Multi-stage portal lifting device of storage robot

Abstract

The utility model belongs to the technical field of robots, and particularly relates to a multistage gantry lifting device of a storage robot, which comprises a gantry assembly arranged in a lifting manner and a rotary pallet fork mounted at the tail end of the gantry assembly, and the gantry assembly at least comprises four stages of gantry single bodies which can be close to or far away from each other; a driving mechanism for driving the first-stage door frame single body and the fourth-stage door frame single body to be close to each other or away from each other is arranged between the first-stage door frame single body and the fourth-stage door frame single body; linkage traction mechanisms are arranged among at least four stages of portal frame single bodies and are used for generating a linkage effect when the driving mechanism drives the fourth-stage portal frame single body to ascend and descend and sequentially driving the third-stage portal frame single body and the second-stage portal frame single body to ascend and descend; according to the gantry assembly, the gantry assembly is divided into at least four stages of gantry single bodies which can be close to or away from each other, so that the lifting stroke can be greatly increased, meanwhile, the driving mechanism and the linkage traction mechanism are matched, lifting of the four stages of gantry single bodies can be achieved through one driving mechanism, the overall structure is simplified, and overall energy consumption is reduced.

Description

Technical Field

[0001] This utility model belongs to the field of robotics, specifically relating to a multi-stage gantry lifting device for a warehouse robot. Background Technology

[0002] Chinese patent CN216577877U discloses a palletizing gantry robot, including a frame. The lower end of the frame is provided with two symmetrically arranged forks. The forks are connected to the frame through connecting arms. The connecting arms are driven by a power component to achieve relative or opposite movements. This application achieves the lifting of goods by raising and lowering the connecting arms, but it can only achieve one level of lifting, resulting in a limited lifting stroke. Utility Model Content

[0003] The technical problem to be solved by this utility model is: in order to solve the problem that the existing gantry robot can only achieve one level of lifting and lifting, resulting in a limited lifting stroke, in order to solve the problem that the gantry robot can only achieve one level of lifting and lifting. A multi-level gantry lifting device for warehouse robots is provided.

[0004] The technical solution adopted by this utility model to solve its technical problem is: a multi-level gantry lifting device for a warehouse robot, including a gantry assembly with lifting and a rotating fork installed at the end of the gantry assembly to grab goods.

[0005] The gantry assembly includes at least four levels of gantry units that can move closer to or further away from each other, and a drive mechanism is provided between the first-level gantry unit and the fourth-level gantry unit among the at least four levels of gantry units to drive them to move closer to or further away from each other.

[0006] Furthermore, at least four levels of gantry units are equipped with a linkage traction mechanism, which is used to generate a linkage effect when the drive mechanism drives the fourth level gantry unit to rise and fall, and sequentially drive the third level gantry unit and the second level gantry unit to rise and fall.

[0007] Furthermore, the drive mechanism includes a drive motor mounted on the first-level gantry unit, a winding wheel connected to the output end of the drive motor, and a belt wound around the winding wheel. One end of the belt is fixed to the winding wheel, and the other end is fixed to the fourth-level gantry unit.

[0008] Furthermore, there are at least two linkage pulling mechanisms, namely a first linkage pulling mechanism and a second linkage pulling mechanism. The first linkage pulling mechanism is disposed between the first-level gantry unit, the third-level gantry unit, and the fourth-level gantry unit, and the second linkage pulling mechanism is disposed between the second-level gantry unit and the third-level gantry unit.

[0009] Furthermore, the first linkage traction mechanism includes a first sprocket fixed on the third-level gantry unit and a first chain wound around the first sprocket, with one end of the first chain fixed to the first-level gantry unit and the other end fixed to the fourth-level gantry unit.

[0010] Furthermore, the second linkage traction mechanism includes a second sprocket fixed on the second-level gantry unit and a second chain wound around the second sprocket, with one end of the second chain fixed to the second-level gantry unit and the other end fixed to the third-level gantry unit.

[0011] Furthermore, the bottom of the fourth-level mast unit is fixed with a web plate, and both ends of the web plate are equipped with rotary motors for driving the rotary forks to rotate, extend, or retract.

[0012] Furthermore, in two adjacent gantry units, the lower-level gantry unit is located inside the upper-level gantry unit, and a guide structure and a limiting structure are provided between the two adjacent units. The guide structure is a combination of slide rail and slider.

[0013] Furthermore, the rotating fork is formed with a slot for the positioning pin on the feed frame to engage.

