Multi-stage portal frame
The multi-stage gantry design and sprocket chain hydraulic drive solve the problem of limited lifting height of the handling robot's fork, and achieve the ability to transfer higher-level goods.
Patent Information
- Application Number
- CN202422348510.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-29
- Publication Date
- 2025-10-17
- Estimated Expiration
- 2034-08-29
AI Technical Summary
The fork lifting height of existing handling robots is limited, which makes it difficult to meet the needs of transporting high-altitude goods.
A multi-stage gantry is designed, which is composed of multiple movably connected sub-gantry frames. A sprocket chain mechanism and hydraulic drive are used to achieve multi-stage lifting of accessories and increase the lifting height of goods.
The structural strength and stability of the mast are improved, the moving range of the attachment is expanded, and the cargo at a higher position can be lifted.
Smart Images
Figure CN223445169U_ABST
Abstract
Description
[0001] This application is a divisional application of the China invention patent application No. 202422106201.1 with the title of "Handling equipment" and filed on August 29, 2024. TECHNICAL FIELD
[0002] The utility model relates to a multistage portal belongs to intelligent warehousing technical field. BACKGROUND
[0003] With the rapid development of the logistics and warehousing industry, the construction of the stereoscopic warehouse for goods storage is more and more widespread, and various types of intelligent handling robots such as stacker AGV and AMR for stereoscopic warehouse are more and more common, especially the forked intelligent handling robot, the goods are stacked on the pallet, and the goods are transferred by the pallet fork.
[0004] Generally, due to the stability limitation, the lifting height of the fork of the handling robot is limited. SUMMARY
[0005] Therefore, the utility model aims at providing a multistage portal for carrying and driving the tool, which comprises:
[0006] A plurality of sub-portal, the sub-portal is respectively first portal, second portal and at least one third portal, at least one third portal is arranged between the first portal and the second portal, each sub-portal is movably connected in sequence along the height direction and can move along the height direction respectively.
[0007] In one embodiment, one of the two movably connected sub-portal is provided with a portal mounting space, and the other sub-portal is mounted in the portal mounting space.
[0008] The sub-portal provided with the portal mounting space comprises an enclosure part and a connecting part, and the portal mounting space is enclosed by the enclosure part and the connecting part.
[0009] In one embodiment, the enclosure part is two, the enclosure part extends along the first direction, and the two enclosure parts are arranged in the second direction perpendicular to the height direction, the second direction is perpendicular to the first direction, the connecting part is arranged between the two enclosure parts, the opposite ends of the connecting part are fixed with the two enclosure parts respectively, and the other sub-portal is slidably arranged on the inner wall of the two enclosure parts.
[0010] In one embodiment, the door frame further comprises a third door frame, the third door frame is slidably arranged in the door frame mounting space of the first door frame, the second door frame is slidably arranged in the door frame mounting space of the third door frame, the second door frame is used for carrying the first tool, and the first tool is slidably arranged on the second door frame.
[0011] In one embodiment, the door frame further comprises a chain wheel and chain mechanism and a driving mechanism, the chain wheel and chain mechanism and the driving mechanism are used for driving the door frame and the tool to be lifted.
[0012] In one embodiment, the chain wheel and chain mechanism comprises a driving chain wheel and a driving chain, the driving chain wheel is arranged on the first door frame at a top position in the height direction, the driving chain is arranged around the driving chain wheel, one end of the driving chain is connected to the driving end of the driving member in the downward direction of the height direction, and the other end is connected to the third door frame at a bottom position in the height direction.
[0013] In one embodiment, the chain wheel and chain mechanism further comprises a first chain wheel and a first chain, the first chain wheel is rotatably arranged on the third door frame at a top position in the height direction, the first chain is arranged around the first chain wheel, one end of the first chain is fixed to the first door frame, and the other end is fixed to the bottom position of the second door frame.
[0014] In one embodiment, the chain wheel and chain mechanism further comprises a first chain wheel and a first chain, the first chain wheel is rotatably arranged on the second door frame at a top position in the height direction, the first chain is arranged around the first chain wheel, one end of the first chain is fixed to the third door frame in the downward direction of the height direction, and the other end is fixed to the tool in the downward direction of the height direction.
[0015] In one embodiment, the driving mechanism comprises a hydraulic drive connected to the third door frame, the chain wheel and chain mechanism comprises a first chain wheel arranged at the top of the third door frame and a first chain arranged around the first chain wheel, one end of the first chain is fixed to the first door frame, and the other end is fixed to the bottom of the second door frame.
