aerial fork frame is slidably mounted on the slide frame and can move along the second direction.

[0053] In one embodiment, the ground attachment and the aerial attachment both further include an identification unit capable of identifying the specific position and distance of the pallet when picking up or putting down goods, and the identification unit includes:

[0054] a telescopic rod, fixed to the bottom end of the ground fork frame or the aerial fork frame, and capable of being telescoped along the height direction; and

[0055] The identification element is fixed to the telescopic end of the telescopic rod and is located between two fork monomers in the ground fork or the aerial fork.

[0056] Therefore, compared with the prior art, the utility model has the following advantages:

[0057] According to the handling equipment involved in the utility model, the handling equipment includes a moving chassis, a gantry and at least two accessories. The gantry has a height direction, and includes a first gantry and at least two second gantries installed on the moving chassis. The at least two second gantries are movably installed on the first gantry, and can move in the height direction respectively. At least two accessories are installed on the at least two second gantries, and can move in the height direction respectively. When the second gantries move in the height direction, they can drive the accessories thereon to move synchronously, thereby driving the accessories to fork or transfer pallets, and since accessories are provided on multiple second gantries, the handling equipment can fork or transfer multiple pallets at a time, and the efficiency is effectively improved. In addition, since the accessories can move in the height direction relative to the second gantry, the accessories cooperate with the second gantry to form a two-stage movement, and the accessories have a larger moving stroke in the height direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 It is a schematic diagram of the three-dimensional structure of the handling equipment in this embodiment;

[0059] Figure 2 Schematic diagram of the three-dimensional structure of the door frame in this embodiment;

[0060] Figure 3 Schematic diagram of the distribution structure of the door frame in this embodiment;

[0061] Figure 4 Schematic diagram of the three-dimensional structure of the motion chassis in this embodiment;

[0062] Figure 5 is a schematic diagram of the three-dimensional structure of the first door frame in this embodiment;

[0063] Figure 6 is a schematic diagram of the three-dimensional structure of the second door frame in this embodiment;

[0064] Figure 7 Schematic diagram of the three-dimensional structure of the linkage mechanism in this embodiment;

[0065] Figure 8 Schematic diagram of the installation structure of the driven wheel in this embodiment;

[0066] Fig. 9 This is a schematic diagram of the motion trajectory of the moving chassis turning in situ in this embodiment;

[0067] Fig.10 This is a schematic diagram of the motion trajectory of the motion chassis turning in an arc in this embodiment;

[0068] Fig.11 Schematic diagram of the installation structure of the counterweight in this embodiment;

[0069] Fig.12 is a schematic diagram of the three-dimensional structure of the ground attachment in this embodiment;

[0070] Fig.13 Schematic diagram of the three-dimensional structure of the aerial attachment in this embodiment;

[0071] Fig.14 Schematic diagram of the installation structure of the identification unit in this embodiment.

[0072] Reference numerals:

[0073] 100. Handling equipment;

[0074] 100a, sports chassis;

[0075] 100b, door frame; 10, first door frame; 101, door frame installation space; 11, enclosure portion; 12, connection portion; 121, first connection plate; 20, second door frame; 21, limit portion; 22, second connection plate;

[0076] 100c, attachment; 30, ground attachment; 31, ground fork; 32, ground fork frame; 321, sliding portion; 322, mounting portion; 323, extension portion; 33, translation mechanism; 331, slide; 332, drive unit; 332a, drive motor; 332b, gear; 332c, rack; 34, identification unit; 341, telescopic rod; 342, identification element;

[0077] 40. Aerial attachments; 41. Aerial forks; 42. Aerial fork racks;

[0078] 50, bearing body; 51, installation area; 511, connection hole; 52, balance weight compartment; 521, balance weight; 521a, balance sheet; 60, reinforcement component; 61, first reinforcement plate; 62, second reinforcement plate;

[0079] 100d, linkage mechanism; 71, sprocket; 72, chain;

[0080] 80. Motion mechanism; 81. Driving wheel; 82. Driven wheel;

[0081] 100e, guide unit; 91, guide wheel. DETAILED DESCRIPTION

[0082] In order to make the above-mentioned purposes, features and advantages of the utility model more obvious and easy to understand, the specific implementation methods of the utility model are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the utility model. However, the utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the utility model, so the utility model is not limited by the specific embodiments disclosed below.

[0083] This embodiment provides a handling device that can fork or transfer multiple pallets at one time.