[0014] The beneficial effects of this utility model are: this application divides the gantry assembly into at least four levels of gantry units that can approach or move away from each other, thereby greatly increasing the lifting stroke. At the same time, by using the drive mechanism and the linkage traction mechanism, the lifting and lowering of the four levels of gantry units can be achieved through a single drive mechanism, which simplifies the overall structure and saves overall energy consumption.

[0015] Other features and advantages of this application will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0017] Figure 1 This is a three-dimensional schematic diagram of the present invention;

[0018] Figure 2 This is the front view of this utility model;

[0019] Figure 3 This is a top view of the present invention;

[0020] Figure 4 This is a side view of the present invention;

[0021] In the picture:

[0022] 1. First-level gantry unit;

[0023] 2. Second-level gantry unit;

[0024] 3. Third-level gantry unit;

[0025] 4. Fourth-level gantry unit;

[0026] 5. Drive mechanism; 501. Take-up reel; 502. Belt;

[0027] 6. Rotating forks; 601. Slots;

[0028] 7. First linkage traction mechanism; 701. First sprocket; 702. First chain;

[0029] 8. Second linkage traction mechanism; 801. Second sprocket; 802. Second chain;

[0030] 9. Web;

[0031] 10. Rotary electric motor;

[0032] 11. Guiding structure. Detailed Implementation

[0033] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the present invention. Therefore, they only show the components relevant to the present invention. Orientations and references (e.g., up, down, left, right, etc.) are only used to aid in the description of the features in the drawings. Therefore, the following specific embodiments are not intended to be restrictive, and the scope of the claimed subject matter is defined solely by the appended claims and their equivalents.

[0034] like Figures 1-4 As shown, a multi-stage gantry lifting device for a warehouse robot includes a gantry assembly with lifting and lowering configuration and a rotating fork 6 installed at the end of the gantry assembly to grab goods.

[0035] The gantry assembly includes at least four levels of gantry units that can move closer to or further away from each other, namely, first-level gantry unit 1, second-level gantry unit 2, third-level gantry unit 3 and fourth-level gantry unit 4, which are distributed from top to bottom, and a drive mechanism 5 is provided between the first-level gantry unit 1 and the fourth-level gantry unit 4 to drive them to move closer to or further away from each other.

[0036] Furthermore, at least four levels of gantry units are equipped with a linkage traction mechanism, which is used to generate a linkage effect when the drive mechanism 5 drives the fourth-level gantry unit 4 to rise and fall, and sequentially drive the third-level gantry unit 3 and the second-level gantry unit 2 to rise and fall, thereby realizing the overall lifting and falling of the gantry assembly to drive the lifting and falling of goods. This application divides the gantry assembly into at least four levels of gantry units that can approach or move away from each other, thereby significantly increasing the lifting stroke. At the same time, by using the drive mechanism 5 and the linkage traction mechanism in cooperation, the lifting and falling of four levels of gantry units can be realized through one drive mechanism 5, which simplifies the overall structure and saves energy consumption.

[0037] In some examples, the drive mechanism 5 includes a drive motor mounted on the first-level gantry unit 1, a take-up reel 501 connected to the output end of the drive motor, and a belt 502 wound around the take-up reel 501 (only part of the belt 502 is shown in the figure for clarity). One end of the belt 502 is fixed to the take-up reel 501, and the other end is fixed to the fourth-level gantry unit 4. When the drive motor is started, it drives the take-up reel 501 to rotate so as to realize the take-up or unwinding of the belt 502 on it. When the belt 502 is wound up, it can drive the fourth-level gantry unit 4 to rise, and when the belt 502 is unwound, it can drive the fourth-level gantry unit 4 to fall.

[0038] In some examples, there are at least two linkage traction mechanisms, namely a first linkage traction mechanism 7 and a second linkage traction mechanism 8. The first linkage traction mechanism 7 is disposed between the first-level gantry unit 1, the third-level gantry unit 3, and the fourth-level gantry unit 4. The second linkage traction mechanism 8 is disposed between the second-level gantry unit 2 and the third-level gantry unit 3. When the drive mechanism 5 drives the fourth-level gantry unit 4 to rise and fall, the fourth-level gantry unit 4 can drive the third-level gantry unit 3 to rise and fall through the first linkage traction mechanism 7. The third-level gantry unit 3 can drive the second-level gantry unit 2 to rise and fall through the second linkage traction mechanism 8, thereby realizing the overall raising and lowering of the gantry assembly.

