A gantry-chassis connection structure for a forklift robot

Abstract

This utility model relates to a mast and chassis connection structure for a stacker robot, including a mast mechanism and a chassis mechanism. The mast mechanism includes an outer mast, an inner mast, and a fork carriage. The inner mast and outer mast are vertically slidably connected, as are the fork carriages. Extending fork legs are fixed to both sides of the bottom of the outer mast, and the fork carriages are fastened to the fork legs. The chassis mechanism has two mast movement slots, within which the fork legs and fork carriages are located. A limiting groove is provided on one side of each mast movement slot. Guide wheels are provided on both sides of the outer mast, and these guide wheels are embedded in the limiting grooves. A power wheel assembly is also fixed to the lower part of the outer mast, driving the mast mechanism to reciprocate within the mast movement slots. This utility model significantly increases the range of motion of the mast mechanism; furthermore, the movement of the mast mechanism is constrained by the limiting grooves and guide wheels, with the guide wheels embedded in the limiting grooves achieving vertical limitation and preventing the mast from tipping over.

Description

Technical Field

[0001] This utility model belongs to the field of stacker robot technology, and particularly relates to a gantry and chassis connection structure for a stacker robot. Background Technology

[0002] As a core piece of equipment in automated warehousing and logistics, the structural design of stacker robots directly affects their operational efficiency and space adaptability. Traditional stackers typically employ a fixed, integrated mast and chassis structure, with the mast mechanism rigidly connected to the chassis. This design has significant drawbacks: large turning radius: because the mast and chassis turn synchronously, multiple adjustments are required in narrow rack aisles, resulting in poor flexibility; low space utilization: the integrated structure leads to excessive vehicle length, making it difficult to adapt to high-density warehousing environments.

[0003] To improve flexibility, some solutions attempt to design the gantry to move relative to the chassis. For example, a rack and pinion moving structure: the gantry slides laterally through the meshing of a motor gear and a rack, but the exposed rack is susceptible to dust contamination, leading to jamming and failure; another option is a suspended moving structure: the gantry is connected to the chassis through a suspension mechanism, but it has weak anti-overturning ability and is prone to swaying under heavy loads. Utility Model Content

[0004] In order to solve the above-mentioned technical problems, the purpose of this utility model is to provide a gantry and chassis connection structure for a stacker robot, which makes the gantry mechanism more flexible and stable in operation.

[0005] To achieve the above-mentioned objectives, this utility model adopts the following technical solution:

[0006] A mast and chassis connection structure for a stacker robot includes a mast mechanism and a chassis mechanism. The mast mechanism includes an outer mast, an inner mast, and a fork carriage. The inner mast and the outer mast are slidably connected vertically, and the fork carriage and the inner mast are also slidably connected vertically. Forwardly extending fork legs are fixed to both sides of the bottom of the outer mast, and the fork carriage is fastened to the fork legs. The chassis mechanism has two mast movement slots, and the fork legs and the fork carriage are located in the mast movement slots. A limiting groove is provided on one side of the mast movement slot. Guide wheels are provided on both sides of the outer mast, and the guide wheels are embedded in the limiting grooves. A power wheel assembly is also fixed to the lower part of the outer mast, and the power wheel assembly drives the mast mechanism to reciprocate within the mast movement slots.

[0007] As a preferred embodiment, the power wheel assembly is a geared motor, and the two output ends of the geared motor are respectively fixed with wheels. A power wheel assembly is fixed on each side of the outer gantry within the two gantry movement slots.

[0008] As a preferred embodiment, two parallel protruding ridges are arranged at intervals on the side wall of the gantry moving groove, and a limiting groove is formed between the two protruding ridges.

[0009] As a preferred embodiment, there are two guide wheels, spaced apart front to back, and located on the same horizontal plane.

[0010] As a preferred embodiment, the movement directions of the gantry mechanism and the chassis mechanism are perpendicular to each other.

[0011] As a preferred embodiment, a hydraulic device is also fixed on the outer gantry, and the hydraulic device is connected to a hydraulic push rod. One end of the hydraulic push rod is fixed on the outer gantry, and the other end is fixed to the inner gantry. An inner guide wheel is provided on the outer gantry, and guide strips are provided on both sides of the inner gantry. The inner guide wheel abuts against the guide strips.