[0084] Figure 1 It is a schematic diagram of the three-dimensional structure of the handling equipment in this embodiment; Figure 2 It is a schematic diagram of the three-dimensional structure of the door frame in this embodiment.

[0085] See also Figure 1 to Figure 2 The embodiment of the utility model provides a handling device 100, which includes a moving chassis 100a, a gantry 100b and at least two accessories 100c. The gantry 100b has a height direction and includes a first gantry 10 and at least two second gantry 20 installed on the moving chassis 100a. The at least two second gantries 20 are respectively movably installed on the first gantry 10 and can move in the height direction respectively. The at least two accessories 100c are respectively installed on the at least two second gantries 20 and can move in the height direction respectively.

[0086] It should be noted that Figure 2 The direction indicated by A is the height direction.

[0087] It can be understood that when the second gantry 20 moves in the height direction, it can drive the attachment 100c thereon to move synchronously, thereby driving the attachment 100c to fork or transfer the pallet, and since the multiple second gantries 20 are provided with attachments 100c, the handling equipment 100 can fork or transfer multiple pallets at a time, and the efficiency is effectively improved. In addition, since the attachment 100c can move in the height direction relative to the second gantry 20, the attachment 100c and the second gantry 20 cooperate to form a two-stage movement, and the attachment 100c has a larger moving stroke in the height direction.

[0088] Figure 3 Schematic diagram of the distribution structure of the door frame in this embodiment.

[0089] Combination Figure 3 As shown, the attachment 100c includes a ground attachment 30 and an aerial attachment 40, each of which includes a fork. The fork of the ground attachment 30 can move downward in the height direction to a first preset position, and when in the first preset position, the fork is in contact with the walking surface of the moving chassis 100a or below the walking surface. The fork of the aerial attachment 40 can move downward in the height direction to a second preset position, and when in the second preset position, the fork is in contact with or a distance from the upper surface of the moving chassis 100a.

[0090] It can be understood that since the fork of the ground attachment 30 can move downward in the height direction to a first preset position where it contacts the walking surface of the moving chassis 100a or below the walking surface, the fork of the ground attachment 30 can move downward in the height direction to a second preset position where it contacts the upper surface of the moving chassis 100a or is a certain distance away, the transport equipment 100 can not only fork pallets on the ground, but also fork pallets in the air, with a wide range of applications, and the two attachments 100c can work independently.

[0091] Figure 4 It is a schematic diagram of the three-dimensional structure of the motion chassis in this embodiment.

[0092] Combination Figure 2 and Figure 4 As shown, the number of the second door frames 20 is two, and they are located on both sides of the first door frame 10 in a first direction perpendicular to the height direction. The moving chassis 100a includes a bearing body 50, and the bearing body 50 is provided with an installation area 51, and the first door frame 10 is installed in the installation area 51. The installation area 51 is eccentrically arranged relative to the center line of the bearing body 50 in the first direction, and is relatively close to the first end of the bearing body 50 in the first direction.

[0093] It should be noted that Figure 4 The direction indicated by B is the first direction.

[0094] It can be understood that since the installation area 51 is eccentrically arranged and relatively close to the first end of the supporting body 50 in the first direction, that is, the installation area 51 is relatively close to the edge of the supporting body 50, only two rows of spaced wheels need to be arranged on one side of the bottom of the supporting body 50. Compared with the prior art, the structure is simpler.

[0095] In this embodiment, a plurality of connection holes 511 are provided at the installation area 51 of the bearing body 50 , so that the bearing body 50 is connected to the first door frame 10 by bolts.

[0096] Combination Figure 2 and 4As shown, relative to both sides of the first gantry 10 in the first direction, the ground attachment 30 and the first end of the carrying body 50 in the first direction are on the same side, and the aerial attachment 40 and the second end of the carrying body 50 in the first direction are on the same side.

[0097] It can be understood that in order to ensure that the fork of the ground attachment 30 can move downward to the first preset position along the height direction, the fork of the aerial attachment 40 can move downward to the second preset position along the height direction.

[0098] Figure 5 It is a schematic diagram of the three-dimensional structure of the first door frame in this embodiment.

[0099] Combination Figure 5 As shown, the first gantry 10 is provided with a gantry installation space 101 on both sides in the first direction, and each second gantry 20 is correspondingly installed in a gantry installation space 101. The first gantry 10 includes a blocking portion 11 and a connecting portion 12, and the two gantry installation spaces 101 are enclosed by the blocking portion 11 and the connecting portion 12.

