Two-stage gantry device and magazine handling robot

Abstract

The embodiment of the application discloses a two-stage gantry device and a material box carrying robot. The two-stage gantry device comprises an outer gantry unit and an inner gantry unit, the top end and the bottom end of the outer gantry unit are respectively provided with a first chain wheel and a driving wheel, the first chain wheel and the driving wheel are in transmission connection through a driving chain, the top end of the inner gantry unit is provided with a second chain wheel, and the bottom end is fixedly connected with the driving chain; one end of a lifting chain is fixed to the top end of the outer gantry unit, and the other end is fixedly installed with a lifting assembly after passing around the second chain wheel; in this way, the driving wheel can drive the inner gantry unit to ascend and descend relative to the outer gantry unit through the driving chain, and at the same time, the inner gantry unit can also drive the lifting assembly to ascend and descend relative thereto; since the speed reduction process caused by the abutment between the lifting assembly and the inner gantry unit is avoided, and the ascending and descending speed of the lifting assembly in the embodiment is twice the ascending and descending speed of the inner gantry unit, the lifting efficiency is greatly improved.

Description

Technical Field

[0001] This utility model relates to the field of logistics technology, and in particular to a bidirectional telescopic fork assembly and a bin handling robot. Background Technology

[0002] The bin handling robot used for bin inbound and outbound operations is equipped with a gantry device. The bin handling device then moves up and down along the gantry device to dock with storage locations at different heights on the shelves. In order to increase the lifting range of the bin handling device, the current gantry device is usually a two-stage gantry, that is, the outer gantry is fixed to the chassis of the bin handling robot, and the inner gantry can be raised and lowered relative to the outer gantry, thereby expanding the lifting range of the bin handling device.

[0003] In the relevant scheme, the inner gantry rises relative to the outer gantry by means of the abutment and pulling of the lifting component. That is, during the rising process, the lifting component will first abut against the inner gantry, and then the outer gantry can continue to lift the lifting component and the inner gantry together within a range exceeding its height.

[0004] However, it was found that the lifting assembly needs to come into contact with the inner gantry during the ascent process. This requires the lifting assembly to reduce its lifting speed when it reaches the contact position to reduce the impact between the lifting assembly and the inner gantry. As a result, the lifting efficiency is low due to the deceleration process and contact with the inner gantry during the ascent process. Utility Model Content

[0005] To address at least one aspect of the aforementioned technical problems, embodiments of this application provide a two-stage gantry device and a bin-handling robot. The two-stage gantry device includes an outer gantry unit and an inner gantry unit that is slidably mounted vertically to the outer gantry unit. The top and bottom ends of the outer gantry unit are respectively provided with a first sprocket and a drive wheel, and the first sprocket and the drive wheel are connected by a drive chain. The top end of the inner gantry unit is provided with a second sprocket, and the bottom end is fixedly connected to the drive chain. Then, one end of a lifting chain is fixed to the top end of the outer gantry unit, and the other end of the lifting chain is fixedly mounted with a lifting component after passing over the second sprocket at the top end of the inner gantry unit. In this way, the drive wheel can drive the inner gantry unit to move up and down relative to the outer gantry unit through the drive chain. At the same time, the inner gantry unit also drives the lifting component to move up and down relative to the inner gantry unit through the transmission connection between the second sprocket and the lifting chain.

[0006] In this embodiment, it can be seen that during the lifting process, since the lifting component does not need to contact the inner gantry unit and pull or drive the inner gantry unit to rise, the lifting component does not need to decelerate, thus improving the lifting efficiency. Furthermore, it can be understood that compared with other secondary gantry devices, the secondary gantry device provided in this embodiment has a simple structure and a smaller weight for the inner gantry unit. Thus, with a fixed motor power, the lifting speed of the lifting component can be increased, thereby further improving the lifting efficiency.

[0007] This application provides a two-stage gantry device, including:

[0008] An outer gantry unit, wherein a drive wheel is provided at the bottom end of the outer gantry unit and a first sprocket is provided at the top end of the outer gantry unit, and the drive wheel and the first sprocket are connected by a drive chain for transmission.