[0012] As a preferred embodiment, the inner mast is provided with a lifting groove, the fork carriage is provided with a lifting guide wheel, the lifting guide wheel is disposed in the lifting groove, the upper end of the inner mast is also provided with a pulley, and a chain is also connected to the fork carriage, the other end of the chain is fixed to the outer mast after passing around the pulley.

[0013] As a preferred embodiment, a first sensor is fixed to the front end of the fork carriage, and a slot is provided at the connection between the fork carriage and the inner mast, in which a second sensor is installed.

[0014] As a preferred embodiment, one end of the gantry moving slot is also provided with a clearance opening, and slanted panels are provided on both sides of the clearance opening. The front end of the fork leg is also provided with a roller, and the roller enters and exits the gantry moving slot through the slanted panel. One end of the gantry moving slot is also provided with a chamfer that keeps the gantry mechanism centered when it retracts into the gantry moving slot.

[0015] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0016] This invention features a mast movement groove on the chassis, allowing the fork legs and fork carriage to be integrally embedded within it. Driven by the power wheel assembly, the mast mechanism can move a long distance along the groove, significantly increasing its range of motion. Furthermore, the power wheel assembly enables independent horizontal positioning of the fork system, decoupling it from the chassis, allowing for precise alignment with the cargo position without requiring the entire vehicle to be turned. Additionally, the movement of the mast mechanism is constrained by a limiting groove and guide wheels. The guide wheels, embedded in the limiting groove, achieve vertical limitation, preventing the mast from tipping over. Attached Figure Description

[0017] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute a limitation thereof.

[0018] Figure 1 and Figure 2 These are structural schematic diagrams of this utility model from two different angles;

[0019] Figure 3 This is a structural schematic diagram of the gantry mechanism of this utility model;

[0020] Figure 4 This is a disassembled structural diagram of the gantry mechanism of this utility model;

[0021] Figure 5 This is a structural schematic diagram of the chassis mechanism of this utility model.

[0022] The reference numerals in the accompanying drawings are as follows: 1. Mast mechanism; 10. Drive wheel assembly; 11. Outer mast; 111. Fork leg; 112. Roller; 113. Guide wheel; 12. Inner mast; 120. Lifting slot; 121. Pulley; 13. Fork carriage; 131. First sensor; 132. Second sensor; 133. Lifting guide wheel; 14. Hydraulic device; 15. Hydraulic push rod; 16. Chain; 2. Chassis mechanism; 21. Mast moving slot; 211. Clearance opening; 22. Protruding ridge; 221. Limiting slot; 23. Drive wheel assembly; 234. Fixed column; 24. Balance wheel; 25. Universal wheel; 27. Mounting slot; 28. Stop bar; 3. Main radar sensor; 4. Secondary radar sensor; 5. Rear cover. Detailed Implementation

[0023] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0024] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0025] Furthermore, in the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0026] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more, unless otherwise expressly defined.

[0027] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0028] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0029] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0030] like Figures 1 to 5The diagram illustrates a mast and chassis connection structure for a stacker robot, comprising a mast mechanism 1 and a chassis mechanism 2. The mast mechanism 1 includes an outer mast 11, an inner mast 12, and a fork carriage 13. The inner mast 12 and the outer mast 11 are slidably connected vertically, as are the fork carriage 13 and the inner mast 12. Extended fork legs 111 are fixed to both sides of the bottom of the outer mast 11, and the fork carriage 13 is fastened to the fork legs 111. Rollers 112 are also provided at the front ends of the fork legs 111. The chassis mechanism 2 has two mast movement slots 21. The fork legs 111 and the fork carriage 13 are located in the mast moving slot 21. One end of the mast moving slot 21 is also provided with a clearance opening 211. The clearance opening 211 is provided with inclined panels on both sides. The front end of the fork legs 111 is also provided with rollers 112. The rollers 112 enter the mast moving slot 21 through the inclined panels, so that the mast mechanism enters the mast moving slot 21 more smoothly. The opening at one end of the mast moving slot 21 is chamfered on both sides to keep the mast mechanism 1 centered when it enters the mast moving slot 21.

[0031] Two parallel protruding ribs 22 are arranged at intervals on the side wall of the gantry moving groove 21, and a limiting groove 221 is formed between the two protruding ribs 22. The limiting groove is formed by the two protruding ribs, which simplifies the processing process (avoids the need to open deep grooves) and at the same time improves the deformation resistance of the side wall and extends the service life.