[0100] It can be understood that two gantry installation spaces 101 are formed on both sides of the first gantry 10 in the first direction through the cooperation between the enclosing portion 11 and the connecting portion 12 to provide installation space for the second gantry 20 .

[0101] Combination Figures 4 to 5 As shown, there are two enclosure parts 11, and the two enclosure parts 11 are spaced apart along a second direction perpendicular to the height direction, and the second direction is perpendicular to the first direction. The connecting part 12 is arranged between the two enclosure parts 11, and the opposite ends are respectively fixed to the two enclosure parts 11. The enclosure part 11 extends along the first direction, and the two extended ends protrude a distance relative to the two ends of the connecting part 12 located in the first direction. The area between the two enclosure parts 11 and located on one side of the connecting part 12 constitutes a gantry installation space 101. The opposite ends on the second gantry 20 are respectively slidably connected to the inner walls of the two enclosure parts 11.

[0102] It should be noted that Figure 4 The direction indicated by C is the second direction.

[0103] It can be understood that the second gantry 20 is installed in the gantry installation space 101. When the second gantry 20 moves along the height direction in the gantry installation space 101, it can lead the accessories 100c thereon to move synchronously, thereby driving the accessories 100c to fork or transfer pallets. Through the arrangement of the two enclosures 11 and the connecting portion 12, two gantry installation spaces 101 can be formed in the area between the two enclosures 11 and on both sides of the connecting portion 12, so that the two second gantry 20 can be installed in one gantry installation space 101 respectively, so that the gantry 100b can be installed with two sets of accessories 100c, and two pallets can be forked or transferred at a time, and the efficiency is effectively improved.

[0104] In this embodiment, the two enclosure parts 11 are parallel to each other, the connecting part 12 is parallel to the two enclosure parts 11, and the door frame installation space 101 is a rectangular space.

[0105] Combination Figure 5 As shown, the connecting portion 12 includes a plurality of first connecting plates 121 which are spaced apart along the height direction. The first connecting plates 121 extend along the second direction, and two extending ends are respectively fixed to the two enclosure portions 11 .

[0106] It can be understood that the two enclosure parts 11 are connected together by a plurality of first connecting plates 121, so that the first door frame 10 can form a stable frame structure to support the second door frame 20 and the accessories 100c thereon.

[0107] Figure 6 It is a schematic diagram of the three-dimensional structure of the second door frame in this embodiment.

[0108] Combination Figure 6 As shown, each second door frame 20 includes two limit parts 21 and a plurality of second connecting plates 22. The two limit parts 21 have a height direction and are arranged at intervals along the second direction. The outer walls of the two limit parts 21 are respectively slidably connected to the inner walls of the two enclosure parts 11. The plurality of second connecting plates 22 are arranged at intervals along the height direction. The second connecting plates 22 extend along the second direction, and the two extending ends are respectively fixed to the two limit parts 21.

[0109] It can be understood that the two second limiting portions 21 are connected together by a plurality of second connecting plates 22, so that the second door frame 20 can form a stable frame structure to carry the accessories 100c thereon. In addition, the cooperation between the limiting portions 21 and the enclosure portion 11 can realize the sliding connection between the second door frame 20 and the first door frame 10, so that the second door frame 20 can move in the height direction along the first door frame 10.

[0110] Combination Figures 5 and 6As shown, the door frame 100b is further provided with a reinforcing member 60, which has four connecting ends and is arranged between two adjacent first connecting plates 121 on the first door frame 10, or between two adjacent second connecting plates 22 on the second door frame 20;

[0111] Two of the connection ends are fixed to one of the two adjacent first connection plates 121 or one of the two adjacent second connection plates 22 , and the other two connection ends are fixed to the other of the two adjacent first connection plates 121 or the other of the two adjacent second connection plates 22 .

[0112] It can be understood that the reinforcing component 60 can further strengthen the connection strength between the two enclosure parts 11, and can connect the first connecting plates 121 together, thereby further strengthening the overall structural strength of the first door frame 10. When the first door frame 10 is subjected to an eccentric load, the reinforcing component 60 can also effectively prevent the first door frame 10 from shearing.

[0113] The reinforcing component 60 can further strengthen the connection strength between the two limiting parts 21, and can connect multiple second connecting plates 22 together, thereby further strengthening the overall structural strength of the second door frame 20. When the second door frame 20 is under overload, the reinforcing component 60 can also effectively prevent the second door frame 20 from shearing.