[0009] An inner gantry unit is arranged parallel to the outer gantry unit, and a second sprocket is provided at the top of the inner gantry unit;

[0010] A lifting chain, one end of which is fixedly installed on the top of the outer gantry unit, and the other end of which is fixedly installed with a lifting assembly after passing over the second sprocket;

[0011] The inner gantry unit is slidably mounted on the outer gantry unit, and the bottom end of the inner gantry unit is fixedly connected to the drive chain.

[0012] This allows the drive wheel to drive the inner gantry unit to move up and down relative to the outer gantry unit via the drive chain. Furthermore, during the process of the inner gantry unit moving up and down relative to the outer gantry unit, the top of the inner gantry unit drives the lifting assembly to move up and down relative to the inner gantry unit via the transmission connection between the second sprocket and the lifting chain.

[0013] In one embodiment, preferably, the bottom end of the inner gantry unit is provided with a chain fixing position, and the two ends of the chain fixing position along the vertical direction are respectively provided with a first chain connector and a second chain connector;

[0014] The drive chain is disconnected at the chain fixing position, and the two disconnected ends of the drive chain are respectively fixedly installed with the first chain connector and the second chain connector, so that the bottom end of the inner gantry unit is fixedly connected to the drive chain.

[0015] In one embodiment, preferably, the outer gantry unit includes a pair of parallel first vertical rods, with the drive wheel respectively provided at the bottom end of the pair of first vertical rods on opposite inner sides, and the first sprocket respectively provided at the top end of the pair of first vertical rods on opposite inner sides; the inner gantry unit includes a pair of parallel second vertical rods, with the second sprocket respectively provided at the top end of the pair of second vertical rods.

[0016] The first vertical rod has a groove on its inner side opposite to the first vertical rod. The groove is used to accommodate the second vertical rod and allow the second vertical rod to slide up and down relative to the first vertical rod.

[0017] The secondary gantry device further includes a drive unit located at the bottom of the outer gantry unit. The drive unit includes a transmission shaft extending along a first direction and a drive motor that drives the transmission shaft to rotate. The first direction is a straight line connecting a pair of first vertical rods. The axial directions of the drive wheel and the first sprocket are arranged along the first direction.

[0018] Furthermore, a pair of drive wheels are respectively fixedly installed at both ends of the transmission shaft so that the drive motor drives a pair of drive chains on both sides to rotate synchronously.

[0019] In one embodiment, preferably, the top end of the first vertical rod is provided with a third chain connector on the inner side facing the second vertical rod, the third chain connector being used to fix one end of the lifting chain;

[0020] The second sprocket is axially perpendicular to the first sprocket, such that the pair of lifting chains are located on opposite inner sides of the pair of second vertical rods.

[0021] In one embodiment, preferably, a pair of first vertical rods are fixedly connected by a plurality of horizontally arranged first connecting plates, the first connecting plates being used to fix the robot storage position for the storage bin;

[0022] The top ends of a pair of second vertical rods are fixedly connected by a horizontally arranged second connecting plate. The second connecting plate has a chain through hole near the second sprocket for the lifting chain to pass through.

[0023] In one embodiment, preferably, the first vertical rod is provided with a freely rotatable first roller, which is used to roll against the second vertical rod when the second vertical rod moves up and down relative to the first vertical rod; the bottom end of the second vertical rod is provided with a freely rotatable second roller, which is used to roll against the first vertical rod when the second vertical rod moves up and down relative to the first vertical rod.

[0024] In one embodiment, preferably, the length of the lifting chain is half the length of the drive chain, such that when the inner gantry unit descends to its lowest point relative to the outer gantry unit, the lifting assembly is located at the bottom of the outer gantry unit.

[0025] This application embodiment also provides a bin handling robot, which includes a walking chassis and a secondary gantry device fixedly installed on the walking chassis, wherein the secondary gantry device is the aforementioned secondary gantry device.

[0026] In one embodiment, preferably, the walking chassis includes a chassis housing;

[0027] The chassis housing is equipped with obstacle avoidance laser sensors at both ends in the front and rear directions.

[0028] A pair of traveling wheel assemblies are provided at the middle position of the chassis housing in the front-rear direction, and a pair of omnidirectional casters are provided at each end of the chassis housing in the front-rear direction;

[0029] The walking wheel assembly includes an arc-shaped drive swing arm. The first end of the drive swing arm is rotatably mounted on the chassis housing via a transition shaft, and the second end of the drive swing arm is mounted on the chassis housing in a floating manner via a shock-absorbing spring. Furthermore, the drive swing arm is provided with a walking motor and a walking wheel that is driven and connected to the walking motor near the shock-absorbing spring.

