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 and at least two accessories, the portal has the height direction and comprises a plurality of sub-portals, the sub-portals comprise the first portal, the second portal and the at least one third portal, the first portal is installed on the moving chassis, the at least one third portal and the second portal are sequentially and movably connected in the height direction, and the second portal is installed on the moving chassis. And the movable parts can respectively move along the height direction. At least one accessory is installed on the first portal frame, at least one accessory is installed on the second portal frame, and at least two accessories can move in the height direction along the sub-portal frames where the accessories are located. The portal frame is composed of the multiple branch portal frames which are movably connected, bending deformation of the single branch portal frame can be reduced, and the design height of the portal frame can be increased on the premise that the stability of the portal frame is kept. And in addition, the carrying equipment can fork or transfer a plurality of trays at a time, so that the efficiency is effectively improved.

Description

Technical Field

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

[0002] With the rapid development of the logistics warehousing industry, the construction of stereoscopic warehouses for storing goods is becoming more and more extensive, and there are more and more intelligent handling devices such as stacker AGVs and AMRs for stereoscopic warehouses. Especially for fork-lift intelligent handling devices, goods are stacked on pallets, and the pallets are lifted by forks to realize the transfer of goods.

[0003] The existing AMR forklift products can only lift or transfer one pallet stack at a time, with low efficiency. Secondly, due to the limitation of stability requirements, the lifting height of the forks of the handling device is relatively limited, and it is difficult to pick up and place high-level goods in a relatively high stereoscopic warehouse. Summary of the Utility Model

[0004] Based on this, the purpose of the utility model is to provide a handling device that can lift or transfer multiple pallets at a time and can stably lift the pallets to a relatively high position.

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

[0006] A handling device, including:

[0007] A moving chassis;

[0008] A gantry, having a height direction. The gantry includes a plurality of sub-gantries, which are respectively a first gantry, a second gantry and at least one third gantry. The first gantry is installed on the moving chassis, and at least one of the third gantries and the second gantry are sequentially movably connected along the height direction and can respectively move along the height direction;

[0009] At least two attachments, at least one of the attachments is installed on the first gantry, at least one of the attachments is installed on the second gantry, and at least two of the attachments can move along the height direction of the sub-gantry where they are located.

[0010] In one embodiment, the attachments installed on the first gantry and the attachments installed on the second gantry are respectively located at both ends of the gantry in a first direction, and the first direction is the traveling direction of the moving chassis.

[0011] In one embodiment, there is one third gantry, and the handling device further includes a linkage mechanism, and the linkage mechanism includes:

[0012] A sprocket, rotatably arranged at the top position in the height direction on the corresponding third gantry; and

[0013] A chain is wound around the sprocket. One end of the chain is fixed to the first gantry, and the other end is fixed to the bottom position of the second gantry.

[0014] In one embodiment, the attachments include a ground attachment and an aerial attachment, and each attachment includes a fork.

[0015] The ground attachment is directly or indirectly slidably connected to the first gantry. The fork of the ground attachment can move downward along the height direction to a first preset position. When in the first preset position, the fork contacts the walking surface carrying the moving chassis or is below the walking surface.

[0016] The aerial attachment is slidably connected to the second gantry. The fork of the aerial attachment can move downward along the height direction to a second preset position. When in the second preset position, the fork contacts the upper surface of the moving chassis or is at a certain distance from it.

[0017] In one embodiment, the gantry further includes a connecting frame, which is detachably connected to the side of the first gantry facing the ground attachment, and the ground attachment is slidably connected to the connecting frame.

[0018] In one embodiment, the moving chassis includes a load-bearing body, and an installation area is provided on the load-bearing body, and the first gantry is installed in the installation area.

[0019] The installation area is eccentrically arranged with respect to the center line of the load-bearing body in the first direction and is relatively close to the first end of the load-bearing body in the first direction.

[0020] In one embodiment, on both sides of the first gantry in the first direction, the ground attachment and the first end of the load-bearing body in the first direction are on the same side, and the aerial attachment and the second end of the load-bearing body in the first direction are on the same side.

[0021] In one embodiment, a gantry installation space is provided on one of the two movably connected divided gantries, and the other divided gantry is installed in the gantry installation space. The divided gantry provided with the gantry installation space includes a surrounding part and a connecting part, and the gantry installation space is enclosed by the surrounding part and the connecting part.

[0022] In one embodiment, there are two enclosing parts. The enclosing parts extend along the first direction, and the two enclosing parts are spaced apart along a second direction perpendicular to the height direction. The second direction is perpendicular to the first direction. The connecting part is arranged between the two enclosing parts, and the opposite ends of the connecting part are respectively fixed to the two enclosing parts. The other sectional gantry is slidably arranged on the inner walls of the two enclosing parts.

[0023] In one embodiment, the connecting part includes:

[0024] A plurality of first connecting plates, which are spaced apart along the height direction. The first connecting plates extend along the second direction, and the two ends of the first connecting plates are respectively fixed to the two enclosing parts.

[0025] In one embodiment, the sectional gantry installed in the gantry installation space includes:

[0026] Two limiting parts, having a height direction, which are spaced apart along the second direction. The outer walls of the two limiting parts are respectively in sliding connection with the inner walls of the two enclosing parts; and,

[0027] A plurality of second connecting plates, which are spaced apart along the height direction. The second connecting plates extend along the second direction, and the two ends of the second connecting plates are respectively fixed to the two limiting parts.

[0028] In one embodiment, the moving chassis further includes a moving mechanism, and the moving mechanism includes:

[0029] A driving wheel, which is rotatably arranged on the bearing body and relatively close to the first end of the bearing body in the first direction. Part or all of the driving wheel protrudes from the lower surface of the bearing body; and

[0030] A driven wheel, which is arranged on the bearing body and relatively close to the second end of the bearing body in the first direction. Part or all of the driven wheel protrudes from the lower surface of the bearing body.

[0031] There are two groups of the driving wheels, which are spaced apart along the second direction. The second direction is perpendicular to the first direction and the height direction; when the two groups of driving wheels rotate in opposite directions and at the same speed, the moving chassis turns, and at this time the rotation center is located between the two groups of driving wheels.

[0032] In one embodiment, the moving chassis further includes:

[0033] The driving wheel set is disposed on the carrying body. The driving wheel set includes two driving wheels, and each driving wheel is configured with a driving motor. The driving motor is used to drive the corresponding driving wheel to rotate, so that the carrying body can be transformed between going straight and turning;

[0034] At least two driven wheels. At least two of the driven wheels and the driving wheel set are used to support the carrying body.

[0035] In one embodiment, the two driving wheels of the driving wheel set are connected by a connecting member, so that the rotation axes of the two driving wheels are on a straight line. The connecting member is pivotally connected to the carrying body, so as to be able to adjust the rotation axes of the two driving wheels to be parallel to the walking surface or form an angle with the walking surface.

[0036] In one embodiment, the mobile chassis further includes a first gear, a second gear and a sensor. The first gear and the second gear are meshed and rotatably disposed on the carrying body. The connecting member is pivotally connected to the first gear. The differential rotation of the driving wheels drives the connecting member to rotate, and the rotation of the connecting member drives the first gear to rotate. The second gear is connected to the sensor.

[0037] In one embodiment, the mobile chassis travels in a first direction. The driving wheel set is disposed at the first end of the carrying body in the first direction and at the middle position of the first end in a second direction perpendicular to the first direction.

[0038] In one embodiment, the mobile chassis travels in a first direction. The two driven wheels are disposed at the second end of the carrying body in the first direction, and the two driven wheels are spaced apart in the second direction on both sides below the carrying body.

[0039] In one embodiment, the mobile chassis further includes:

[0040] An auxiliary support member. The auxiliary support member is disposed inside the carrying body and can selectively extend out of the lower surface of the carrying body.

[0041] In one embodiment, there are two groups of the auxiliary support members, and the two groups of the auxiliary support members are respectively disposed on both sides of the driving wheel set in the direction perpendicular to the traveling direction of the carrying body.