[0114] In this embodiment, the reinforcing member 60 includes a first reinforcing plate 61 and a second reinforcing plate 62. Each first reinforcing plate 61 is disposed between two adjacent first connecting plates 121 and has four connecting ends, two of which are fixed to one of the two adjacent first connecting plates 121, and the other two are fixed to the other of the two adjacent first connecting plates 121. Each second reinforcing plate 62 is disposed between two adjacent second connecting plates 22 and has four connecting ends, two of which are fixed to one of the two adjacent second connecting plates 22, and the other two are fixed to the other of the two adjacent second connecting plates 22.

[0115] Figure 7 Schematic diagram of the three-dimensional structure of the linkage mechanism in this embodiment.

[0116] Combination Figure 7 As shown, the handling device 100 further includes a linkage mechanism 100d, which corresponds to at least two attachments 100c and includes a sprocket 71 and a chain 72. The sprocket 71 is rotatably disposed on the second door frame 20 at the top position in the height direction. The chain 72 is wound around the sprocket 71, and one end of the chain 72 extends downward in the height direction to be fixed to the first door frame 10, and the other end extends downward in the height direction to be fixed to the corresponding attachment 100c.

[0117] It can be understood that when the second gantry 20 moves in the height direction, it can drive the sprocket 71 thereon to move synchronously. Since one end of the chain 72 is fixed to the first gantry 10, when the sprocket 71 moves with the second gantry 20, the chain 72 can be pulled to move the accessory 100c upward in the height direction, or the chain 72 can be released to move the accessory 100c downward under the action of gravity, thereby realizing the linkage between the accessory 100c and the second gantry 20, and the accessory 100c and the second gantry 20 are 2:1 rising height coordination.

[0118] Figure 8 Schematic diagram of the installation structure of the driven wheel in this embodiment.

[0119] Combination Figure 4 and Figure 8 As shown, the moving chassis 100a further includes a moving mechanism 80, and the moving mechanism 80 includes a driving wheel 81 and a driven wheel 82. The driving wheel 81 is rotatably disposed on the carrying body 50 and relatively close to a first end of the carrying body 50 located in the first direction, and part or all of the driving wheel 81 protrudes from the lower surface of the carrying body 50. The driven wheel 82 is disposed on the carrying body 50 and relatively close to a second end of the carrying body 50 located in the first direction, and part or all of the driven wheel 82 protrudes from the lower surface of the carrying body 50.

[0120] It can be understood that the forward, backward, turning and other movements of the moving chassis 100 a can be achieved through the cooperation between the driving wheel 81 and the driven wheel 82 .

[0121] Most of the wheel pressure of the entire vehicle is on the driving wheel 81, which improves the grip between the driving wheel 81 and the ground and is not easy to slip when traveling. When the vehicle is traveling in a straight line, the driven wheel 82 may be slightly deflected by the ground conditions, thereby dragging the driving wheel 81 to slide slightly, affecting the straight-line accuracy of the vehicle, which manifests as a serpentine walking. The greater the grip of the driving wheel 81, the less likely this situation is to occur. When the vehicle is changing direction, especially when changing from front drive to rear drive, the vehicle needs to correct its direction due to the swing of the driven wheel 82. The greater the driving wheel pressure, the greater the correction acceleration, and the easier it is to correct the deviation.

[0122] Fig. 9 This is a schematic diagram of the motion trajectory of the moving chassis turning in situ in this embodiment; Fig.10 Schematic diagram of the motion trajectory of the arc turning of the moving chassis in this embodiment.

[0123] Combination Figures 9 and 10 As shown, the driving wheels 81 include two groups spaced apart in the second direction. When the two groups of driving wheels 81 rotate in opposite directions but at the same speed, the moving chassis 100a turns in situ, and the rotation center is located between the two groups of driving wheels 81.

[0124] In this embodiment, there are two driving wheels 81 and two driven wheels 82, which are spaced apart along the second direction. Each driving wheel 81 is connected to a driving motor 332a and a servo controller, and the driven wheel 82 is a universal wheel.