[0030] In one embodiment, preferably, the lifting assembly of the secondary gantry device is fixedly installed with the mounting bracket of the hopper transport device; wherein, the hopper transport device includes any one of clamping, lifting, suction cup, telescopic fork arm, and scissor hook type.

[0031] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

[0032] This application provides a two-stage gantry device and a bin handling robot. The two-stage gantry device of this embodiment includes an outer gantry unit and an inner gantry unit arranged in parallel. The outer gantry unit is used to be fixedly installed on the walking chassis of the bin handling robot, and the inner gantry unit is installed in a sliding manner relative to the outer gantry unit.

[0033] The outer gantry unit has a drive wheel at its bottom and a first sprocket at its top, with the drive wheel and the first sprocket connected by a drive chain. The inner gantry unit has a second sprocket at its top and its bottom is fixedly connected to the drive chain of the outer gantry unit. In this embodiment, one end of the lifting chain of the secondary gantry device is fixedly installed at the top of the outer gantry unit, and the other end is fixedly installed with a lifting component after passing around the second sprocket at the top of the inner gantry unit.

[0034] Thus, it can be understood that, on the one hand, the drive wheel can drive the inner gantry unit to move up and down relative to the outer gantry unit via the drive chain; on the other hand, during the process of the inner gantry unit moving up and down relative to the outer gantry unit, the top of the inner gantry unit can drive the lifting component at the other end of the lifting chain (one end of the lifting chain is fixed to the outer gantry unit) to move up and down relative to the inner gantry unit via the transmission connection between the second sprocket and the lifting chain, thereby achieving a two-stage lifting of the lifting component relative to the outer gantry unit; that is, in the two-stage gantry device of this embodiment, by fixing the drive chains of the inner gantry unit and the outer gantry unit, the inner gantry unit can move up and down relative to the outer gantry unit. Furthermore, by fixing one end of the lifting chain to the outer gantry unit and installing the lifting component after the other end passes around the second sprocket at the top of the inner gantry unit, the lifting component can continue to move up and down relative to the inner gantry unit.

[0035] As can be seen, in the secondary gantry device of this embodiment, the vertical movement of the inner gantry unit is achieved through its drive chain fixed to the outer gantry unit, without relying on the contact or lifting of the lifting component; or, in other words, there is no interference between the vertical movement of the inner gantry unit and the vertical movement of the lifting component. Therefore, during the lifting process, there is no need to consider the factor of the lifting component slowing down due to interference between the lifting component and the inner gantry unit. Furthermore, it can be understood that the lifting of the lifting component in this embodiment is achieved based on the vertical movement of the inner gantry unit relative to the outer gantry unit. Thus, the lifting component achieves a double-speed lifting relative to the outer gantry unit, greatly improving the lifting efficiency and solving the technical problem of low lifting efficiency caused by the need for the lifting component to slow down during the lifting and lowering process in related solutions. Attached Figure Description

[0036] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments of this utility model will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a schematic diagram of the existing two-stage gantry device.

[0038] Figure 2 This is a schematic diagram of the secondary gantry device described in the embodiments of this application.

[0039] Figure 3 This is a schematic diagram of the structure of the secondary gantry device described in the embodiments of this application.

[0040] Figure 4 for Figure 3A magnified view of the top middle area.

[0041] Figure 5 for Figure 3 A magnified view of the lower middle area.

[0042] Figure 6 This is an exploded structural diagram of the secondary gantry device described in the embodiments of this application.

[0043] Figure 7 for Figure 6 A schematic diagram of the structure at the top of the inner and outer gantry units.

[0044] Figure 8 This is a schematic diagram of the structure of the driving unit described in the embodiments of this application.

[0045] Figure 9 for Figure 6 A schematic diagram of the structure at the top of the inner gantry unit.

[0046] Figure 10 for Figure 6 A schematic diagram of the structure at the bottom of the inner gantry unit.

[0047] Figure 11 This is a schematic diagram of the material box handling robot described in the embodiments of this application.

[0048] Figure 12 This is a schematic diagram of the structure of the walking chassis described in the embodiments of this application.

[0049] Figure 13 This is a structural schematic diagram of the chassis described in this application from another perspective.