[0039] In some examples, the first linkage traction mechanism 7 includes a first sprocket 701 fixed on the third-level gantry unit 3 and a first chain 702 wound around the first sprocket 701. One end of the first chain 702 is fixed to the first-level gantry unit 1 and the other end is fixed to the fourth-level gantry unit 4. The third-level gantry unit 3 includes two opposing third door panels and a third connecting plate connected between the two third door panels. The first sprocket 701 is mounted on the third connecting plate.

[0040] When the drive mechanism 5 drives the fourth-level gantry unit 4 to rise, the first chain 702 on the side where the fourth-level gantry unit 4 is located extends, and the first chain 702 on the side where the first-level gantry unit 1 is located shortens, thereby driving the first sprocket 701 to rise, and the third-level gantry unit 3, which is fixed to the first sprocket 701, rises synchronously.

[0041] When the drive mechanism 5 drives the fourth-level gantry unit 4 to descend, the first chain 702 on the side where the fourth-level gantry unit 4 is located shortens, and the first chain 702 on the side where the first-level gantry unit 1 is located extends, thereby driving the first sprocket 701 to descend, and the third-level gantry unit 3, which is fixed to the first sprocket 701, descends synchronously.

[0042] In some examples, the second linkage traction mechanism 8 includes a second sprocket 801 fixed on the second-level gantry unit 2 and a second chain 802 wound around the second sprocket 801. One end of the second chain 802 is fixed to the second-level gantry unit 2 and the other end is fixed to the third-level gantry unit 3. The second-level gantry unit 2 includes two second door panels arranged opposite each other and a second connecting plate connected between the two second door panels. The second sprocket 801 is mounted on the second connecting plate.

[0043] When the third-level gantry unit 3 rises, the second chain 802 on the side where the third-level gantry unit 3 is located extends, and the second chain 802 on the side where the second-level gantry unit 2 is located shortens, thereby driving the second sprocket 801 to rise, and the second-level gantry unit 2 fixed with the second sprocket 801 rises synchronously.

[0044] When the third-level gantry unit 3 descends, the second chain 802 on the side where the third-level gantry unit 3 is located shortens, and the second chain 802 on the side where the second-level gantry unit 2 is located extends, thereby driving the second sprocket 801 to descend, and the second-level gantry unit 2, which is fixed to the second sprocket 801, descends synchronously.

[0045] In some examples, the bottom of the fourth-level mast unit 4 is fixed with a web plate 9, and both ends of the web plate 9 are equipped with rotary motors 10 for driving the rotary forks 6 to rotate, extend or retract. There are two rotary motors 10 and two rotary forks 6, and they correspond one-to-one. When it is necessary to grab goods, the rotary motor 10 drives its corresponding rotary fork 6 to rotate and extend from the web plate 9 and be perpendicular to the web plate 9 to support the goods. After grabbing is completed, the rotary motor 10 drives its corresponding rotary fork 6 to rotate and retract and be parallel to the web plate 9 to avoid scratching people or goods.

[0046] In some examples, the lower-level gantry unit in two adjacent gantry units is located inside the upper-level gantry unit. That is, the second-level gantry unit 2 is located inside the first-level gantry unit 1, the third-level gantry unit 3 is located inside the second-level gantry unit 2, and the fourth-level gantry unit 4 is located inside the third-level gantry unit 3. Furthermore, a guide structure 11 and a limiting structure are provided between adjacent units. The guide structure 11 is a combination of slide rail and slider, which can guide the lifting and lowering movement of the gantry unit. The limiting structure can restrict the movement stroke of the gantry unit to prevent slippage between adjacent gantry units.

[0047] In some examples, the rotating fork 6 is formed with a slot 601 for the positioning post on the feed frame to engage, and the slots 601 on the two rotating forks 6 are opposite to each other. During the rotation and extension of the rotating fork 6, the positioning post on the feed frame gradually engages with the slot 601 to position the feed frame laterally, so as to prevent it from moving laterally during the handling process. At the same time, the rotating fork 6 supports the bottom of the feed frame to grab the feed frame.

[0048] Working principle:

[0049] When the drive motor is started, the winding wheel 501 is driven to wind up, and the belt 502 on it drives the fourth-level gantry unit 4 to rise. The first chain 702 on the side where the fourth-level gantry unit 4 is located extends, and the first chain 702 on the side where the first-level gantry unit 1 is located shortens, thereby driving the first sprocket 701 to rise. The third-level gantry unit 3, which is fixed to the first sprocket 701, rises synchronously. Then, the second chain 802 on the side where the third-level gantry unit 3 is located extends, and the second chain 802 on the side where the second-level gantry unit 2 is located shortens, thereby driving the second sprocket 801 to rise. The second-level gantry unit 2, which is fixed to the second sprocket 801, rises synchronously, thereby realizing the overall rise of the gantry assembly.