[0125] It should be noted that when the motion chassis 100a moves, the control system sends instructions to the servo controller, and the servo controller controls the operation of the two drive motors 332a, thereby driving the two drive wheels 81 to move. When the two drive wheels 81 rotate in the same direction and at the same speed, the whole vehicle can move forward or backward; when the two drive wheels 81 rotate in opposite directions and at the same speed, the whole vehicle can turn in place; when the two drive wheels 81 rotate in the same direction and at different speeds, the whole vehicle can turn in an arc; when the two drive wheels 81 rotate in opposite directions and at different speeds, the whole vehicle can turn in a near-circular arc. When the motion chassis 100a is in operation, different operating modes can be executed according to working conditions and scene requirements to improve efficiency.

[0126] Fig.11 Schematic diagram of the installation structure of the counterweight in this embodiment.

[0127] Combination Fig.11 As shown, balancing weight bins 52 are symmetrically arranged at both ends of the carrying body 50 in the second direction. The balancing weight bins 52 are relatively close to the second end of the carrying body 50 in the first direction. The balancing weight bins 52 are configured to carry a balancing weight 521 .

[0128] It can be understood that since the center of gravity of the gantry 100b after installation is close to the driving wheel 81, that is, close to the first end of the load-bearing body 50 located in the first direction, the counterweight bin 52 is relatively close to the second end of the load-bearing body 50 located in the first direction, the counterweight 521 in the counterweight bin 52 can balance the gravity exerted by the carrier on the load-bearing body 50, thereby effectively preventing the load-bearing body 50 from tipping over and ensuring the stability of the load-bearing body 50 supporting the gantry 100b.

[0129] Combination Fig.11 As shown, the balance weight 521 includes a plurality of balance sheets 521 a , and the plurality of balance sheets 521 a are stacked in the balance weight chamber 52 along a first direction.

[0130] It can be understood that since the installation area 51 and the balancing weight chamber 52 are spaced apart relative to the first direction, the multiple balancing plates 521a stacked along the first direction in the balancing weight chamber 52 can better balance the gravity exerted by the carrier on the carrying body 50, and further ensure the stability of the carrying body 50 in supporting the carrier.

[0131] In this embodiment, chamfers are designed around the balancing piece 521 a to avoid weld protrusions at the corners of various installation areas 51 .

[0132] Combination Figure 4 As shown, the handling device 100 further includes a guide unit 100e, which is disposed at both ends of the carrying body 50 in the second direction. The guide unit 100e includes at least one guide wheel 91, which is rotatably disposed on the carrying body 50, and part or all of the guide wheel 91 protrudes from the side surface of the carrying body 50 in the second direction. The rotation plane of the guide wheel 91 is parallel to the plane defined by the first direction and the second direction.

[0133] It can be understood that when the lane is too narrow, the guide wheel 91 cooperates with the lane guide rail, and the guide wheel 91 moves in the guide rail, so that the moving chassis 100a can be suitable for the working environment of moving in a narrow lane.

[0134] In this embodiment, the number of the guide wheels 91 is four, and they are arranged in groups of two at both ends of the carrying body 50 in the second direction.

[0135] Fig.12 It is a schematic diagram of the three-dimensional structure of the ground attachment in this embodiment.

[0136] Combination Fig.12 As shown, the fork of the ground attachment 30 is a ground fork 31, and the ground attachment 30 also includes a ground fork frame 32, and the ground fork frame 32 includes a sliding portion 321, a mounting portion 322, and an extension portion 323. The sliding portion 321 extends in the height direction and is indirectly or directly connected to the corresponding second mast 20. The mounting portion 322 extends in a first direction perpendicular to the height direction, and the ground fork 31 is fixed on the mounting portion 322. The extension portion 323 connects the sliding portion 321 and the mounting portion 322 into one body, and extends obliquely downward from the lower end of the sliding portion 321 toward a side away from the load-bearing body 50, so that the ground fork 31 can move downward in the height direction to a first preset position.

[0137] It can be understood that when it is necessary to fork or transfer a pallet on the ground, the ground attachment 30 is controlled to move downward in the height direction, thereby driving the ground fork frame 32 to move downward in the height direction. Due to the setting of the extension portion 323, when the ground fork frame 32 moves downward, the moving chassis 100a will only block the sliding portion 321 in the ground fork frame 32, and will not block the mounting portion 322 and the extension portion 323 in the ground fork frame 32, thereby eliminating the influence of the moving chassis 100a on the moving stroke of the ground fork 31, thereby enabling the ground fork frame 32 to drive the ground fork 31 to move to a preset position when moving downward. When reaching the preset position, the ground fork 31 contacts the walking surface or below the walking surface that supports the moving chassis 100a during use, so that the ground fork 31 can move to the ground, thereby enabling the ground fork 31 to fork the pallet on the ground.