[0042] In one embodiment, the auxiliary support member includes:

[0043] A landing member. The landing member is used to extend out of the lower surface of the carrying body;

[0044] A lifting drive member, the fixed end of the lifting drive member is arranged on the carrying main body, and the driving end of the carrying main body is connected to the landing member to drive the landing member to extend out of the lower surface of the carrying main body or retract into the carrying main body.

[0045] In one embodiment, the auxiliary support member further includes:

[0046] A pressure sensor is arranged on the landing member, and the pressure sensor is configured to sense the pressure value of the landing member on the walking surface of the moving chassis, so as to stop the driving action of the lifting drive member when the pressure value reaches a preset value.

[0047] In one embodiment, balance heavy weights are symmetrically arranged at both ends of the carrying main body in the second direction, the balance heavy weights are relatively close to the second end of the carrying main body in the first direction, and the second direction is perpendicular to the first direction and the height direction;

[0048] The balance heavy weights are configured to carry balance weights.

[0049] In one embodiment, the balance weight includes a plurality of balance plates, and the plurality of balance plates are stacked in the balance heavy weight in the first direction.

[0050] In one embodiment, the handling device further includes:

[0051] A guiding unit is arranged at both ends of the carrying main body in the second direction, and the second direction is perpendicular to the first direction and the height direction;

[0052] The guiding unit includes at least one guiding wheel, the guiding wheel is rotatably arranged on the carrying main body, and part or all of the guiding wheel protrudes from the side surface of the carrying main body in the second direction,

[0053] The rotation plane of the guiding wheel is parallel to the plane defined by the first direction and the second direction.

[0054] In one embodiment, the fork of the ground attachment is a ground fork, the ground attachment further includes a ground fork frame, the ground fork frame is directly or indirectly connected to the first mast, the ground fork is rotatably connected to the ground fork frame, and the rotation axis of the ground fork is parallel to the height direction; and / or,

[0055] The fork of the aerial attachment is an aerial fork, the aerial attachment further includes an aerial fork frame, the aerial fork frame is connected to the second mast, the aerial fork is rotatably connected to the aerial fork frame, and the rotation axis of the aerial fork is parallel to the height direction.

[0056] In one embodiment, the fork of the ground attachment is a ground fork, and the ground attachment further includes a ground fork frame, and the ground fork frame includes:

[0057] A sliding part, extending along the height direction, indirectly or directly connected to the first gantry;

[0058] A mounting part, extending along the first direction, and the ground fork is fixed on the mounting part.

[0059] In one embodiment, the fork of the aerial attachment is an aerial fork, and the aerial attachment further includes an aerial fork frame. Both the ground attachment and the aerial attachment further include a translation mechanism configured to move the ground fork or the aerial fork in a second direction perpendicular to the first direction and the height direction. The translation mechanism includes:

[0060] A carriage, extending along the second direction, disposed on the side of the corresponding second gantry and capable of moving along the height direction,

[0061] The ground fork frame or the aerial fork frame is slidably mounted on the carriage and capable of moving along the second direction.

[0062] In one embodiment, both the ground attachment and the aerial attachment further include an identification unit capable of identifying the specific position and distance of the pallet during picking or placing. The identification unit includes:

[0063] A telescopic rod, fixed to the bottom end of the ground fork frame or the aerial fork frame and capable of telescoping along the height direction; and

[0064] An identification element, fixed to the telescopic end of the telescopic rod and located between two fork monomers of the ground fork or the aerial fork.

[0065] Therefore, the present utility model has the following advantages compared with the prior art:

[0066] According to the handling equipment involved in the present utility model, by setting the gantry to be composed of multiple split gantries that are movably connected, it helps to reduce the bending deformation of a single split gantry, thereby facilitating the improvement of the overall structural strength of the gantry. Furthermore, on the premise of maintaining the stability of the gantry, the designed height of the gantry can be increased. Moreover, the attachment is installed on the second gantry that is farthest from the moving chassis, and the attachment can move along the second gantry in the height direction, so that the attachment and the second gantry cooperate to form two-stage movement. The attachment has a greater moving stroke in the height direction, thereby further increasing the lifting height of the attachment to be able to lift goods at higher positions. Additionally, since attachments are provided on both the first gantry and the second gantry, the handling equipment can fork or transfer multiple pallets at one time, effectively improving the efficiency. Brief Description of the Drawings

[0067] Figure 1 It is a schematic structural diagram of the handling equipment provided in the first embodiment of the present application.

[0068] Figure 2 It is a schematic structural diagram of the gantry provided in the first embodiment of the present application.

[0069] Figure 3 It is a schematic distribution structure diagram of the attachments provided in the first embodiment of the present application.

[0070] Figure 4 It is a schematic structural diagram of the moving chassis provided in the first embodiment of the present application.

[0071] Figure 5 It is a schematic structural diagram of the first gantry provided in the first embodiment of the present application from one perspective.

[0072] Figure 6 It is a schematic structural diagram of the first gantry provided in the first embodiment of the present application from another perspective.

[0073] Figure 7 It is a schematic structural diagram of the third gantry provided in the first embodiment of the present application.

[0074] Figure 8 It is a schematic installation structure diagram of the driven wheel provided in the first embodiment of the present application.

[0075] Figure 9 It is a schematic movement trajectory diagram of the moving chassis for in-situ steering provided in the first embodiment of the present application.

[0076] Figure 10 It is a schematic movement trajectory diagram of the moving chassis for arc steering provided in the first embodiment of the present application.

[0077] Figure 11 It is a schematic installation structure diagram of the counterweight provided in the first embodiment of the present application.

[0078] Figure 12 This is a schematic three-dimensional structure diagram of the ground attachment provided in the first embodiment of the present application.

[0079] Figure 13 This is a schematic three-dimensional structure diagram of the aerial attachment provided in the first embodiment of the present application.

[0080] Figure 14 This is a schematic installation structure diagram of the recognition unit provided in the first embodiment of the present application.

[0081] Figure 15 This is a schematic structure diagram of the warehousing robot provided in the second embodiment of the present application.

[0082] Figure 16 This is a schematic bottom view structure diagram of the moving chassis provided in the second embodiment of the present application.

[0083] Figure 17 This is a schematic structure diagram of the drive wheel set from one perspective provided in the second embodiment of the present application.

[0084] Figure 18 This is a schematic structure diagram of the drive wheel set from another perspective provided in the second embodiment of the present application.

[0085] Figure 19 This is a schematic structure diagram of the auxiliary support provided in the second embodiment of the present application.

[0086] Figure 20 This is a schematic structure diagram of the non-contact charging device and the charging pile provided in the second embodiment of the present application.

[0087] Reference numerals:

[0088] 100, handling equipment;

[0089] 100a, moving chassis;

[0090] 100b, gantry; 10, first gantry; 101, gantry installation space; 11, enclosing part; 12, connecting part; 13, connecting frame; 121, first connecting plate; 20, second gantry; 60, third gantry; 61, limiting part; 62, second connecting plate;

[0091] 100c, attachment; 30, ground attachment; 31, ground fork; 32, ground fork frame; 321, sliding part; 322, mounting part; 33, translation mechanism; 331, sliding frame; 332, drive unit; 332c, rack; 34, recognition unit; 341, telescopic rod; 342, recognition element; 40, aerial attachment; 41, aerial fork; 42, aerial fork frame;

[0092] 50. Load-bearing body; 51. Installation area; 511. Connecting hole; 52. Balance heavy load; 521. Balance weight; 521a. Balance plate; 53. Installation disk; 54. First avoidance hole; 55. Second avoidance hole;

[0093] 100d. Linkage mechanism; 71. Sprocket; 72. Chain;

[0094] 80. Movement mechanism; 801. Driving wheel set; 81. Driving wheel; 811. Driving motor; 812. Connecting block; 813. First gear; 814. Second gear; 82. Driven wheel;

[0095] 100e. Guide unit; 91. Guide wheel;

[0096] 100f. Driving mechanism; 402. Driving chain; 403. Driving sprocket;

[0097] 100g. Non-contact charging pile; 110. Power supply end;

[0098] 100h. Auxiliary support; 501. Floor piece; 502. Lifting drive; 5021. Lifting mounting plate; 5022. Lifting motor; 5023. Lifting speed reducer; 503. Universal wheel mounting plate; 504. Universal wheel bracket;

[0099] 100j. Non-contact charging device; 610. Power receiving end. Specific embodiments

[0100] In order to make the above objects, features, and advantages of the present utility model more obvious and understandable, the specific embodiments of the present utility model will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description in order to fully understand the present utility model. However, the present 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 departing from the connotation of the present utility model. Therefore, the present utility model is not limited by the specific embodiments disclosed below.

