Rack post, rack and rack robot

Abstract

The utility model discloses a portal upright, portal and goods shelf robot relates to the field of robot, the portal upright includes connecting assembly and multistage column section, multistage the column section is connected in proper order along the length direction of portal upright, connecting assembly includes at least one first connecting piece, at least two adjacent the column section is connected through first connecting piece, be provided with first connecting hole on the column section, first connecting piece is provided with the second connecting hole corresponding with first connecting hole, along the length direction of portal upright, the interval of two first connecting holes respectively arranged on two adjacent column sections at the same butt joint is greater than the interval of two second connecting holes corresponding on first connecting piece, the column section and first connecting piece are connected through the fastener through first connecting hole and corresponding second connecting hole. The utility model can improve the butt joint quality of column section, improve the service life of goods shelf robot.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to gantry columns, gantry and shelf robots. Background Technology

[0002] Shelf robots are installed on shelves, allowing for convenient and quick retrieval of goods from different locations on the shelves.

[0003] A typical rack robot consists of a mast and an actuator. The mast supports and guides the actuator to operate at different heights on the rack. To accommodate taller racks, the mast is often designed to be longer. To facilitate the transport of the rack robot and reduce transportation costs, longer masts are usually designed as multi-segment structures.

[0004] When multiple sections of the gantry are spliced ​​together in related technologies, gaps are easily generated at the splicing points, which affects the quality and service life of the shelf robot. Utility Model Content

[0005] This utility model aims to solve one of the technical problems in related technologies to a certain extent. To this end, this utility model provides a gantry column, a gantry, and a shelf robot, which can improve the quality and lifespan of the shelf robot.

[0006] To achieve the above objectives, the first aspect of this utility model discloses a gantry column, which includes a connecting assembly and multiple column segments connected sequentially along the length of the gantry column. The connecting assembly includes at least one first connector, and at least two adjacent column segments are connected by the first connector. Each column segment is provided with a first connecting hole, and the first connector is provided with a second connecting hole corresponding to the first connecting hole. Along the length of the gantry column, the distance between two first connecting holes respectively provided on two adjacent column segments at the same mating point is greater than the distance between two corresponding second connecting holes on the first connector. The column segments and the first connector are connected by fasteners passing through the first connecting holes and the corresponding second connecting holes.

[0007] The two column segments in this technical solution are connected by a connecting component, which includes a first connector. The distance between the two first connecting holes on two adjacent column segments is greater than the distance between the two corresponding second connecting holes on the first connector, and the connecting holes are misaligned. In this way, during the connection process, the misaligned holes can avoid the processing error of the column segment length to a certain extent. The fasteners can make the two column segments fit together more tightly and avoid gaps that occur during the splicing process.

[0008] Furthermore, the column segment is provided with a receiving cavity, and the first connecting hole is provided on the side wall of the receiving cavity;

[0009] The receiving cavities of two adjacent column segments are opposite to each other and are interconnected. The first connector is simultaneously inserted into the corresponding receiving cavities of the two adjacent column segments.

[0010] The first connector is plugged into and connected to the two adjacent column segments. During the production process, the plugging structure between the first connector and the column segments can achieve the pre-positioning of the two column segments to be spliced, which facilitates the subsequent fixing of the two column segments.

[0011] Furthermore, the column segment is provided with a plurality of receiving cavities, the column segment includes a mating surface, the mating surfaces of two adjacent column segments are opposite each other, a plurality of mating interfaces are formed on the mating surface respectively communicating with the plurality of receiving cavities, the plurality of mating interfaces are spaced apart on the mating surface, at least two adjacent column segments correspond to a plurality of first connectors, and the plurality of first connectors are respectively inserted into the plurality of receiving cavities through the mating interfaces.

[0012] Furthermore, the column segment includes a first guide portion and two second guide portions. The two second guide portions are disposed on the same side of the first guide portion and connected to the first guide portion. The two second guide portions are disposed at intervals relative to each other. The first guide portion and the second guide portion are respectively provided with the receiving cavity.