[0138] In this embodiment, the height direction of the door frame 100b is the vertical direction when in use, the sliding portion 321 and the extension portion 323 are located directly above the chassis, and the first direction is the horizontal direction when in use.

[0139] Fig.13 It is a schematic diagram of the three-dimensional structure of the aerial attachment in this embodiment.

[0140] Combination Figure 12 to Figure 13 As shown, the fork of the aerial attachment 40 is an aerial fork 41, and the aerial attachment 40 also includes an aerial fork frame 42. The difference between the structure of the aerial fork frame 42 and the structure of the ground fork frame 32 is that the aerial fork frame 42 only includes the sliding portion 321 and the mounting portion 322 in the ground fork frame 32. The sliding portion 321 extends along the height direction and is indirectly or directly connected to the corresponding second mast 20. The mounting portion 322 extends along a first direction perpendicular to the height direction, and is an integrally formed or fixedly connected structure with the sliding portion 321, and the aerial fork 41 is fixed on the mounting portion 322.

[0141] Combination Figure 12 to Figure 13 As shown, the ground attachment 30 and the aerial attachment 40 both further include a translation mechanism 33, which is configured to move the ground fork 31 or the aerial fork 41 along the second direction, and includes a slide 331. The slide 331 extends along the second direction, is disposed on the side of the corresponding second mast 20, and can move along the height direction. The ground fork frame 32 or the aerial fork frame 42 is slidably mounted on the slide 331, and can move along the second direction.

[0142] It should be noted that the structures of the translation mechanisms 33 of the ground attachment 30 and the aerial attachment 40 are consistent, and the translation mechanism 33 of the ground attachment 30 is used as an example for explanation.

[0143] It can be understood that when the slide 331 moves in the height direction, it can drive the ground fork frame 32 or the aerial fork frame 42 thereon to move synchronously, so that the ground fork 31 or the aerial fork 41 can move in the height direction to fork or transfer the pallet. In addition, the ground fork frame 32 or the aerial fork frame 42 can also move in the second direction relative to the slide 331, so that the ground fork 31 or the aerial fork 41 can move in the second direction to fork or transfer the pallet.

[0144] In this embodiment, the second direction is a horizontal direction in use and is perpendicular to the first direction, and two fork units in the ground fork 31 or the aerial fork 41 are spaced apart along the first direction.

[0145] Combination Figure 12 to Figure 13As shown, the translation mechanism 33 also includes a driving unit 332, which is arranged on the slide 331, the ground fork frame 32 or the aerial fork frame 42 to drive the ground fork frame 32 or the aerial fork frame 42 to move along the second direction. The driving unit 332 includes a driving motor 332a, a gear 332b and a rack 332c. The driving motor 332a is fixed to the ground fork frame 32 or the aerial fork frame 42. The gear 332b is fixed to the output shaft of the driving motor 332a. The rack 332c is fixed to the slide 331 and extends along the second direction. The gear 332b is meshed with the rack 332c.

[0146] It can be understood that when the driving motor 332a rotates, it can drive the gear 332b to rotate. When the gear 332b rotates, it can rotate along the extension direction of the rack 332c under the action of the rack 332c, thereby driving the ground fork frame 32 or the aerial fork frame 42 to move in the second direction.

[0147] In this embodiment, the driving motor 332a adopts servo control, which can accurately control the moving distance of the ground fork frame 32 or the aerial fork frame 42. A translation position sensor is provided on the ground fork frame 32 or the aerial fork frame 42, which can detect the translation position of the ground fork frame 32 or the aerial fork frame 42 and feedback the signal to the attachment 100c controller.

[0148] Fig.14 Schematic diagram of the installation structure of the identification unit in this embodiment.

[0149] Combination Figure 12 to Figure 14 As shown, both the ground attachment 30 and the aerial attachment 40 further include an identification unit 34 capable of identifying the specific position and distance of the pallet when picking up or placing goods, and the identification unit 34 includes a telescopic rod 341 and an identification element 342. The telescopic rod 341 is fixed to the bottom end of the ground fork frame 32 or the aerial fork frame 42, and can be telescoped in the height direction. The identification element 342 is fixed to the telescopic end of the telescopic rod 341, and is located between two fork monomers in the ground fork 31 or the aerial fork 41.

[0150] It should be noted that the structures of the identification units 34 of the ground attachment 30 and the aerial attachment 40 are consistent, and the identification unit 34 in the ground attachment 30 is used as an example for description.