[0101] Embodiment 1:

[0102] This embodiment provides a handling device. Figure 1 It is a structural schematic diagram of the handling device in this embodiment; Figure 2 It is a three-dimensional structural schematic diagram of the gantry in this embodiment.

[0103] Refer to Figures 1 to 2, the handling device 100 includes a moving chassis 100a, a mast 100b, and at least two attachments 100c. The mast 100b has a height direction. The mast 100b includes a plurality of sub-masts, which are respectively a first mast 10, a second mast 20, and at least one third mast 60. The first mast 10 is installed on the moving chassis 100a. At least one third mast 60 and the second mast 20 are movably connected in sequence along the height direction and can move along the height direction respectively. At least one attachment 100c is installed on the first mast 10, at least one attachment 100c is installed on the second mast 20, and at least two attachments 100c can move along the sub-mast where they are located in the height direction. It should be noted that Figure 2 The direction indicated by A in

[0104] By setting the mast 100b to be composed of a plurality of movably connected sub-masts, it helps to reduce the bending deformation of a single sub-mast, thereby facilitating the improvement of the overall structural strength of the mast 100b, and further enabling the design height of the mast 100b to be increased on the premise of maintaining the stability of the mast 100b. Furthermore, the attachment 100c is installed on the second mast 20, which is the farthest from the moving chassis 100a, and the attachment 100c can move along the second mast 20 in the height direction, so that the attachment 100c and the second mast 20 cooperate to form a two-stage movement, and the attachment 100c has a greater moving stroke in the height direction, thereby further increasing the lifting height of the attachment 100c to be able to lift the goods at a higher position. Moreover, since the attachments 100c are provided on both the first mast 10 and the second mast 20, the handling device 100 can fork or transfer multiple pallets at one time, effectively improving the efficiency.

[0105] Figure 3 This is a schematic diagram of the distribution structure of the attachments in this embodiment.

[0106] Combined with Figure 3 As shown, the attachments 100c installed on the first mast 10 and the attachments 100c installed on the second mast 20 are respectively located at both ends of the mast 100b in the first direction, and the first direction is the traveling direction of the moving chassis 100a.

[0107] Specifically, the attachment 100c includes a ground attachment 30 and an aerial attachment 40, and each attachment 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 contacts the traveling surface of the moving chassis 100a or the surface below the traveling 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 contacts the upper surface of the moving chassis 100a or is at a certain distance from it.

[0108] Understandably, since the forks of the ground attachment 30 can move downward in the height direction to a first preset position where they contact or are below the walking surface of the load-carrying mobile chassis 100a, and the forks of the ground attachment 30 can move downward in the height direction to a second preset position where they contact or are at a distance from the upper surface of the mobile chassis 100a, the handling device 100 can not only fork pallets on the ground but also fork pallets in the air, with a relatively large scope of application, and the two attachments 100c can work independently.

[0109] Figure 4 This is a schematic structural view of the mobile chassis in this embodiment.

[0110] Combined Figure 2 and Figure 4 As shown, the mobile chassis 100a includes a load-carrying main body 50, an installation area 51 is provided on the load-carrying main body 50, and the first mast 10 is installed in the installation area 51. The installation area 51 is eccentrically arranged with respect to the center line of the load-carrying main body 50 in a first direction and is relatively close to the first end of the load-carrying main body 50 in the first direction. It should be noted that Figure 4 The direction indicated by B in

[0111] is the first direction. Understandably, since the installation area 51 is eccentrically arranged and relatively close to the first end of the load-carrying main body 50 in the first direction, that is, the installation area 51 is relatively close to the edge of the load-carrying main body 50, only two rows of wheels arranged at intervals are provided on one side of the bottom of the load-carrying main body 50, and compared with the prior art, the structure is simpler.

[0112] In one embodiment, a plurality of connection holes 511 are provided at the installation area 51 of the load-carrying main body 50, so that the load-carrying main body 50 is connected to the first mast 10 by bolts.

[0113] Combined Figure 2 and 4 As shown, on both sides of the first mast 10 in the first direction, the ground attachment 30 and the first end of the load-carrying main body 50 in the first direction are on the same side, and the aerial attachment 40 and the second end of the load-carrying main body 50 in the first direction are on the same side.

[0114] Understandably, so as to ensure that the forks of the ground attachment 30 can move downward in the height direction to the first preset position, and the forks of the aerial attachment 40 can move downward in the height direction to the second preset position.

[0115] Figure 5 This is a three-dimensional structural view of the first mast in this embodiment from one perspective.

[0116] In order to achieve the movable connection between the first gantry 10 and the third gantry 60, and between the third gantry 60 and the second gantry 20, a gantry installation space 101 is provided on one of the two movably connected split gantries, and the other split gantry is installed in the gantry installation space 101. The split gantry provided with the gantry installation space 101 includes a surrounding part 11 and a connecting part 12, and the gantry installation space 101 is enclosed by the surrounding part 11 and the connecting part 12.

[0117] Combined with Figure 5 As shown, taking the case where the gantry installation space 101 is provided on the first gantry 10 as an example, the third gantry 60 is correspondingly installed in the gantry installation space 101 on the first gantry 10. The first gantry 10 includes a surrounding part 11 and a connecting part 12, and the gantry installation space 101 is enclosed by the surrounding part 11 and the connecting part 12. Of course, the gantry installation space 101 can also be provided on the third gantry 60, and the first gantry 10 is installed in the gantry installation space 101 of the third gantry 60. The third gantry 60 and the second gantry 20 also adopt the same connection method; when there are two or more third gantries 60, the adjacent third gantries 60 also adopt this connection method, which will not be repeated here.

[0118] It can be understood that the cooperation between the surrounding part 11 and the connecting part 12 forms a gantry installation space 101 on one side of the first gantry 10 to provide an installation space for the third gantry 60.

[0119] Specifically, the second gantry 20 is installed in the third gantry 60, and the gantry installation space 101 on the third gantry 60 is arranged towards the second end of the carrying body 50 to expose the side surface of the second gantry 20 towards the second end of the carrying body 50, so as to facilitate the installation of the aerial attachment 40.

[0120] Combined with Figure 5 As shown, there are two surrounding parts 11. The surrounding parts 11 extend along the first direction, and the two surrounding parts 11 are arranged at intervals along the second direction perpendicular to the height direction. The second direction is perpendicular to the first direction. The connecting part 12 is arranged between the two surrounding parts 11, and the opposite ends of the connecting part 12 are respectively fixed to the two surrounding parts 11. The other split gantry is slidably arranged on the inner walls of the two surrounding parts 11. It should be noted that Figure 3 the direction indicated by C in

[0121] In an embodiment, the two surrounding parts 11 are parallel to each other, the connecting part 12 is perpendicular to the two surrounding parts 11, and the gantry installation space 101 is a rectangular space.

[0122] Combined with Figure 5As shown, the connecting part 12 includes a plurality of first connecting plates 121. The plurality of first connecting plates 121 are arranged at intervals in the height direction. The first connecting plates 121 extend in the second direction, and both ends of the first connecting plates 121 are respectively fixed to the two enclosing parts 11.