[0050] Figure 14 This is a schematic diagram of the walking wheel assembly described in the embodiments of this application.

[0051] Figure 15 This is a schematic diagram of the material box handling device described in the embodiments of this application.

[0052] In the attached figures, the following labels are used:

[0053] 1-Inner gantry, 2-Outer gantry, 3-Chain, 4-Drive sprocket, 5-Driven sprocket

[0054] 10-Outer gantry unit, 11-First sprocket, 12-Drive wheel, 13-Drive chain, 14-First vertical rod, 15-Slide groove, 16-Third chain connector, 17-First connecting plate, 18-First roller

[0055] 20-Inner gantry unit, 21-Second sprocket, 22-Chain fixing position, 23-Second vertical rod, 24-Second connecting plate, 25-Chain through hole, 26-Second roller.

[0056] 221 - First chain connector, 222 - Second chain connector

[0057] 30-Lifting the chain,

[0058] 40-Boosting Components

[0059] 50 - Drive unit, 51 - Drive motor, 52 - Transmission shaft

[0060] 100-Walking chassis, 101-Chassis housing, 102-Obstacle avoidance laser sensor, 103-Walking wheel assembly, 104-Universal casters

[0061] 1031-Drive swing arm, 1032-Adapter shaft, 1033-Shock absorber spring, 1034-Walking motor, 1035-Walking wheel,

[0062] 200-Bin handling device, 201-Mounting bracket, 202-Telescopic fork arm, 203-Shifting fork,

[0063] 400-robot storage location

[0064] X - First direction. Detailed Implementation

[0065] To better understand the above technical solutions, exemplary embodiments of this application will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments of this application. It should be understood that this application is not limited to the exemplary embodiments described herein.

[0066] Figure 1 Please refer to the schematic diagram of the existing two-stage gantry device first. Figure 1 In the existing scheme, the raising of the inner gantry 1 relative to the outer gantry 2 is achieved by the abutment and pulling of the lifting component 40.

[0067] Specifically, the lifting component 40 is directly fixed to the chain 3:

[0068] When the lifting assembly 40 rises, the driving sprocket 4 of the outer gantry 2 (there is one driving sprocket 4 and the rest are driven sprockets 5) first drives the lifting assembly 40 to rise from the bottom end to the top end of the outer gantry 2. At the top end of the outer gantry 2, the lifting assembly 40 abuts and interferes with the top end of the inner gantry 1. Then, under the continued drive of the driving sprocket 4 of the outer gantry 2, the lifting assembly 40 will pull the inner gantry 1 to rise relative to the outer gantry 2 until it rises to the highest point.

[0069] When the lifting assembly 40 descends, the drive sprocket 4 of the outer gantry 2 first drives the lifting assembly 40 to descend together with the inner gantry 1. After the inner gantry 1 descends to the bottom, the lifting assembly 40 will be located at the top of the outer gantry 2. At this time, the lifting assembly 40 disengages from the top of the inner gantry 1. Then, under the continued drive of the drive sprocket 4 of the outer gantry 2, the lifting assembly 40 continues to descend to the bottom of the outer gantry 2.

[0070] As can be seen, during the rising and falling of the lifting component, there will be a process of contact and disengagement between the lifting component and the inner gantry. In order to reduce the impact, the lifting component must reduce its lifting speed when it reaches the top position of the outer gantry, resulting in low lifting efficiency.

[0071] In view of the above situation, this application discloses a non-fully free two-stage gantry device to solve the technical problem of low lifting efficiency caused by the need for the lifting components to slow down during the lifting and lowering process.

[0072] Figure 2 This is a schematic diagram of the secondary gantry device in the embodiments of this application. Figure 3 This is a schematic diagram of the structure of the secondary gantry device in the embodiments of this application. Please refer to... Figure 2 ,and Figure 3 A secondary gantry device, comprising an outer gantry unit 10, an inner gantry unit 20, and a lifting chain 30.

[0073] The outer gantry unit 10 has a drive wheel 12 at its bottom and a first sprocket 11 at its top. The drive wheel 12 and the first sprocket 11 are connected by a drive chain 13. The inner gantry unit 20 is arranged parallel to the outer gantry unit 10. The inner gantry unit 20 has a second sprocket 21 at its top. One end of the lifting chain 30 is fixedly installed at the top of the outer gantry unit 10. The other end of the lifting chain 30 is fixedly installed with a lifting assembly 40 after passing over the second sprocket 21.