[0016] In one embodiment, the chain wheel and chain mechanism further comprises a second chain wheel and a second chain, the second chain wheel is lifted by the hydraulic drive, the second chain is arranged around the second chain wheel, one end of the second chain is connected to the tool, and the other end is fixed to the second door frame.
[0017] In one embodiment, the door frame further comprises a connecting frame, the connecting frame is detachably connected to the first door frame.
[0018] In one embodiment, the portal frame mounting space is located on one side of the first portal frame, and the connecting frame is located on the other side of the first portal frame, and the connecting frame is used to carry the second accessory, and the second accessory is slidingly arranged on the connecting frame.
[0019] In one embodiment, the portal frame further comprises a driving mechanism, a third sprocket and a third chain, the driving mechanism is mounted on the connecting frame or the first portal frame, the driving mechanism drives the third sprocket to move up and down, the third chain is arranged around the third sprocket, one end of the third chain is fixed on the connecting frame or the first portal frame, and the other end of the third chain is fixed on the second accessory.
[0020] Therefore, the utility model has the following advantages compared with the prior art:
[0021] According to the multi-stage portal frame, the portal frame is composed of a plurality of split portal frames which are movably connected, the bending deformation of a single split portal frame is reduced, the overall structural strength of the portal frame is improved, and the design height of the portal frame is improved under the premise of maintaining the stability of the portal frame. BRIEF DESCRIPTION OF DRAWINGS
[0022] Figure 1 FIG. 1 is a schematic view of a three-stage portal frame according to an embodiment of the present application.
[0023] Figure 2 FIG. 2 is a schematic view of a first portal frame according to an embodiment of the present application.
[0024] Figure 3 FIG. 3 is a schematic view of another first portal frame according to an embodiment of the present application.
[0025] Figure 4 FIG. 4 is a schematic view of a third portal frame according to an embodiment of the present application.
[0026] REFERENCE SIGNS
[0027] 10, first portal frame; 101, portal frame mounting space; 11, enclosing part; 12, connecting part; 121, first connecting plate; 13, connecting frame; 20, second portal frame; 21, hydraulic push rod; 22, second sprocket; 60, third portal frame; 61, limiting part; 62, second connecting plate; 71, first sprocket; 72, first chain. DETAILED DESCRIPTION
[0028] For the above purposes, features and advantages of the present application to be more apparent and understandable, the specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the following description, a number of specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be practiced in a number of different manners other than those described herein, and those skilled in the art can make similar improvements without departing from the spirit of the present application, so the present application is not limited to the specific embodiments disclosed below. Embodiment one
[0029] Figure 1 A schematic diagram of the three-dimensional structure of one of the three gantries in the present embodiment.
[0030] 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, one of the two movably connected sub-gantries is provided with a gantry mounting space 101, and the other sub-gantry is mounted in the gantry mounting space 101. The sub-gantry provided with the gantry mounting space 101 includes an enclosing part 11 and a connecting part 12, and the gantry mounting space 101 is enclosed by the enclosing part 11 and the connecting part 12.
[0031] In combination with Figure 2 As shown in the figure, the third gantry 60 is installed in the gantry mounting space 101 on the first gantry 10. The first gantry 10 includes an enclosing part 11 and a connecting part 12, and the gantry mounting space 101 is enclosed by the enclosing part 11 and the connecting part 12. Of course, the gantry mounting space 101 can also be provided on the third gantry 60, and the first gantry 10 is installed in the gantry mounting 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.
[0032] It can be understood that the gantry mounting space 101 is formed on one side of the first gantry 10 through the cooperation between the enclosing part 11 and the connecting part 12, so as to provide mounting space for the third gantry 60.
[0033] Specifically, the second gantry 20 is installed in the third gantry 60, and the gantry mounting space 101 on the third gantry 60 is arranged towards the second end of the carrying body 50, so as to expose the second gantry 20 towards the side surface of the second end of the carrying body 50, thereby facilitating the installation of the tool.
[0034] In combination with Figures 2-3As shown, the enclosing parts 11 are two, the enclosing parts 11 extend along a first direction, the two enclosing parts 11 are spaced apart along a 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 enclosing parts 11, and opposite ends of the connecting part 12 are fixed with the two enclosing parts 11 respectively. Another door frame is slidingly arranged on the inner wall of the two enclosing parts 11.