[0123] It can be understood that the two enclosing parts 11 are connected together by the plurality of first connecting plates 121, so that the first gantry 10 can form a stable frame structure to carry the third gantry 60, the second gantry 20 and the attachment 100c.

[0124] Figure 6 This is a perspective view of the first gantry in another perspective in this embodiment.

[0125] The gantry 100b further includes a connecting frame 13. The connecting frame 13 is detachably connected to the side of the first gantry 10 facing the ground attachment 30, and the ground attachment 30 is slidably connected to the connecting frame 13. Specifically, the connecting frame 13 can be connected to the first gantry 10 by a plurality of bolts.

[0126] By detachably arranging the connecting frame 13 on the first gantry 10, the flexible disassembly and assembly of the ground attachment 30 are realized. When the ground attachment 30 is not needed, the connecting frame 13 together with the ground attachment 30 can be disassembled; when needed, the connecting frame 13 together with the ground attachment 30 can be installed on the first gantry 10 again.

[0127] Figure 7 This is a perspective view of the third gantry in this embodiment.

[0128] Combined Figure 2 As shown, the second gantry 20 is installed in the gantry installation space 101 of the third gantry 60. The first gantry 10 is located on the outermost side, the second gantry 20 is on the innermost side, and the third gantry 60 is located between the first gantry 10 and the second gantry 20. That is to say, the second gantry 20 and the third gantry 60 adopt basically the same structure. Taking the third gantry 60 as an example, as Figure 7 As shown, the third gantry 60 includes two limiting parts 61 and a plurality of second connecting plates 62. The limiting parts 61 have a height direction and are arranged at intervals in the second direction. The outer walls of the two limiting parts 61 are respectively slidably connected to the inner walls of the two enclosing parts 11. The plurality of second connecting plates 62 are arranged at intervals in the height direction. The second connecting plates 62 extend in the second direction, and both ends of the second connecting plates 62 are respectively fixed to the two limiting parts 61.

[0129] Understandably, two second limiting parts 61 are connected together by a plurality of second connecting plates 62, so that the second gantry 20 and the third gantry 60 can form a stable frame structure. In addition, the sliding connection between the second gantry 20 and the third gantry 60, and between the third gantry 60 and the first gantry 10 can be realized through the cooperation between the limiting part 61 and the enclosing part 11, so that the second gantry 20 can move along the third gantry 60, and the third gantry 60 can move along the first gantry 10 in the height direction.

[0130] Meanwhile, the limiting part 61 and the plurality of second connecting plates 62 can also enclose a gantry installation space 101 to realize the installation of the second gantry 20, or when the second gantry 20 encloses the gantry installation space 101, realize the installation of the aerial attachment 40.

[0131] Please refer to Figure 7 , in order to drive the third gantry 60 to slide along the first gantry 10, the handling device 100 further includes a driving mechanism 100f. The driving mechanism 100f includes a driving part (not shown in the figure), a driving sprocket 403 and a driving chain 402. The driving sprocket 403 is rotatably arranged at the top position of the first gantry 10 in the height direction. The driving chain 402 is wound around the driving sprocket 403. One end of the driving chain 402 extends downward in the height direction and is connected to the driving end of the driving part, and the other end is connected to the bottom position of the third gantry 60 in the height direction. When the driving part pulls the driving chain 402 downward, the third gantry 60 will be pulled upward by the driving chain 402; when the driving part releases the driving chain 402, the third gantry 60 will move downward under the action of gravity. The driving part can specifically adopt a linear driving structure such as an oil cylinder, a cylinder or an electric screw module.

[0132] Please refer to Figure 7 , in order to drive the second gantry 20 to move up and down when the third gantry 60 moves up and down, the handling device further includes a linkage mechanism 100d. The linkage mechanism 100d includes a linkage sprocket 71 and a linkage chain 72. The linkage sprocket 71 is rotatably arranged at the top position of the third gantry 60 in the height direction. The linkage chain 72 is wound around the linkage sprocket 71. One end of the linkage chain 72 is fixed to the first gantry 10, and the other end is fixed to the bottom position of the second gantry 20.

[0133] Understandably, when the third gantry 60 moves in the height direction, it can drive the linkage sprocket 71 thereon to move synchronously. Since one end of the linkage chain 72 is fixed to the third gantry 60, when the linkage sprocket 71 moves with the third gantry 60, it can pull the linkage chain 72 to move the second gantry 20 upward in the height direction or release the linkage chain 72 to move the second gantry 20 downward under the action of gravity, thereby realizing the linkage between the second gantry 20 and the third gantry 60, and the second gantry 20 and the third gantry 60 are in a 2:1 rising height coordination.

[0134] In one embodiment, in order to make the aerial appliance 40 move in linkage with the second gantry 20, the above-mentioned linkage mechanism 100d can also be provided between the second gantry 20 and the aerial appliance 40. The linkage sprocket 71 is rotatably arranged at the top position of the second gantry 20 in the height direction. The linkage chain 72 is wound around the linkage sprocket 71. One end of the linkage chain 72 extends downward in the height direction and is fixed to the third gantry 60, and the other end extends downward in the height direction and is fixed to the aerial appliance 40.

[0135] Understandably, when the second gantry 20 moves relative to the third gantry 60 in the height direction, it can drive the linkage sprocket 71 thereon to move synchronously. Since one end of the linkage chain 72 is fixed to the third gantry 60, when the linkage sprocket 71 moves with the second gantry 20, it can pull the linkage chain 72 to move the aerial appliance 40 upward in the height direction or release the linkage chain 72 to move the aerial appliance 40 downward under the action of gravity, thereby realizing the linkage between the aerial appliance 40 and the second gantry 20, and the aerial appliance 40 and the second gantry 20 are in a 2:1 rising height coordination.

[0136] Figure 8 This is a schematic diagram of the installation structure of the driven wheel in this embodiment.

[0137] Combined with Figure 4 and Figure 8 As shown, the moving chassis 100a further includes a moving mechanism 80. The moving mechanism 80 includes a driving wheel 81 and a driven wheel 82. The driving wheel 81 is rotatably arranged on the carrying body 50 and is relatively close to the first end of the carrying body 50 in the first direction. Part or all of the driving wheel 81 protrudes from the lower surface of the carrying body 50. 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. Part or all of the driven wheel 82 protrudes from the lower surface of the carrying body 50.

[0138] Understandably, through the cooperation between the driving wheel 81 and the driven wheel 82, the moving chassis 100a can move forward, backward, turn, etc.

[0139] Most of the vehicle wheel pressure is on the driving wheel 81, which improves the grip between the driving wheel 81 and the ground, and it is not easy to slip when walking; when the vehicle is driving straight, due to the slight deflection of the driven wheel 82 affected by the ground conditions, the driving wheel 81 is dragged to slide slightly, affecting the straight-line accuracy of the vehicle operation, manifested as serpentine walking. The greater the grip of the driving wheel 81, the less likely this situation occurs; when the vehicle is driving in reverse, especially when changing from front-wheel drive to rear-wheel drive, due to the swing of the driven wheel 82, the vehicle needs to correct the direction. The greater the driving wheel pressure, the greater the correction acceleration, and the easier the correction.

[0140] Figure 9 It is a schematic diagram of the movement trajectory of the mobile chassis turning in place in this embodiment; Figure 10 It is a schematic diagram of the movement trajectory of the mobile chassis turning in an arc in this embodiment.

[0141] Combined with Figures 9 to 10 As shown, the driving wheels 81 include two groups arranged at intervals in the second direction. When the two groups of driving wheels 81 rotate in opposite directions and at the same speed, the mobile chassis 100a performs in-place turning, and at this time, the rotation center is located between the two groups of driving wheels 81.

[0142] In one embodiment, the number of both the driving wheels 81 and the driven wheels 82 is two. The two driving wheels 81 and the driven wheels 82 are respectively arranged at intervals in the second direction. Each driving wheel 81 is connected to a driving motor and a servo controller, and the driven wheel 82 is a universal wheel.