[0074] The inner gantry unit 20 is slidably mounted on the outer gantry unit 10, and the bottom end of the inner gantry unit 20 is fixedly connected to the drive chain 13. This allows the drive wheel 12 to drive the inner gantry unit 20 to move up and down relative to the outer gantry unit 10 via the drive chain 13. During the process of the inner gantry unit 20 moving up and down relative to the outer gantry unit 10, the top end of the inner gantry unit 20 drives the lifting assembly 40 to move up and down relative to the inner gantry unit 20 via the transmission connection between the second sprocket 21 and the lifting chain 30.

[0075] Overall, in the two-stage gantry device of this embodiment, the outer gantry unit drives the inner gantry unit to move up and down relative to the outer gantry unit via a drive chain. Furthermore, the inner gantry unit drives the lifting assembly at the end of the lifting chain to move up and down relative to the inner gantry unit via a transmission connection between the second sprocket and the lifting chain, thereby realizing the two-stage lifting of the lifting assembly relative to the outer gantry unit.

[0076] Specifically, the outer gantry unit has a drive wheel at the bottom and a first sprocket at the top. The first sprocket is connected to the drive wheel by, for example, a circular drive chain. In other words, it can be understood that, driven by the drive wheel, the straight section of the drive chain between the drive wheel and the first sprocket will move up and down.

[0077] Specifically, the inner gantry unit is arranged parallel to the outer gantry unit and is slidably mounted on the outer gantry unit. Then, the bottom end of the inner gantry unit is fixedly connected to the aforementioned drive chain. In this way, the drive wheel can drive the inner gantry unit to move up and down relative to the outer gantry unit through the drive chain.

[0078] In this embodiment, one end of the lifting chain of the secondary gantry device is fixedly installed on the top of the outer gantry unit, and the other end of the lifting chain is fixedly installed with a lifting component after passing over the second sprocket at the top of the inner gantry unit. Thus, when the inner gantry unit moves up and down relative to the outer gantry unit, the inner gantry unit can drive the lifting component at the end of the lifting chain to move up and down relative to the inner gantry unit through the transmission connection between the second sprocket at its top and the lifting chain.

[0079] In other words, whether it is the upward or downward process, the lifting component moves at a speed that is twice as fast as the outer gantry unit. Of course, the speed mentioned here is relative to the transmission speed of the drive chain.

[0080] As can be seen, the lifting of the lifting component in this embodiment is achieved on the basis of the lifting of the inner gantry unit. That is, there is no situation where the lifting component needs to come into contact with the inner gantry unit and pull it up. Therefore, there is no need to slow down the lifting component in this situation, which improves the lifting efficiency.

[0081] It is understood that in this embodiment, the length of the lifting chain 30 can be set to approximately half the length of the drive chain 13, so that when the inner gantry unit 20 descends to the bottom relative to the outer gantry unit 10, the lifting assembly 40 can be located at the bottom of the outer gantry unit 10.

[0082] Regarding the fixed connection between the bottom end of the inner gantry unit 20 and the drive chain 13, in one possible embodiment, the bottom end of the inner gantry unit 20 is provided with a chain fixing position 22, and the two ends of the chain fixing position 22 in the vertical direction are respectively provided with a first chain connector 221 and a second chain connector 222; wherein, the drive chain 13 is in a disconnected state at the chain fixing position 22, and the two disconnected ends of the drive chain 13 are fixedly installed with the first chain connector 221 and the second chain connector 222 respectively, so that the bottom end of the inner gantry unit 20 is fixedly connected to the drive chain 13.

[0083] See Figure 6 , Figure 10 This embodiment provides a possible way to fix the inner gantry unit to the drive chain.

[0084] In this embodiment, a chain fixing position can be set at the bottom of the inner gantry unit, and a first chain connector and a second chain connector can be set at both ends of the chain fixing position along the vertical direction. The two chain connectors can be columnar, for example.

[0085] Then, the drive chain is disconnected at the chain fixing position, and the two ends of the disconnected drive chain are fixedly installed on the two chain connectors respectively. In this way, the bottom end of the inner gantry unit can be fixedly connected to the drive chain, which is simple in structure.