[0151] It can be understood that the identification element 342 in the identification unit 34 can identify the specific position and distance of the pallet when picking up and placing goods, so as to control the corresponding fork to move accurately to the picking and placing position. If there is goods on the fork or the pallet blocks the identification element 342, the telescopic rod 341 can be controlled to extend to drive the identification element 342 to extend for identification. When it is not needed to be extended, the telescopic rod 341 can be controlled to be retracted.

[0152] In this embodiment, the identification element 342 is a 3D camera.

[0153] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0154] The above-mentioned embodiments only express several implementation methods of the utility model, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the utility model patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. A handling device, characterized in that: include: Sports chassis (100a); A gantry (100b) having a height direction and comprising a first gantry (10) and at least two second gantry (20) mounted on the moving chassis (100a), wherein the at least two second gantry (20) are respectively movably mounted on the first gantry (10) and are respectively movable along the height direction; as well as At least two attachments (100c) are respectively mounted on the at least two second door frames (20) and are respectively movable along the height direction.

2. The handling equipment according to claim 1, characterized in that: The attachments (100c) include ground attachments (30) and aerial attachments (40), and each of the attachments (100c) includes a fork; The fork of the ground attachment (30) can move downward along the height direction to a first preset position, and when in the first preset position, the fork is in contact with the walking surface carrying the moving chassis (100a) or below the walking surface; The fork of the aerial attachment (40) can move downward along the height direction to a second preset position, and when in the second preset position, the fork is in contact with or at a distance from the upper surface of the moving chassis (100a).

3. The handling equipment according to claim 2, characterized in that: The number of the second door frames (20) is two, and they are located on both sides of the first door frame (10) in a first direction perpendicular to the height direction, The moving chassis (100a) comprises a bearing body (50), the bearing body (50) is provided with an installation area (51), the first door frame (10) is installed in the installation area (51), The installation area (51) is eccentrically arranged relative to the center line of the carrying body (50) in the first direction, and is relatively close to the first end of the carrying body (50) in the first direction.

4. The handling equipment according to claim 3, characterized in that: Relative to the two sides of the first door frame (10) in the first direction, the ground attachment (30) and the first end of the bearing body (50) in the first direction are on the same side, and the aerial attachment (40) and the second end of the bearing body (50) in the first direction are on the same side.

5. The handling equipment according to claim 3, characterized in that: The first door frame (10) is provided with a door frame installation space (101) on both sides in the first direction, and each of the second door frames (20) is correspondingly installed in one of the door frame installation spaces (101). The first door frame (10) comprises an enclosure portion (11) and a connection portion (12), and the two door frame installation spaces (101) are enclosed by the enclosure portion (11) and the connection portion (12).

6. The handling equipment according to claim 5, characterized in that: There are two enclosure parts (11), and the two enclosure parts (11) are arranged at intervals along a second direction perpendicular to the height direction, and the second direction is perpendicular to the first direction. The connecting portion (12) is arranged between the two enclosure portions (11), and the two opposite ends are respectively fixed to the two enclosure portions (11). The enclosure portion (11) extends along the first direction, and two extending ends of the enclosure portion (11) protrude a distance relative to two ends of the connecting portion (12) located in the first direction, respectively. The area between the two enclosure parts (11) and located on one side of the connecting part (12) constitutes a portal frame installation space (101). The second door frame (20) is slidably arranged on the inner walls of the two enclosure parts (11).

7. The handling equipment according to claim 6, characterized in that: The connecting portion (12) comprises: A plurality of first connecting plates (121) are arranged at intervals along the height direction; the first connecting plates (121) extend along the second direction, and the two extending ends are respectively fixed to the two enclosure portions (11).

8. The handling equipment according to claim 7, characterized in that: Each of the second door frames (20) comprises: Two limiting portions (21) have a height direction and are spaced apart along the second direction, and the outer walls of the two limiting portions (21) are respectively slidably connected to the inner walls of the two enclosing portions (11); and, A plurality of second connecting plates (22) are arranged at intervals along the height direction; the second connecting plates (22) extend along the second direction, and the two extending ends are respectively fixed to the two limiting portions (21).