[0035] In an embodiment, the two enclosing parts 11 are parallel to each other, the connecting part 12 is perpendicular to the two enclosing parts 11, and the door frame mounting space 101 is a rectangular space.
[0036] In combination Figure 3 As shown, the connecting part 12 includes a plurality of first connecting plates 121, the plurality of first connecting plates 121 are spaced apart along the height direction, the first connecting plates 121 extend along the second direction, and the two ends of the first connecting plates 121 are fixed with the two enclosing parts 11 respectively.
[0037] It can be understood that the two enclosing parts 11 are connected together through the plurality of first connecting plates 121, so that the first door frame 10 can form a stable frame structure to carry the third door frame 60, the second door frame 20 and the tool.
[0038] Figure 2 It is a perspective view of the first door frame from another angle in the embodiment.
[0039] The door frame further includes a connecting frame 13, which is detachably connected to the side of the first door frame 10 facing the tool 30, and the tool is slidingly connected to the connecting frame 13. Specifically, the connecting frame 13 can be connected to the first door frame 10 through a plurality of bolts.
[0040] By detachably arranging the connecting frame 13 on the first door frame 10, flexible disassembly and assembly of the tool can be realized. When the tool is not needed, the connecting frame 13 can be disassembled together with the tool; when needed, the connecting frame 13 can be assembled together with the tool on the first door frame 10.
[0041] Figure 4 It is a perspective view of the third door frame in the embodiment.
[0042] In combination Figure 1As shown, the second gantry 20 is installed in the gantry installation space 101 of the third gantry 60, the first gantry 10 is located at the outermost side, the second gantry 20 is located at the innermost side, and the third gantry 60 is located between the first gantry 10 and the second gantry 20. That is, the second gantry 20 and the third gantry 60 adopt substantially the same structure. Taking the third gantry 60 as an example, the third gantry 60 comprises two limiting portions 61 and a plurality of second connecting plates 62. The limiting portions 61 have a height direction and are spaced apart along the second direction. The outer walls of the two limiting portions 61 are in sliding connection with the inner walls of the two enclosing portions 11, respectively. The plurality of second connecting plates 62 are spaced apart along the height direction. The second connecting plates 62 extend along the second direction, and the two ends of the second connecting plates 62 are fixed to the two limiting portions 61, respectively.
[0043] It can be understood that the two second limiting portions 61 are connected together through the 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 achieved through the cooperation between the limiting portions 61 and the enclosing portions 11, so that the second gantry 20 can move along the height direction along the third gantry 60, and the third gantry 60 can move along the height direction along the first gantry 10.
[0044] Meanwhile, the limiting portions 61 and the plurality of second connecting plates 62 can surround the gantry installation space 101 to achieve the installation of the second gantry 20, or when the second gantry 20 surrounds the gantry installation space 101, the installation of the tool is achieved.
[0045] Please refer to Figure 4 In order to drive the third gantry 60 to slide along the first gantry 10, a driving mechanism (not shown in the figure), a driving sprocket and a driving chain are further included. The driving sprocket is rotationally arranged on the first gantry 10 at a top position in the height direction. The driving chain is wound on the driving sprocket. One end of the driving chain extends downward in the height direction and is connected to the driving end of the driving member. The other end of the driving chain is connected to the third gantry 60 at a bottom position in the height direction. When the driving member pulls the driving chain downward, the third gantry 60 will be pulled upward by the driving chain 402; when the driving member releases the driving chain 402, the third gantry 60 will move downward under the action of gravity. The driving member can be a linear driving structure such as an oil cylinder, an air cylinder or an electric screw rod module.
[0046] Please refer to Figure 1In order to drive the second portal 20 to move up and down when the third portal 60 moves up and down, the handling device further comprises a linkage mechanism, which comprises a first sprocket 71 and a first chain 72. The first sprocket 71 is rotatably arranged on the third portal 60 at a top position in the height direction. The first chain 72 is wound around the first sprocket 71, and one end of the first chain 72 is fixed to the first portal 10, and the other end is fixed to a bottom position of the second portal 20.