[0143] It should be noted that when the mobile chassis 100a moves, the control system issues an instruction to the servo controller, and the servo controller controls the operation of the two driving motors, thereby driving the two driving wheels 81 to move. When the two driving wheels 81 rotate in the same direction and at the same speed, the vehicle moves forward or backward; when the two driving wheels 81 rotate in opposite directions and at the same speed, the vehicle performs in-place turning; when the two driving wheels 81 rotate in the same direction and at different speeds, the vehicle performs arc turning; when the two driving wheels 81 rotate in opposite directions and at different speeds, the vehicle performs near-circular arc turning. The mobile chassis 100a can execute different operation modes according to the working conditions and scenario requirements to improve efficiency.

[0144] Figure 11 It is a schematic diagram of the installation structure of the counterweight in this embodiment.

[0145] Combined with Figure 11 As shown, balance weight bins 52 are symmetrically arranged at both ends of the load-bearing body 50 in the second direction. The balance weight bins 52 are relatively close to the second end of the load-bearing body 50 in the first direction, and the balance weight bins 52 are configured to carry balance weights 521.

[0146] Understandably, since the center of gravity line after the installation of the gantry 100b is close to the drive wheel 81, that is, close to the first end of the load-bearing body 50 in the first direction, the counterweight bin 52 is relatively close to the second end of the load-bearing body 50 in the first direction. The counterweight 521 in the counterweight bin 52 can balance the gravity exerted by the vehicle 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 to support the gantry 100b.

[0147] Combined with Figure 11 As shown, the counterweight 521 includes a plurality of counterweight plates 521a, and the plurality of counterweight plates 521a are stacked in the counterweight bin 52 in the first direction.

[0148] Understandably, since the installation area 51 and the counterweight bin 52 are spaced apart relative to the first direction, the plurality of counterweight plates 521a stacked in the counterweight bin 52 in the first direction can better balance the gravity exerted by the vehicle on the load-bearing body 50, further ensuring the stability of the load-bearing body 50 to support the vehicle.

[0149] In this embodiment, chamfers are designed around the counterweight plate 521a to avoid the weld protrusions at the corners of various installation areas 51.

[0150] Combined with Figure 4 As shown, the handling device 100 further includes a guiding unit 100e, and the guiding unit 100e is provided at both ends of the load-bearing body 50 in the second direction. The guiding unit 100e includes at least one guiding wheel 91, the guiding wheel 91 is rotatably provided on the load-bearing body 50, and part or all of the guiding wheel 91 protrudes from the side surface of the load-bearing body 50 in the second direction. The rotation plane of the guiding wheel 91 is parallel to the plane defined by the first direction and the second direction.

[0151] Understandably, when the roadway is too narrow, the guiding wheel 91 cooperates with the roadway guide rail, and the guiding 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 roadway.

[0152] In this embodiment, the number of guiding wheels 91 is four, and they are arranged in two groups at both ends of the load-bearing body 50 in the second direction.

[0153] Figure 12 Is the three-dimensional structure schematic diagram of the ground attachment in this embodiment; Figure 13 Is the three-dimensional structure schematic diagram of the aerial attachment in this embodiment.

[0154] The fork of the ground attachment 30 is the ground fork 31. The ground attachment 30 further includes a ground fork carrier 32, which is directly or indirectly connected to the first mast 10. The ground fork 31 is rotatably connected to the ground fork carrier 32, and the rotation axis of the ground fork 31 is parallel to the height direction; and / or,

[0155] The fork of the aerial attachment 40 is the aerial fork 41. The aerial attachment 40 further includes an aerial fork carrier 42, which is connected to the second mast 20. The aerial fork 41 is rotatably connected to the aerial fork carrier 42, and the rotation axis of the aerial fork 41 is parallel to the height direction.

[0156] The ground fork 31 and the aerial fork 41 can rotate respectively within the plane of the vertical height direction, realizing the adjustment of the positions of the ground fork 31 and the aerial fork 41 relative to the movement chassis 100a, and improving the application flexibility.

[0157] The structures of the ground attachment 30 and the aerial attachment 40 are basically the same. Hereinafter, the structure of the ground attachment 30 will be described as an example.

[0158] Specifically, as Figure 12 shown, the ground fork 31 is rotatably connected to the ground fork carrier 32 through a rotating shaft, and the rotating shaft is connected to the output end of a rotating motor. By driving the rotating shaft to rotate through the rotating motor, the ground fork 31 is driven to rotate.

[0159] In an embodiment, the ground fork carrier 32 includes a sliding part 321 and a mounting part 322. The sliding part 321 extends along the height direction and is indirectly or directly connected to the corresponding second mast 20. The mounting part 322 extends along a first direction perpendicular to the height direction, and the ground fork 31 is rotatably arranged on the mounting part 322. Optionally, the mounting part 322 and the sliding part 321 are arranged as an integrally formed or fixedly connected structure.

[0160] Combined with Figure 12 shown, the ground attachment 30 further includes a translation mechanism 33, which is configured to move the ground fork 31 along a second direction. The translation mechanism 33 includes a carriage 331, which extends along the second direction, is arranged on the side of the corresponding second mast 20, and can move along the height direction. The ground fork carrier 32 is slidably mounted on the carriage 331 and can move along the second direction.

[0161] It can be understood that when the carriage 331 moves along the height direction, it can drive the ground fork carrier 32 thereon to move synchronously, so that the ground fork 31 can act to pick up or transfer the pallet in the height direction. In addition, the ground fork carrier 32 can also move relative to the carriage 331 along the second direction, so that the ground fork 31 can act to pick up or transfer the pallet in the second direction.

[0162] In this embodiment, the second direction is the horizontal direction in the use state and is perpendicular to the first direction, and the two fork units of the ground fork 31 are horizontally spaced apart.

[0163] Combined with Figure 12 As shown, the translation mechanism 33 further includes a driving unit 332, and the driving unit 332 is used to drive the ground fork frame 32 to move in the second direction. The driving unit 332 includes a driving motor (not shown in the figure), a gear (not shown in the figure), and a rack 332c. The driving motor is fixed on the ground fork frame 32. The gear is fixed on the output shaft of the driving motor. The rack 332c is fixed on the carriage 331 and extends in the second direction. The gear meshes with the rack 332c.

[0164] It can be understood that when the driving motor rotates, it can drive the gear to rotate. When the gear rotates, under the action of the rack 332c, it can make a rotational motion along the extending direction of the rack 332c, so as to drive the ground fork frame 32 to move in the second direction.

[0165] In this embodiment, the driving motor adopts servo control, which can accurately control the moving distance of the ground fork frame 32. A translation position sensor is arranged on the ground fork frame 32, which can detect the translation position of the ground fork frame 32 and feedback a signal to the ground attachment 30 controller.

[0166] Figure 14 It is a schematic installation structure diagram of the recognition unit in this embodiment.

[0167] Combined with Figures 12 to 14 As shown, both the ground attachment 30 and the aerial attachment 40 further include a recognition unit 34 that can recognize the specific position and distance of the pallet when picking up or placing goods. The recognition unit 34 includes a telescopic rod 341 and a recognition 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 recognition element 342 is fixed to the telescopic end of the telescopic rod 341 and is located between the two fork units of the ground fork 31 or the aerial fork 41.

[0168] It should be noted that the structures of the recognition units 34 of the ground attachment 30 and the aerial attachment 40 are the same. Here, the recognition unit 34 in the ground attachment 30 is taken as an example for illustration.

[0169] It can be understood that through the recognition element 342 in the recognition unit 34, the specific position and distance of the pallet can be recognized when picking up and placing goods, so as to control the corresponding fork to accurately move to the picking and placing position. If there are goods or pallets on the fork blocking the recognition element 342, the telescopic rod 341 can be controlled to extend to drive the recognition element 342 to extend for recognition, and when it is not necessary to extend, the telescopic rod 341 can be controlled to retract.

[0170] In this embodiment, the recognition element 342 is a 3D camera.