9. The handling equipment according to claim 8, characterized in that: The door frame (100b) is also provided with a reinforcing component (60), and the reinforcing component (60) has four connecting ends and is arranged between two adjacent first connecting plates (121) on the first door frame (10), or between two adjacent second connecting plates (22) on the second door frame (20); Two of the connection ends are fixed to one of the two adjacent first connection plates (121) or one of the two adjacent second connection plates (22), and the other two connection ends are fixed to the other of the two adjacent first connection plates (121) or the other of the two adjacent second connection plates (22).

10. The handling equipment according to claim 1, characterized in that: The handling equipment further comprises a linkage mechanism (100d), wherein the linkage mechanism (100d) corresponds to the at least two attachments (100c) and comprises: a sprocket (71) rotatably disposed on the second door frame (20) at a top position in the height direction; and A chain (72) is wound around the sprocket (71); one end of the chain (72) is fixed to the first door frame (10), and the other end of the chain (72) is fixed to the corresponding attachment (100c).

11. The handling equipment according to claim 6, characterized in that: The moving chassis (100a) further comprises a moving mechanism (80), wherein the moving mechanism (80) comprises: a driving wheel (81) rotatably disposed on the carrying body (50) and relatively close to a first end of the carrying body (50) located in the first direction, wherein part or all of the driving wheel (81) protrudes from a lower surface of the carrying body (50); and The driven wheel (82) is arranged on the carrying body (50) and is relatively close to the second end of the carrying body (50) in the first direction, and part or all of the driven wheel (82) protrudes from the lower surface of the carrying body (50).

12. The handling device according to claim 11, characterized in that: The driving wheel (81) comprises two groups arranged at intervals along the second direction, When the two sets of driving wheels (81) rotate in opposite directions but at the same speed, the moving chassis (100a) turns, and the center of rotation is located between the two sets of driving wheels (81).

13. The handling equipment according to claim 6, characterized in that: The two ends of the bearing body (50) in the second direction are symmetrically provided with balancing weight bins (52), and the balancing weight bins (52) are relatively close to the second end of the bearing body (50) in the first direction. The counterweight compartment (52) is configured to carry a counterweight (521).

14. The handling device according to claim 13, characterized in that: The balancing weight (521) comprises a plurality of balancing plates (521a), and the plurality of balancing plates (521a) are stacked along the first direction and arranged inside the balancing weight compartment (52).

15. The handling equipment according to claim 6, characterized in that: Also includes: The guide units (100e) are arranged on both ends of the carrying body (50) in the second direction. The guide unit (100e) comprises at least one guide wheel (91), the guide wheel (91) being rotatably arranged on the carrying body (50), and part or all of the guide wheel (91) protruding from a side surface of the carrying body (50) located in the second direction, The rotation plane of the guide wheel (91) is parallel to the plane defined by the first direction and the second direction.

16. The handling equipment according to claim 6, characterized in that: The fork of the ground attachment (30) is a ground fork (31), and the ground attachment (30) further comprises a ground fork frame (32), and the ground fork frame (32) comprises: A sliding portion (321) extending along the height direction and connected to the second door frame (20) indirectly or directly; A mounting portion (322) extending in a first direction perpendicular to the height direction, and the ground fork (31) is fixed on the mounting portion (322); and The extension portion (323) connects the sliding portion (321) and the mounting portion (322) into one body, and extends obliquely downward from the lower end of the sliding portion (321) toward a side away from the carrying body (50), so that the ground fork (31) can move downward along the height direction to the first preset position.

17. The handling device according to claim 16, characterized in that: The cargo fork of the aerial attachment (40) is an aerial cargo fork (41), and the aerial attachment (40) further comprises an aerial cargo fork frame (42). The ground attachment (30) and the aerial attachment (40) both further include a translation mechanism (33), wherein the translation mechanism (33) is configured to enable the ground fork (31) or the aerial fork (41) to move along the second direction, including: A sliding frame (331) extends along the second direction, is arranged on the side of the corresponding second door frame (20), and is movable along the height direction. The ground fork frame (32) or the aerial fork frame (42) is slidably mounted on the slide frame (331) and is capable of moving along the second direction.

18. The handling device according to claim 17, characterized in that: The ground attachment (30) and the aerial attachment (40) both further include an identification unit (34) capable of identifying the specific position and distance of the pallet when picking up or putting down goods, and the identification unit (34) includes: A telescopic rod (341) is fixed to the bottom end of the ground fork frame (32) or the aerial fork frame (42) and is capable of being telescoped along the height direction; and The identification element (342) is fixed to the telescopic end of the telescopic rod (341) and is located between two fork units in the ground fork (31) or the aerial fork (41).

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