[0086] Of course, it is understood that, depending on actual needs, the fixed connection between the bottom end of the inner gantry unit and the drive chain can also adopt other connection forms, as long as the drive wheel can drive the inner gantry unit to move up and down through the drive chain. This application does not impose any restrictions on this.

[0087] Regarding the specific structure of the inner gantry unit 20 and the outer gantry unit 10, in one possible embodiment, the outer gantry unit 10 includes a pair of parallel first vertical rods 14, with drive wheels 12 respectively provided at the bottom ends of the pair of first vertical rods 14 on their respective inner sides, and first sprockets 11 respectively provided at the top ends of the pair of first vertical rods 14 on their respective inner sides; the inner gantry unit 20 includes a pair of parallel second vertical rods 23, with second sprockets 21 respectively provided at the top ends of the pair of second vertical rods 23; wherein, a sliding groove 15 is provided on the inner side of the first vertical rods 14 on their respective inner sides, the sliding groove 15 being used to accommodate the second vertical rods 23 and supply... The second vertical rod 23 slides up and down relative to the first vertical rod 14; wherein, the secondary gantry device also includes a drive unit 50 located at the bottom of the outer gantry unit 10, the drive unit 50 including a transmission shaft 52 extending along the first direction X and a drive motor 51 driving the transmission shaft 52 to rotate, the first direction X being a straight line connecting a pair of first vertical rods 14, the axial direction of the drive wheel 12 and the first sprocket 11 being arranged along the first direction X; and, a pair of drive wheels 12 are respectively fixedly installed at both ends of the transmission shaft 52 so that the drive motor 51 drives a pair of drive chains 13 on both sides to rotate synchronously.

[0088] That is, see Figures 6-10 In this embodiment, the outer gantry unit is formed by a pair of first vertical rods, and the inner gantry unit is formed by a pair of second vertical rods. The inner side of the first vertical rods is provided with a sliding groove extending in the vertical direction, and the second vertical rods are installed in the sliding grooves and slide up and down relative to the first vertical rods along the sliding grooves.

[0089] Specifically, a drive wheel and a first sprocket are respectively installed at the bottom and top of the inner side of the first vertical rod. The axial direction of the drive wheel and the first sprocket is set along the straight line connecting the pair of first vertical rods (i.e., the first direction). Then, the drive unit is located at the bottom of the outer gantry unit. The drive shaft of the drive unit is set along the first direction. The aforementioned pair of drive wheels are respectively fixedly installed at both ends of the drive shaft. Thus, the drive motor can drive the pair of drive chains on both sides to rotate synchronously through the drive wheels, which means that the pair of second vertical rods on both sides are driven to rise and fall synchronously.

[0090] In one specific embodiment, the top end of the first vertical rod 14 is provided with a third chain connector 16 on the inner side facing the second vertical rod 23. The third chain connector 16 is used to fix one end of the lifting chain 30. The axial direction of the second sprocket 21 is perpendicular to the axial direction of the first sprocket 11, so that a pair of lifting chains 30 are located on the opposite inner side of a pair of second vertical rods 23.

[0091] In this embodiment, a third chain connector can be set at the top inner side of the first vertical rod facing the second vertical rod, and then one end of the lifting chain can be fixedly installed on the third chain connector.

[0092] Among them, see Figures 6-9 The axial direction of the second sprocket at the top of the second vertical rod is perpendicular to the axial direction of the first sprocket. In this way, the other end of the lifting chain can be located on the inner side of the second vertical rod after passing around the second sprocket. In other words, a pair of lifting chains can be located on the inner side of a pair of second vertical rods, which facilitates the fixed installation of a pair of lifting components and the mounting bracket 201 in the material box handling device 200.

[0093] In one specific embodiment, a pair of first vertical rods 14 are fixedly connected by a plurality of horizontally arranged first connecting plates 17, the first connecting plates 17 being used to fix the robot storage position 400 for storing the material box; the top ends of a pair of second vertical rods 23 are fixedly connected by horizontally arranged second connecting plates 24, the second connecting plates 24 having chain through holes 25 for the lifting chain 30 to pass through at a position near the second sprocket 21.