[0171] Embodiment 2:

[0172] The second embodiment of the present application provides a handling device, which is basically the same as the handling device in Embodiment 1, except for the structure of the moving chassis 100a.

[0173] Specifically, the moving chassis 100a travels in the first direction, and the first direction is defined as Figure 15 the B direction shown. The first end of the moving chassis 100a faces the forward direction, and the second end of the moving chassis 100a faces the backward direction. Among them, the gantry 100b is arranged on the upper side of the second end of the moving chassis 100a, and the attachment 100c is arranged on the front side of the gantry 100b. After the attachment 100c carries the goods, the center of gravity falls above the moving chassis 100a, which is beneficial to keeping the center of gravity of the warehousing robot stable.

[0174] It should be noted that the embodiments of the present application mainly relate to the improvement of the moving chassis 100a, and there are no restrictions on the specific structures of the gantry 100b and the attachment 100c and their arrangement manners on the moving chassis 100a. The above is an arrangement manner of the gantry 100b and the attachment 100c on the moving chassis 100a. In some other embodiments, the attachment 100c can also be arranged on the rear side of the gantry 100b, or the gantry 100b can be arranged on the first end of the moving chassis 100a.

[0175] Please refer to Figure 16 and Figure 17 , Figure 16 which shows a schematic bottom view structure of the moving chassis 100a provided in an embodiment of the present application; Figure 17 which shows a schematic structure of the drive wheel set 801 in a perspective view provided in an embodiment of the present application.

[0176] The moving chassis 100a includes a load-bearing body 50, a drive wheel set 801, and at least two driven wheels 82. The drive wheel set 801 is arranged on the load-bearing body 50. The drive wheel set 801 includes two drive wheels 81, and each drive wheel 81 is configured with a drive motor 811. The drive motor 811 is used to drive the corresponding drive wheel 81 to rotate, so that the load-bearing body 50 can be transformed between going straight and turning. At least two driven wheels 82 and the drive wheel set 801 are used to support the load-bearing body 50.

[0177] According to the moving chassis 100a involved in the embodiment of the utility model, a driving wheel group 801 is provided on the carrying body 50 to provide driving force for the movement of the carrying body 50. The driving wheel group 801 includes two driving wheels 81. By configuring a driving motor 811 for each driving wheel 81, the two driving wheels 81 can be driven to rotate at different speeds or directions. When the moving chassis 100a needs to go straight, the two driving wheels 81 are rotated in the same direction and at the same speed; when the moving chassis 100a needs to turn, the driving motor 811 is used to drive the two driving wheels 81 to rotate in opposite directions, so that the moving chassis 100a rotates in place with the center point of the rotating shaft of the two driving wheels 81 as the center of the circle, thereby improving the turning flexibility of the moving chassis 100a.

[0178] In one embodiment, if Figure 16 As shown, the moving chassis 100a moves along the first direction, the driving wheel set 801 is arranged at the first end of the carrying body 50 in the first direction, and is arranged at the middle position of the first end in the second direction, the second direction is perpendicular to the first direction, and the second direction is specifically Figure 16 The C direction shown in .

[0179] By setting the driving wheel set 801 at the middle position of the first end, compared with the solution in the prior art in which the two driving wheels 81 are set at the top corners of the supporting body 50, the axle spacing of the two driving wheels 81 is reduced, which is beneficial to reducing the turning radius of the moving chassis 100a, thereby further improving the turning flexibility.

[0180] In one embodiment, two driven wheels 82 are provided. The two driven wheels 82 are provided at the second end of the supporting body 50 in the first direction, and the two driven wheels 82 are provided at intervals on both sides below the supporting body 50 along the second direction.

[0181] The two driven wheels 82 and the driving wheel group 801 form three contact points on the walking surface of the moving chassis 100a. The three-point support structure can keep the three contact points in contact with the walking surface at all times, which is beneficial to maintaining the walking stability of the moving chassis 100a, especially on uneven walking surfaces. The driving wheels 81 and driven wheels 82 of the driving wheel group 801 can float with the ups and downs of the walking surface, but will not detach from the walking surface, thereby preventing the moving chassis 100a from losing balance due to sudden loss of support from a certain support point.

[0182] Combination Figure 15As shown, the gantry 100b and the driven wheels 82 are installed at the same end of the load-carrying body 50, both located at the second end of the load-carrying body 50. The driving wheel 81 is arranged at the first end of the load-carrying body 50. The first end faces the forward direction of the moving chassis 100a, while the second end faces the backward direction of the moving chassis 100a. Therefore, the moving chassis 100a is front-driven and is more flexible in turning and has a smaller turning radius compared to the rear-driven mode.

[0183] The attachment 100c is arranged on the front side of the gantry 100b. During the forward movement of the warehousing robot, the attachment 100c faces forward and can directly move to the front of the shelf. Compared with the solution where the attachment 100c is arranged on the rear side of the gantry 100b, it can be closer to the front shelf.

[0184] Please continue to refer to Figure 16 , in order to make the driving wheel 81 extend out of the lower surface of the load-carrying body 50, a first avoidance hole 54 is provided on the bottom plate of the load-carrying body 50, and the driving wheel 81 extends out from the first avoidance hole 54 so as to be able to contact the walking surface.

[0185] In an embodiment, as Figure 16 shown, the two driven wheels 82 are respectively arranged at the top corners of the second end of the moving chassis 100a, and the driving wheel group 801 is close to the front side edge of the first end of the moving chassis 100a, so that the distance between the two driven wheels 82 and the driving wheel group 801 is kept as large as possible, which is beneficial to improving the stability of the moving chassis 100a.

[0186] Please refer to Figure 18 , Figure 18 which shows a schematic structural view of the driving wheel group 801 provided in an embodiment of the present application from another perspective. For the convenience of installing the driving wheel 81 and the driving motor 811, the driving wheel group 801 further includes a connecting member. The two driving wheels 81 of the driving wheel group 801 are connected by the connecting member so that the rotation axes of the two driving wheels 81 are on a straight line. The connecting member is rotatably connected to the load-carrying body 50 so as to be able to adjust the rotation axes of the two driving wheels 81 to be parallel to the walking surface or form an angle with the walking surface.

[0187] When the walking surface is relatively flat, the contact points of the two drive wheels 81 with the walking surface are on the same plane, and the rotation axes of the two drive wheels 81 are parallel to the walking surface. When the walking surface is uneven, if the rotation axes of the drive wheels 81 cannot be adjusted, it may cause one drive wheel 81 to be in a suspended state due to potholes on the walking surface under the two drive wheels 81, resulting in unstable support. By using the above-mentioned method of pivotally connecting the connecting member to the carrying body 50, the connecting member can drive the two drive wheels 81 to rotate relative to the carrying body 50. When there are potholes on the walking surface under the two drive wheels 81, the connecting member can rotate a certain angle relative to the carrying body 50, thereby driving the two drive wheels 81 to tilt with the pothole state of the walking surface to adapt to the pothole state of the walking surface, so as to keep the two drive wheels 81 always in contact with the walking surface, so that the two drive wheels 81 maintain a stable supporting force on the carrying body 50.

[0188] Specifically, please continue to refer to Figure 17 and Figure 18 , an installation disk 53 is provided on the carrying body 50. The moving chassis 100a further includes a first gear 813, a second gear 814 and a sensor. The first gear 813 and the second gear 814 are meshed and rotatably arranged on the carrying body 50, specifically on the installation disk 53. The connecting member is pivotally connected to the first gear 813. The two drive wheels 81 rotate differentially to drive the connecting member to rotate, and the connecting member rotates to drive the first gear 813 to rotate. The second gear 814 is connected to the sensor to sense the rotation angle of the second gear 814 through the sensor to confirm whether the drive wheels 81 are in a straight-line or turning state. Among them, the sensor can adopt a wire rope encoder.