[0050] When the drive motor is started, the winding wheel 501 unwinds, and the belt 502 on it drives the fourth-level gantry unit 4 to descend. The first chain 702 on the side where the fourth-level gantry unit 4 is located shortens, and the first chain 702 on the side where the first-level gantry unit 1 is located extends, thereby driving the first sprocket 701 to descend. The third-level gantry unit 3, which is fixed to the first sprocket 701, descends synchronously. Then, the second chain 802 on the side where the third-level gantry unit 3 is located shortens, and the second chain 802 on the side where the second-level gantry unit 2 is located extends, thereby driving the second sprocket 801 to descend. The second-level gantry unit 2, which is fixed to the second sprocket 801, descends synchronously, thereby realizing the overall descent of the gantry assembly.

[0051] The above description, based on the preferred embodiments of this utility model, provides inspiration. Those skilled in the art can make various changes and modifications without departing from the technical concept of this utility model. The technical scope of this utility model is not limited to the contents of the specification but must be determined according to the claims.

Claims

1. A multi-stage gantry lifting device for a warehouse robot, characterized in that: Includes a gantry assembly with lifting mechanism and a rotating fork (6) installed at the end of the gantry assembly to grab goods. The gantry assembly includes at least four levels of gantry units that can move closer to or further away from each other, and a drive mechanism (5) is provided between the first-level gantry unit (1) and the fourth-level gantry unit (4) of the at least four levels of gantry units to drive them to move closer to or further away from each other. Furthermore, at least four gantry units are provided with a linkage traction mechanism, which is used to generate a linkage effect when the drive mechanism (5) drives the fourth gantry unit (4) to rise and fall, and sequentially drives the third gantry unit (3) and the second gantry unit (2) to rise and fall.

2. The multi-stage gantry lifting device for a warehouse robot according to claim 1, characterized in that: The drive mechanism (5) includes a drive motor mounted on the first-level gantry unit (1), a winding wheel (501) connected to the output end of the drive motor, and a belt (502) wound around the winding wheel (501). One end of the belt (502) is fixed to the winding wheel (501), and the other end is fixed to the fourth-level gantry unit (4).

3. The multi-stage gantry lifting device for a warehouse robot according to claim 1, characterized in that: There are at least two linkage traction mechanisms, namely a first linkage traction mechanism (7) and a second linkage traction mechanism (8). The first linkage traction mechanism (7) is located between the first-level gantry unit (1), the third-level gantry unit (3) and the fourth-level gantry unit (4). The second linkage traction mechanism (8) is located between the second-level gantry unit (2) and the third-level gantry unit (3).

4. The multi-stage gantry lifting device for a warehouse robot according to claim 3, characterized in that: The first linkage traction mechanism (7) includes a first sprocket (701) fixed on the third-level gantry unit (3) and a first chain (702) wound around the first sprocket (701), and one end of the first chain (702) is fixed to the first-level gantry unit (1) and the other end is fixed to the fourth-level gantry unit (4).

5. The multi-stage gantry lifting device for a warehouse robot according to claim 3, characterized in that: The second linkage traction mechanism (8) includes a second sprocket (801) fixed on the second-level gantry unit (2) and a second chain (802) wound around the second sprocket (801), with one end of the second chain (802) fixed to the second-level gantry unit (2) and the other end fixed to the third-level gantry unit (3).

6. The multi-stage gantry lifting device for a warehouse robot according to claim 1, characterized in that: The bottom of the fourth-level mast unit (4) is fixed with a web plate (9), and both ends of the web plate (9) are equipped with a rotary motor (10) for driving the rotary forks (6) to rotate, extend or retract.

7. The multi-stage gantry lifting device for a warehouse robot according to claim 1, characterized in that: In two adjacent gantry units, the lower gantry unit is located inside the upper gantry unit, and a guide structure (11) and a limiting structure are provided between the two adjacent units. The guide structure (11) is a combination of slide rail and slider.

8. A multi-stage gantry lifting device for a warehouse robot according to claim 1, characterized in that: The rotating fork (6) has a slot (601) for the positioning pin on the feed frame to engage.

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