[0094] Specifically, a pair of first vertical rods can be fixedly connected by several first connecting plates of different heights, which can be used to fix the robot storage position; then, a pair of second vertical rods can be fixedly installed by second connecting plates at their top ends; and, considering that the lifting chain is located on the relatively inner side of the second vertical rods, see... Figure 9 Specifically, a chain through hole can be opened on the second connecting plate near the second sprocket so that the lifting chain can pass through after passing around the second sprocket.

[0095] In one specific embodiment, the first vertical rod 14 is provided with a freely rotatable first roller 18, which is used to roll against the second vertical rod 23 when the second vertical rod 23 moves up and down relative to the first vertical rod 14; the bottom end of the second vertical rod 23 is provided with a freely rotatable second roller 26, which is used to roll against the first vertical rod 14 when the second vertical rod 23 moves up and down relative to the first vertical rod 14.

[0096] In this embodiment, rollers can be specifically provided on the first vertical rod and the second vertical rod respectively, so as to realize the rolling connection between the two when they are raised and lowered relative to each other, thereby reducing frictional resistance.

[0097] Among them, see Figure 8 The first vertical rod can be equipped with several first rollers at different heights. Of course, at the same height, the first vertical rod can be equipped with a pair of first rollers. In this way, when the second vertical rod moves up and down relative to the first vertical rod, the first rollers can roll and abut against the second vertical rod. Similarly, see Figure 10 Specifically, a second roller can be installed at the bottom of the second vertical rod, so that when the second vertical rod moves up and down relative to the first vertical rod, the second roller can roll and abut against the first vertical rod.

[0098] Based on the secondary gantry device of the above embodiments, this application also discloses a bin handling robot, which includes a walking chassis 100 and a secondary gantry device fixedly installed on the walking chassis 100, wherein the secondary gantry device is the aforementioned secondary gantry device.

[0099] In one specific embodiment, the walking chassis 100 includes a chassis housing 101; obstacle avoidance laser sensors 102 are respectively provided at both ends of the chassis housing 101 in the front-rear direction; a pair of walking wheel assemblies 103 are provided at the middle position of the chassis housing 101 in the front-rear direction, and a pair of universal casters 104 are respectively provided at both ends of the chassis housing 101 in the front-rear direction; wherein, the walking wheel assembly 103 includes an arc-shaped drive swing arm 1031, the first end of the drive swing arm 1031 is rotatably mounted on the chassis housing 101 through a transition shaft 1032, and the second end of the drive swing arm 1031 is mounted on the chassis housing 101 in a floating manner through a shock-absorbing spring 1033; and, a walking motor 1034 and a walking wheel 1035 that are driven and connected to the walking motor 1034 are provided on the drive swing arm 1031 near the shock-absorbing spring 1033, thereby realizing the shock absorption of the walking wheel 1035.

[0100] In one specific embodiment, the lifting assembly 40 of the secondary gantry device is fixedly installed with the mounting bracket 201 of the bin transport device 200; wherein, the bin transport device 200 includes any one of clamping type, lifting type, suction cup type, telescopic fork arm type, and scissor hook type.

[0101] See Figure 15 , Figure 15 A telescopic fork arm type bin handling device is shown, wherein the bin handling device is specifically fixedly installed on the lifting assembly 40 mentioned above by the mounting bracket 201; then, the bin handling device 200 can realize the bin picking and unloading process by the cooperation of the telescopic fork arm 202 and the shift fork 203.

[0102] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0103] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0104] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0105] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0106] The above description has been given for illustrative and descriptive purposes. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize that certain variations, modifications, alterations, additions, and sub-combinations thereof should be included within the scope of protection of this utility model.

Claims

1. A two-stage gantry device, characterized in that, include: An outer gantry unit, wherein a drive wheel is provided at the bottom end of the outer gantry unit and a first sprocket is provided at the top end of the outer gantry unit, and the drive wheel and the first sprocket are connected by a drive chain for transmission. An inner gantry unit is arranged parallel to the outer gantry unit, and a second sprocket is provided at the top of the inner gantry unit; A lifting chain, one end of which is fixedly installed on the top of the outer gantry unit, and the other end of which is fixedly installed with a lifting assembly after passing over the second sprocket; The inner gantry unit is slidably mounted on the outer gantry unit, and the bottom end of the inner gantry unit is fixedly connected to the drive chain. This allows the drive wheel to drive the inner gantry unit to move up and down relative to the outer gantry unit via the drive chain. Furthermore, during the process of the inner gantry unit moving up and down relative to the outer gantry unit, the top of the inner gantry unit drives the lifting assembly to move up and down relative to the inner gantry unit via the transmission connection between the second sprocket and the lifting chain.