[0189] Specifically, the connecting member includes a connecting block 812 and a pivot shaft (not shown in the figure). One end of the pivot shaft is pivotally connected to the connecting block 812, and the other end of the pivot shaft is pivotally connected to the first gear 813 to achieve the pivotal connection between the drive wheel 81 and the carrying body 50. The pivot shaft can be set as a flat shaft, which can rotate relative to the connecting block 812 and the first gear 813 in the vertical plane but cannot rotate in the horizontal plane, so as to realize the yaw of the connecting block 812 as the two drive wheels 81 tilt, and can rotate as the connecting block 812 rotates in the horizontal plane.

[0190] In an embodiment, the two drive wheels 81 are respectively arranged on the left and right sides of the connecting block 812, and the two drive motors 811 are respectively arranged on the front and rear sides of the connecting block 812. The distribution of the two drive wheels 81 and the two drive motors 811 on the connecting block 812 is relatively balanced.

[0191] In an embodiment, please return to refer to Figure 16, To ensure the flexibility of steering, the wheelbase L between the two drive wheels 81 is designed to be no greater than 1 / 2 of the width of the load-bearing body 50 in the second direction, and this ratio is generally set within the range of 1 / 3 - 1 / 2.

[0192] During the process of the warehousing robot picking up and placing goods, the attachment 100c may need to rise to a relatively high position, and placing the goods on the attachment 100c or unloading the goods from the attachment 100c will change the center of gravity of the warehousing robot, which is likely to cause the warehousing robot to tilt or even tip over.

[0193] To solve the above problems, please refer to Figure 16 , the mobile chassis 100a further includes an auxiliary support member 100h, which is disposed inside the load-bearing body 50 and can selectively extend out of the lower surface of the load-bearing body 50. When the warehousing robot is moving forward, the auxiliary support member 100h is adjusted to retract upward so that the lower end surface of the auxiliary support member 100h is higher than the lowest points of the drive wheels 81 and the driven wheels 82, that is, to keep the auxiliary support member 100h away from the walking surface to ensure that only the drive wheels 81 and the driven wheels 82 are in contact with the walking surface during the forward movement of the mobile chassis 100a to maintain smooth forward movement. To avoid the auxiliary support member 100h possibly rubbing against the protruding walking surface when moving forward on an uneven walking surface, the auxiliary support member 100h can be retracted into the load-bearing body 50.

[0194] In one embodiment, as Figure 16 shown, there are two sets of auxiliary support members 100h, and the two sets of auxiliary support members 100h are respectively disposed on both sides of the drive wheel set 801 in the second direction, that is, the two sets of auxiliary support members 100h are respectively disposed on the left and right sides of the drive wheel set 801. By providing two sets of auxiliary support members 100h, support points are formed on both sides of the drive wheel set 801, and the support for the load-bearing body 50 is relatively uniform, which is beneficial to further improving the stability of the warehousing robot when picking up and placing goods.

[0195] Optionally, as Figure 16 shown, the auxiliary support member 100h is disposed at the two top corners of the first end of the load-bearing body 50 to further improve the uniformity of the support for the load-bearing body 50.

[0196] Specifically, as Figure 16 shown, a second avoidance hole 55 is provided on the bottom plate of the load-bearing body 50, and the auxiliary support member 100h movably passes through the second avoidance hole 55 to be able to extend out of the lower surface of the load-bearing body 50.

[0197] To be able to realize the telescoping of the auxiliary support member 100h, the structure of the auxiliary support member 100h is designed. Please refer to Figure 16 and Figure 19 , Figure 19The structural schematic diagram of the auxiliary support member 100h provided in an embodiment of the present application is shown. Specifically, the auxiliary support member 100h includes a landing member 501 and a lifting drive member 502. The landing member 501 is used to extend out of the lower surface of the load-bearing body 50. The fixed end of the lifting drive member 502 is arranged on the load-bearing body 50, and the driving end of the load-bearing body 50 is connected to the landing member 501 to drive the landing member 501 to extend out of the lower surface of the load-bearing body 50 or retract into the load-bearing body 50.

[0198] It can be understood that the distance that the landing member 501 extends out of the load-bearing body 50 determines the supporting force of the landing member 501 on the load-bearing body 50. The supporting force provided by the landing member 501 should be consistent with the supporting forces provided by the driving wheel 81 and the driven wheel 82. Excessive or insufficient supporting force is not conducive to the stability of the moving chassis 100a.

[0199] For this reason, the auxiliary support member 100h further includes a pressure sensor (not shown in the figure). The pressure sensor is arranged on the landing member 501 and is configured to sense the pressure value of the landing member 501 on the walking surface of the moving chassis 100a, so as to stop the driving action of the lifting drive member 502 when the pressure value reaches a preset value, thereby controlling the distance that the landing member 501 extends out of the load-bearing body 50, and further ensuring that the landing member 501 provides an appropriate supporting force for the load-bearing body 50.

[0200] In one embodiment, as Figure 19 shown, the lifting drive member 502 includes a lifting mounting plate 5021, a lifting motor 5022 and a lifting reduction gear 5023. The lifting mounting plate 5021 is connected to the inner wall of the load-bearing body 50. The fixed end of the lifting reduction gear 5023 is connected to the lifting mounting plate 5021. The fixed end of the lifting motor 5022 is connected to the fixed end of the lifting reduction gear 5023. The landing member 501 is connected to the output end of the lifting reduction gear 5023. The lifting motor 5022 drives the landing member 501 to lift after being decelerated by the lifting reduction gear 5023.

[0201] Specifically, between the lifting reduction gear 5023 and the landing member 501, the rotational motion of the output end of the lifting reduction gear 5023 is converted into the linear motion of the landing member 501 in the form of a motor lead screw module. This is a conventional structure in the prior art, and its specific structure and working principle will not be described in detail herein.

[0202] After the warehousing robot moves to the position for picking and placing goods, the landing member 501 is driven to descend and support on the walking surface. After that, if it is found that the position of the warehousing robot is inaccurate and micro-adjustment is required. Since the landing member 501 has already supported the ground, it will interfere with the movement of the warehousing robot. It is necessary to raise the landing member 501, and then lower it again after the warehousing robot adjusts its position. The operation is relatively cumbersome and affects the working efficiency of the warehousing robot.

[0203] To this end, in one embodiment, as Figure 19 shown, the landing part 501 is set as a universal wheel, and the universal wheel can rotate 360° on the walking surface. Therefore, the moving chassis 100a can walk when the universal wheel is in contact with the walking surface without raising the universal wheel, thus simplifying the position adjustment steps of the warehousing robot and facilitating saving the operation time for adjusting the position of the warehousing robot.

[0204] To facilitate the installation of the universal wheel, the auxiliary support member 100h further includes a universal wheel mounting plate 503 and a universal wheel bracket 504. The universal wheel mounting plate 503 is connected to the output end of the lifting speed reducer 5023, the universal wheel bracket 504 is rotatably connected to the universal wheel mounting plate 503, and the universal wheel is rotatably arranged on the universal wheel bracket 504.

[0205] In one embodiment, two universal wheels are provided, and the two universal wheels are connected side by side to the universal wheel bracket 504.

[0206] In one embodiment, as Figure 20 shown, for charging convenience, a non-contact charging device 100j is provided on the moving chassis, and the non-contact charging device 100j is used to cooperate with the non-contact charging pile 100g to charge the warehousing robot.

[0207] Specifically, in the workshop environment, a non-contact charging pile 100g is provided. The non-contact charging pile 100g includes a power supply end 110, and the non-contact charging device 100j includes a power receiving end 610. When the warehousing robot needs to be charged, the warehousing robot is moved to the non-contact charging pile 100g, and the power receiving end 610 is aligned with the power supply end 110 to perform charging, which is relatively convenient.

[0208] In one embodiment, a charging plug is further configured on the moving chassis 100a, and the warehousing robot can also be charged by plugging the charging plug into a power source. In actual working conditions, a suitable charging method can be selected according to the actual situation on site.

[0209] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brief description, 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, it should be considered as the scope recorded in this specification.