[0032] The outer gantry 11 is equipped with guide wheels 113 on both sides, which are embedded in the limiting grooves 221. A power wheel assembly 10 is also fixed to the lower part of the outer gantry 11, driving the gantry mechanism 1 to reciprocate within the gantry movement groove 21. The movement directions of the gantry mechanism 1 and the chassis mechanism 2 are perpendicular to each other. The gantry movement direction is perpendicular to the chassis travel direction, achieving a "T-shaped" operating path, efficiently completing loading, unloading, and turning actions within a narrow space.

[0033] In the above structure, the mast moving slot constrains the movement trajectory of the fork legs and fork carriage, preventing horizontal deviation and improving the stability and accuracy of the mast mechanism's movement on the chassis. Its structure, utilizing a limit slot and guide wheel, replaces sliding friction with rolling friction, reducing resistance. The guide wheel, embedded in the limit slot, achieves vertical limiting, preventing mast tipping. The power wheel assembly in this structure directly drives the mast mechanism to reciprocate along the moving slot, enabling the lateral extension and retraction of the forks (perpendicular to the chassis movement direction), expanding the operating range.

[0034] The drive wheel assembly 10 is a geared motor, and wheels are fixed to the two output ends of the geared motor. A drive wheel assembly 10 is fixed to each side of the outer gantry 11 within one of the two gantry movement slots 21. The dual geared motors independently drive the wheels on both sides, providing high torque output and ensuring the synchronicity of the gantry movement; they also distribute the load, reducing the risk of single-motor failure.

[0035] The guide wheels 113 are two in number, spaced apart front to back, and located on the same horizontal plane. The spaced-apart guide wheels form two-point support, effectively suppressing the gantry's forward and backward swaying and enhancing lateral movement stability.

[0036] A hydraulic device 14 is also fixed on the outer gantry 11. The hydraulic device 14 is connected to a hydraulic push rod 15. One end of the hydraulic push rod 15 is fixed to the outer gantry 11, and the other end is fixed to the inner gantry 12. The outer gantry 11 is provided with an inner guide wheel, and the inner gantry 12 is also provided with guide strips on both sides. The inner guide wheel abuts against the guide strips. A rear cover 5 is also fixed on the outer gantry 11 to protect the hydraulic device 14. The structure of the hydraulic device and the hydraulic push rod can provide strong thrust to achieve smooth lifting and lowering of the inner gantry. The structure of the inner guide wheel and the guide strips converts sliding friction into rolling friction, reducing lifting resistance and preventing jamming.

[0037] The inner mast 12 is provided with a lifting groove 120, and the fork carriage 13 is provided with a lifting guide wheel 133. The lifting guide wheel 133 is located in the lifting groove 120. The upper end of the inner mast 12 is also provided with a pulley 121. The fork carriage 13 is also connected with a chain 16. The other end of the chain 16 passes around the pulley 121 and is fixed to the outer mast 11.

[0038] The above structure uses lifting guide wheels and lifting grooves to guide the fork carriage to rise and fall along a fixed path and prevent swaying. At the same time, in conjunction with the chain and pulley structure, the hydraulic push rod stroke can be halved to lift the fork carriage, saving energy and increasing the lifting speed.

[0039] A first sensor 131 is fixed to the front end of the fork carriage 13 to detect the position of the goods or obstacles and achieve automatic alignment. A slot is also provided at the connection between the fork carriage 13 and the inner mast 12, and a second sensor 132 is installed in the slot.

[0040] The chassis mechanism 2 has baffles 28 fixed to its top two sides, and a main radar sensor 3 is also fixed to its top. Mounting slots 27 are provided on both sides of the chassis mechanism 2, and a secondary radar sensor 4 is fixed within each slot. The main radar sensor provides a wide-range environmental scan, supporting path planning and obstacle avoidance; while the secondary radar sensor, embedded in the side mounting slots, covers the blind spots around the chassis, detects lateral obstacles, and enhances safety when passing through narrow passages.

[0041] This invention achieves physical separation between the mast mechanism and the chassis mechanism by creating two mast movement slots in the chassis and embedding the fork legs and fork carriage as a whole into the slots. The power wheel assembly is directly fixed to the outer mast, driving the mast to reciprocate independently within the slots, significantly shortening the power transmission path. Limiting slots are provided on the side walls of the mast movement slots, forming a locking constraint with the guide wheels on both sides of the outer mast.