[0047] It can be understood that when the third portal 60 moves in the height direction, the first sprocket 71 on the third portal 60 can move synchronously. Since one end of the first chain 72 is fixed to the third portal 60, when the first sprocket 71 moves with the third portal 60, the second portal 20 can be driven to move upward in the height direction by pulling the first chain 72, or the second portal 20 can be driven to move downward under the action of gravity by releasing the first chain 72. Thus, the linkage between the second portal 20 and the third portal 60 is achieved, and the second portal 20 and the third portal 60 are in a 2:1 height rising cooperation.
[0048] In an embodiment, in order to drive the tool to move with the second portal 20, the chain and sprocket mechanism described above can be further arranged between the second portal 20 and the tool. The chain and sprocket mechanism comprises a first sprocket 71 and a first chain 72. The first sprocket 71 is rotatably arranged on the second portal 20 at a top position in the height direction. The first chain 72 is wound around the first sprocket 71, and one end of the first chain 72 extends downward in the height direction and is fixed to the third portal 60, and the other end extends downward in the height direction and is fixed to the aerial tool 40.
[0049] It can be understood that when the second portal 20 moves in the height direction relative to the third portal 60, the first sprocket 71 on the second portal 20 can move synchronously. Since one end of the first chain 72 is fixed to the third portal 60, when the first sprocket 71 moves with the second portal 20, the tool can be driven to move upward in the height direction by pulling the first chain 72, or the tool can be driven to move downward under the action of gravity by releasing the first chain 72. Thus, the linkage between the tool and the second portal 20 is achieved, and the tool and the second portal 20 are in a 2:1 height rising cooperation. Embodiment Two
[0050] Reference Figures 1-4As shown, the hydraulic drive is used to drive the lifting of the third mast 60, the second mast 20 and the tool, and the drive mechanism includes a hydraulic drive connected to the third mast 60. The chain wheel and chain mechanism includes a first chain wheel 71 arranged at the top of the third mast 60 and a first chain 72 wound around the first chain wheel 71. One end of the first chain 72 is fixed to the first mast 10, and the other end is fixed to the bottom of the second mast 20. The hydraulic push rod is connected to the third mast 60, and the third mast 60 is pushed along the first mast 10 by the hydraulic push rod. The top of the third mast 60 is provided with the first chain wheel 71 and the first chain 72 wound around the first chain wheel 71. One end of the first chain 72 is connected to the bottom of the second mast 20, and the other end is fixed to the first mast 10. When the hydraulic push rod pushes the third mast 60 to move upward along the first mast 10, the first chain wheel 71 and the first chain 72 are driven at the same time, and the second mast 20 is lifted. At this time, the third mast 60 is lifted by one height, and the second mast 20 is lifted by two heights.
[0051] The chain wheel and chain mechanism also includes a second chain wheel arranged to be lifted by a hydraulic drive and a second chain wound around the second chain wheel. One end of the second chain is connected to the tool, and the other end is fixed to the second mast 20. In order to move the tool up and down along the second mast 20, a hydraulic device is installed on the second mast 20. The hydraulic device is fixedly installed on the second mast 20, and a hydraulic push rod is arranged on the hydraulic device. A second chain wheel is arranged on the hydraulic push rod, and a second chain is wound around the second chain wheel. One end of the second chain is fixed to the tool, and the other end is fixed to the second mast 20. When the hydraulic push rod drives the second chain wheel to move upward, the tool moves upward along the second mast 20 under the driving action of the second chain wheel and the second chain. Similarly, when the hydraulic push rod drives the second chain wheel to move downward, the tool moves downward along the second mast 20.
[0052] In order to move the second tool up and down on the connecting frame 13, the driving principle of the second tool on the connecting frame 13 can be the same as the moving principle of the first tool on the second mast 20. A third chain wheel and a third chain are arranged, and a hydraulic device is arranged on the connecting frame 13 or the first mast 10. The hydraulic device includes a hydraulic push rod that drives the third chain wheel to move up and down. The third chain is wound around the third chain wheel, and one end of the third chain is fixed to the connecting frame 13 or the first mast 10. The other end of the third chain is fixed to the second tool. When the hydraulic push rod drives the third chain wheel to move upward, the second tool moves upward along the connecting frame 13 under the driving action of the third chain wheel and the third chain. Similarly, when the hydraulic push rod drives the third chain wheel to move downward, the second tool moves downward along the connecting frame 13. The hydraulic device, the third chain wheel and the third chain are not shown in the drawing.