[0210] The above-described embodiments merely represent several implementation manners of the present utility model. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the utility model patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present utility model, several modifications and improvements can still be made, and these all fall within the protection scope of the present utility model. Therefore, the protection scope of the present utility model patent shall be subject to the appended claims.

Claims

1. A handling device, characterized in that: include: Sports chassis (100a); A gantry (100b) having a height direction, the gantry (100b) comprising a plurality of sub-gantrys, the sub-gantrys being respectively a first gantry (10), a second gantry (20) and at least one third gantry (60), the first gantry (10) being mounted on the moving chassis (100a), and at least one third gantry and the second gantry (20) being movably connected in sequence along the height direction and being capable of moving respectively along the height direction; At least two accessories (100c), at least one of the accessories (100c) is installed on the first door frame (10), at least one of the accessories (100c) is installed on the second door frame (20), and at least two of the accessories (100c) can move in the height direction along the sub-door frame where they are located.

2. The handling equipment according to claim 1, characterized in that: The attachment (100c) installed on the first door frame (10) and the attachment (100c) installed on the second door frame (20) are respectively located at two ends of the door frame (100b) in a first direction, and the first direction is the walking direction of the moving chassis (100a).

3. The handling equipment according to claim 1, characterized in that: The third door frame (60) is provided with one, and the handling equipment further comprises a linkage mechanism (100d), and the linkage mechanism (100d) comprises: a sprocket (71) rotatably disposed on the corresponding third door frame (60) 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 bottom position of the second door frame (20).

4. The handling equipment according to claim 2, characterized in that: The attachments (100c) include ground attachments (30) and aerial attachments (40), and each of the attachments (100c) includes a fork; The ground attachment (30) is directly or indirectly slidably connected to the first gantry (10), and 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 aerial attachment (40) is slidably connected to the second gantry (20), and the fork of the aerial attachment (40) can be moved downward along the height direction to a second preset position. When in the second preset position, the fork is in contact with or a distance from the upper surface of the moving chassis (100a).

5. The handling equipment according to claim 4, characterized in that: The door frame (100b) further comprises a connecting frame (13), wherein the connecting frame (13) is detachably connected to the side of the first door frame (10) facing the ground attachment (30), and the ground attachment (30) is slidably connected to the connecting frame (13).

6. The handling equipment according to claim 4, characterized in that: 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 bearing body (50) in the first direction, and is relatively close to the first end of the bearing body (50) in the first direction.

7. The handling equipment according to claim 6, 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.

8. The handling equipment according to claim 7, characterized in that: A door frame installation space (101) is provided on one of the two movably connected sub-door frames, and the other sub-door frame is installed in the door frame installation space (101). The sub-gantry provided with the gantry installation space (101) comprises an enclosure portion (11) and a connection portion (12), and the gantry installation space (101) is enclosed by the enclosure portion (11) and the connection portion (12).

9. The handling equipment according to claim 8, characterized in that: There are two enclosure parts (11), and the enclosure parts (11) extend along the first direction. The two enclosure parts (11) are spaced apart along a second direction perpendicular to the height direction, and the second direction is perpendicular to the first direction. The connecting part (12) is arranged between the two enclosure parts (11), and the opposite ends of the connecting part (12) are respectively fixed to the two enclosure parts (11), and the other sub-door frame is slidably arranged on the inner walls of the two enclosure parts (11).

10. 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; and A driven wheel (82) is arranged on the bearing body (50) and is relatively close to a second end of the bearing body (50) located in the first direction; The driving wheels (81) include two groups spaced apart along a second direction, wherein the second direction is perpendicular to the first direction and the height direction; when the two groups of driving wheels (81) rotate in opposite directions but at the same speed, the moving chassis (100a) turns, and at this time the rotation center is located between the two groups of driving wheels (81).

11. The handling equipment according to claim 6, characterized in that: The moving chassis (100a) further comprises: A driving wheel set (801) is arranged on the carrying body (50), the driving wheel set (801) comprises two driving wheels (81), each driving wheel (81) is equipped with a driving motor (811), and the driving motor (811) is used to drive the corresponding driving wheel (81) to rotate, so that the carrying body (50) can switch between straight travel and turning; At least two driven wheels (82), at least two of the driven wheels (82) and the driving wheel set (801) are used to support the bearing body (50).

12. The handling device according to claim 11, characterized in that: The two driving wheels (81) of the driving wheel group (801) are connected by a connecting piece so that the rotation axes of the two driving wheels (81) are on a straight line. The connecting piece is pivotally connected to the supporting body (50) so that the rotation axes of the two driving wheels (81) can be adjusted to be parallel to the walking surface or to form an angle with the walking surface.

13. The handling device according to claim 12, characterized in that: The moving chassis (100a) further comprises a first gear (813), a second gear (814) and a sensor; the first gear (813) and the second gear (814) are meshed with each other and are rotatably arranged on the supporting body (50); the connecting member is pivotally connected to the first gear (813); the driving wheel (81) rotates differentially to drive the connecting member to rotate; the rotation of the connecting member drives the first gear (813) to rotate; and the second gear (814) is connected to the sensor.

14. The handling equipment according to claim 11, characterized in that: The moving chassis (100a) moves along a first direction, and the driving wheel set (801) is arranged at a first end of the supporting body (50) in the first direction, and is arranged at a middle position of the first end in a second direction, and the second direction is perpendicular to the first direction.

15. The handling device according to claim 14, characterized in that: The moving chassis (100a) moves along a first direction, the two driven wheels (82) are arranged at the second end of the carrying body (50) in the first direction, and the two driven wheels (82) are arranged at intervals on both sides below the carrying body (50) along the second direction.

16. The handling device according to claim 11, characterized in that: The moving chassis (100a) further comprises: An auxiliary support member (100h), wherein the auxiliary support member (100h) is disposed in the carrying body (50) and can selectively extend out of the lower surface of the carrying body (50).

17. The handling device according to claim 16, characterized in that: The auxiliary support members (100h) are provided in two groups, and the two groups of the auxiliary support members (100h) are respectively arranged on both sides of the driving wheel group (801) in a direction perpendicular to the walking direction of the bearing body (50).

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

19. The handling device according to claim 18, characterized in that: The auxiliary support member (100h) further comprises: A pressure sensor is provided on the ground member (501), and the pressure sensor is configured to sense the pressure value of the ground member (501) on the walking surface of the moving chassis (100a), so as to stop the driving action of the lifting drive member (502) when the pressure value reaches a preset value.

20. The handling device 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), the balancing weight bins (52) are relatively close to the second end of the bearing body (50) in the first direction, and the second direction is perpendicular to the first direction and the height direction; The counterweight compartment (52) is configured to carry a counterweight (521).

21. The handling device according to claim 6, characterized in that: The handling equipment also includes: A guide unit (100e) is arranged on both ends of the bearing body (50) in a second direction, wherein the second direction is perpendicular to the first direction and the height direction; The guide unit (100e) comprises at least one guide wheel (91), the guide wheel (91) being rotatably arranged on the 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.

22. The handling device 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), the ground fork frame (32) is directly or indirectly connected to the first door frame (10), the ground fork (31) is rotatably connected to the ground fork frame (32), and the rotation axis of the ground fork (31) is parallel to the height direction; and / or, The fork of the aerial attachment (40) is an aerial fork (41), and the aerial attachment (40) further comprises an aerial fork frame (42), the aerial fork frame (42) is connected to the second door frame (20), the aerial fork (41) is rotatably connected to the aerial fork frame (42), and the rotation axis of the aerial fork (41) is parallel to the height direction.

23. The handling device 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 first door frame (10) indirectly or directly; The mounting portion (322) extends along the first direction, and the ground fork (31) is fixed on the mounting portion (322).

24. The handling device according to claim 23, 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 a second direction, wherein the second direction is perpendicular to the first direction and the height direction, and the translation mechanism (33) includes: 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.

25. The handling device according to claim 24, 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 releasing 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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