[0042] This utility model utilizes structures such as gantry moving slots, limiting slots, and double guide wheels to achieve multi-level constraints, reduce swaying, and improve operational stability; moreover, the lateral movement of the gantry, combined with the longitudinal drive of the chassis, enables multi-directional operation within a compact space.

[0043] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0044] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention without departing from the principles and spirit of the present invention. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention shall still fall within the scope of the technical solution of the present invention.

Claims

1. A mast and chassis connection structure for a stacker robot, comprising a mast mechanism (1) and a chassis mechanism (2), wherein the mast mechanism (1) comprises an outer mast (11), an inner mast (12), and a fork carriage (13), the inner mast (12) and the outer mast (11) being slidably arranged vertically, the fork carriage (13) and the inner mast (12) being slidably arranged vertically, and the fork carriage (13) and the inner mast (12) being slidably arranged vertically, wherein fork legs (111) are fixedly fixed to the bottom sides of the outer mast (11), and the fork carriage (13) is fastened to the fork legs (111), characterized in that: The chassis mechanism (2) has two mast moving slots (21). The fork legs (111) and the fork carriage (13) are located in the mast moving slots (21). A limiting slot (221) is provided on one side of the mast moving slots (21). Guide wheels (113) are provided on both sides of the outer mast (11). The guide wheels (113) are embedded in the limiting slots (221). A power wheel assembly (10) is also fixed at the lower part of the outer mast (11). The power wheel assembly (10) drives the mast mechanism (1) to reciprocate in the mast moving slots (21).

2. The gantry-chassis connection structure of a forklift robot according to claim 1, characterized in that, The power wheel assembly (10) is a geared motor, and the two output ends of the geared motor are respectively fixed with wheels. The two sides of the outer gantry (11) are each fixed with a power wheel assembly (10) in the two gantry moving slots (21).

3. The gantry and chassis connection structure of a forklift robot according to claim 1, characterized in that, Two parallel protrusions (22) are arranged at intervals on the side wall of the gantry moving groove (21), and a limiting groove (221) is formed between the two protrusions (22).

4. The gantry and chassis connection structure of a forklift robot according to claim 1, characterized in that, There are two guide wheels (113), which are spaced apart and located on the same horizontal plane.

5. The gantry-chassis connection structure of a forklift robot according to claim 1, characterized in that, The directions of motion of the gantry mechanism (1) and the chassis mechanism (2) are perpendicular to each other.

6. The gantry and chassis connection structure of a forklift robot according to claim 1, characterized in that, A hydraulic device (14) is also fixed on the outer gantry (11). The hydraulic device (14) is connected to a hydraulic push rod (15). One end of the hydraulic push rod (15) is fixed on the outer gantry (11), and the other end is fixed to the inner gantry (12). An inner guide wheel (114) is provided on the outer gantry (11). Guide strips are also provided on both sides of the inner gantry (12). The inner guide wheel (114) abuts against the guide strip.

7. The gantry-chassis connection structure of a forklift robot according to claim 1, characterized in that, The inner mast (12) is provided with a lifting groove (120), and the fork carriage (13) is provided with a lifting guide wheel (133). The lifting guide wheel (133) is located in the lifting groove (120). The upper end of the inner mast (12) is also provided with a pulley (121). The fork carriage (13) is also connected with a chain (16). The other end of the chain (16) passes around the pulley (121) and is fixed to the outer mast (11).

8. The gantry-chassis connection structure of a forklift robot according to claim 1, characterized in that, The front end of the fork carriage (13) is also fixed with a first sensor (131), and a slot is also provided at the connection between the fork carriage (13) and the inner mast (12), and a second sensor (132) is installed in the slot.

9. The gantry-chassis connection structure of a forklift robot according to claim 1, characterized in that, One end of the gantry moving slot (21) is also provided with a clearance opening (211), and the two sides of the clearance opening (211) are respectively provided with inclined panels. The front end of the fork leg (111) is also provided with a roller (112), and the roller (112) enters and exits the gantry moving slot (21) through the inclined panel. One end of the gantry moving slot (21) is also provided with a chamfer that keeps the gantry mechanism (1) centered when it retracts into the gantry moving slot (21).

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