2. The secondary gantry device according to claim 1, characterized in that, The bottom end of the inner gantry unit is provided with a chain fixing position, and the two ends of the chain fixing position along the vertical direction are respectively provided with a first chain connector and a second chain connector; The drive chain is disconnected at the chain fixing position, and the two disconnected ends of the drive chain are respectively fixedly installed with the first chain connector and the second chain connector, so that the bottom end of the inner gantry unit is fixedly connected to the drive chain.

3. The secondary gantry device according to claim 1, characterized in that, The outer gantry unit includes a pair of parallel first vertical rods, with the drive wheel respectively located at the bottom of the pair of first vertical rods on their inner sides, and the first sprocket respectively located at the top of the pair of first vertical rods on their inner sides; the inner gantry unit includes a pair of parallel second vertical rods, with the second sprocket respectively located at the top of the pair of second vertical rods. The first vertical rod has a groove on its inner side opposite to the first vertical rod. The groove is used to accommodate the second vertical rod and allow the second vertical rod to slide up and down relative to the first vertical rod. The secondary gantry device further includes a drive unit located at the bottom of the outer gantry unit. The drive unit includes a transmission shaft extending along a first direction and a drive motor that drives the transmission shaft to rotate. The first direction is a straight line connecting a pair of first vertical rods. The axial directions of the drive wheel and the first sprocket are arranged along the first direction. Furthermore, a pair of drive wheels are respectively fixedly installed at both ends of the transmission shaft so that the drive motor drives a pair of drive chains on both sides to rotate synchronously.

4. The secondary gantry device according to claim 3, characterized in that, The top of the first vertical rod is provided with a third chain connector on the inner side facing the second vertical rod. The third chain connector is used to fix one end of the lifting chain. The second sprocket is axially perpendicular to the first sprocket, such that the pair of lifting chains are located on opposite inner sides of the pair of second vertical rods.

5. The secondary gantry device according to claim 4, characterized in that, A pair of first vertical rods are fixedly connected by several horizontally arranged first connecting plates, which are used to fix the robot storage position for the storage bin; The top ends of a pair of second vertical rods are fixedly connected by a horizontally arranged second connecting plate. The second connecting plate has a chain through hole near the second sprocket for the lifting chain to pass through.

6. The secondary gantry device according to claim 3, characterized in that, The first vertical rod is provided with a freely rotatable first roller, which is used to roll against the second vertical rod when the second vertical rod moves up and down relative to the first vertical rod; the bottom end of the second vertical rod is provided with a freely rotatable second roller, which is used to roll against the first vertical rod when the second vertical rod moves up and down relative to the first vertical rod.

7. The secondary gantry device according to claim 1, characterized in that, The length of the lifting chain is half the length of the drive chain, so that when the inner gantry unit descends to its lowest point relative to the outer gantry unit, the lifting assembly is located at the bottom of the outer gantry unit.

8. A bin handling robot, characterized in that, The bin handling robot includes a walking chassis and a secondary gantry device fixedly installed on the walking chassis, wherein the secondary gantry device is the secondary gantry device according to any one of claims 1 to 7.

9. The bin handling robot according to claim 8, characterized in that, The chassis includes a chassis shell; The chassis housing is equipped with obstacle avoidance laser sensors at both ends in the front and rear directions. A pair of traveling wheel assemblies are provided at the middle position of the chassis housing in the front-rear direction, and a pair of omnidirectional casters are provided at each end of the chassis housing in the front-rear direction; The walking wheel assembly includes an arc-shaped drive swing arm. The first end of the drive swing arm is rotatably mounted on the chassis housing via a transition shaft, and the second end of the drive swing arm is mounted on the chassis housing in a floating manner via a shock-absorbing spring. Furthermore, the drive swing arm is provided with a walking motor and a walking wheel that is driven and connected to the walking motor near the shock-absorbing spring.

10. The bin handling robot according to claim 8, characterized in that, The lifting component of the secondary gantry device is fixedly installed with the mounting bracket of the hopper transport device; wherein, the hopper transport device includes any one of clamping type, lifting type, suction cup type, telescopic fork arm type, and scissor hook type.

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