[0053] In another embodiment, in order to make the second tool move up and down on the connecting frame 13, the connecting frame 13 or the first gantry 10 is provided with a hydraulic device, which includes a hydraulic push rod directly pushing the second tool to ascend and descend along the connecting frame 13. The first tool and the second tool are not shown in the drawings.
[0054] The above embodiments only express several implementation manners of the utility model, the description is more specific and detailed, but it cannot be understood as the limitation of the utility model patent range. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the utility model, a number of modifications and improvements can be made, which belong to the protection range of the utility model. Therefore, the protection range of the utility model patent should be subject to the appended claims.
Claims
1. A mast for carrying and driving attachments, characterized in that: include: Multiple sub-gantry frames, which are respectively a first gantry, a second gantry and at least one third gantry, at least one third gantry is arranged between the first gantry and the second gantry, and each sub-gantry is movably connected in sequence along the height direction and can be moved along the height direction respectively.
2. The door frame according to claim 1, characterized in that One of the two movably connected sub-door frames is provided with a door frame installation space, and the other sub-door frame is installed in the door frame installation space. The sub-gantry provided with the gantry installation space includes an enclosure portion and a connecting portion, and the gantry installation space is enclosed by the enclosure portion and the connecting portion.
3. The door frame according to claim 2, characterized in that There are two enclosure parts, each of which extends along a first direction. The two enclosure parts 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 is arranged between the two enclosure parts, and the opposite ends of the connecting part are respectively fixed to the two enclosure parts. The other sub-door frame is slidably arranged on the inner walls of the two enclosure parts.
4. The door frame according to claim 2, characterized in that The sub-gantry includes a third gantry, which is slidably arranged in the gantry installation space of the first gantry, and the second gantry is slidably arranged in the gantry installation space of the third gantry. The second gantry is used to carry a first accessory, and the first accessory is slidably arranged on the second gantry.
5. The door frame according to claim 1, characterized in that The door frame also includes a sprocket chain mechanism and a driving mechanism, and the sprocket chain mechanism and the driving mechanism are used to drive the door frame and accessories to rise and fall.
6. The door frame according to claim 5, characterized in that The sprocket and chain mechanism includes a driving sprocket and a driving chain. The driving sprocket is arranged at the top position in the height direction of the first gantry. The driving chain is wound around the driving sprocket. One end of the driving chain extends downward in the height direction and is connected to the driving end of the driving member, and the other end is connected to the bottom position in the height direction of the third gantry.
7. The door frame according to claim 6, characterized in that The sprocket chain mechanism also includes a first sprocket and a first chain. The first sprocket is rotatably arranged at the top position in the height direction on the third door frame. The first chain is wound around the first sprocket. One end of the first chain is fixed to the first door frame, and the other end is fixed to the bottom position of the second door frame.
8. The door frame according to claim 7, characterized in that The first sprocket is rotatably arranged on the second gantry at the top position in the height direction, the first chain is wound around the first sprocket, one end of the first chain extends downward in the height direction and is fixed to the third gantry, and the other end extends downward in the height direction and is fixed to the attachment.
9. The door frame according to claim 5, characterized in that The driving mechanism includes a hydraulic drive, which is connected to the third gantry. The sprocket chain mechanism includes a first sprocket arranged on the top of the third gantry and a first chain wrapped around the first sprocket. One end of the first chain is fixed to the first gantry, and the other end is fixed to the bottom of the second gantry.
10. The door frame according to claim 9, characterized in that The sprocket chain mechanism also includes a second sprocket and a second chain. The second sprocket is raised and lowered by hydraulic drive. The second chain is wrapped around the second sprocket. One end of the second chain is connected to the attachment, and the other end is fixed to the second door frame.
11. The door frame according to claim 1, characterized in that The door frame also includes a connecting frame, and the connecting frame is detachably connected to the first door frame.
12. The door frame according to claim 11, characterized in that The door frame installation space is located on one side of the first door frame, and the connecting frame is located on the other side of the first door frame. The connecting frame is used to carry the second attachment, and the second attachment is slidably set on the connecting frame.
13. The door frame according to claim 12, characterized in that The gantry also includes a driving mechanism, a third sprocket and a third chain. The driving mechanism is installed on the connecting frame or the first gantry. The driving mechanism pushes the third sprocket to move up and down. The third chain is wrapped around the third sprocket. One end of the third chain is fixed on the connecting frame or the first gantry, and the other end of the third chain is fixed to the second attachment.