[0013] Furthermore, the connecting assembly also includes at least one positioning element. The column segment is provided with at least one positioning pin hole along the length direction of the gantry column. When two column segments are connected, the positioning pin holes of the two column segments are opposite to each other and are connected. The positioning element is simultaneously inserted into the corresponding positioning pin holes of the two connected column segments to position the two adjacent column segments.

[0014] Furthermore, the column segment is provided with a receiving cavity. When two column segments are connected, the receiving cavities of the two column segments are opposite to each other and interconnected. The first connecting member is simultaneously inserted into the corresponding receiving cavities of the two adjacent column segments. The side wall of the receiving cavity is provided with the first connecting hole. Each side wall of the receiving cavity is provided with a plurality of opposite and spaced positioning pin holes. The connecting assembly includes a plurality of positioning members that correspond one-to-one with the positioning pin holes.

[0015] Furthermore, the connecting assembly also includes a second connector, which is disposed on the outside of the column segment and is used to connect the two column segments.

[0016] Furthermore, the first connector is disposed inside the column segment, the first connector and the second connector are connected to the same side of the column segment, and the second connector can cover the first connecting hole on the column segment that mates with the corresponding first connector.

[0017] Furthermore, at least one of the first connecting hole and the second connecting hole is provided with a tapered hole section.

[0018] The second aspect of this application discloses a gantry for a shelf robot, comprising a plurality of crossbeams and at least two gantry columns as described in the first aspect, the at least two gantry columns being arranged opposite each other and spaced apart, the crossbeams spanning between the two gantry columns, and the plurality of crossbeams being arranged spaced apart along the length direction of the gantry columns.

[0019] The third aspect of this application discloses a shelf robot, including a gantry and an actuator as described in the second aspect. The actuator is slidably connected across at least two of the gantry columns along the length direction of the gantry columns. The gantry is slidably mounted on the shelf along a first direction, which intersects with the length direction of the gantry columns.

[0020] The gantry and shelf robot provided by this utility model has a similar beneficial effect reasoning process to the aforementioned gantry column. During use, the gantry column surface is flatter, which helps to improve the quality and lifespan of the shelf robot.

[0021] These features and advantages of this utility model will be disclosed in detail in the following specific embodiments and accompanying drawings. The preferred embodiments or means of this utility model will be shown in detail in conjunction with the accompanying drawings, but this is not intended to limit the technical solution of this utility model. In addition, each of these features, elements and components appearing in the following text and drawings is multiple and is labeled with different symbols or numbers for convenience, but all represent parts with the same or similar structure or function. Attached Figure Description

[0022] The present invention will be further described below with reference to the accompanying drawings:

[0023] Figure 1 This is an exploded view of the joint structure of the two column segments in one embodiment of the present invention;

[0024] Figure 2 This is a schematic diagram showing the hole distribution relationship between the column segment and the first connector in one embodiment of the present utility model;

[0025] Figure 3 This is a schematic diagram of a column segment structure according to one embodiment of the present invention;

[0026] Figure 4 This is a schematic diagram of the gantry column structure according to one embodiment of the present utility model;

[0027] Figure 5 This is a schematic diagram of the structure of a gantry and shelf robot according to one embodiment of the present invention.

[0028] in,

[0029] 10. Portal frame uprights;

[0030] 11. Column segment; 111. First connecting hole; 112. First guide part; 113. Second guide part; 114. Receiving cavity; 115. Positioning pin hole;

[0031] 12. Connecting component; 121. First connecting member; 1211. Second connecting hole; 122. Positioning member; 123. Second connecting member; 124. Fastener;

[0032] 20. Crossbeam;

[0033] 30. Implementing agency. Detailed Implementation

[0034] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described are intended to explain this utility model and should not be construed as limiting it.

[0035] The terms "an embodiment," "example," or "trademark" used in this specification refer to a particular feature, structure, or characteristic described in connection with the embodiment itself that may be included in at least one embodiment disclosed in this utility model. The phrase "in an embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment.

[0036] See appendix Figures 1 to 4 The first aspect of this utility model discloses a gantry column 10, which includes a connecting component 12 and multiple column segments 11. The multiple column segments 11 are sequentially connected along the length direction of the gantry column 10. The connecting component 12 includes at least one first connector 121. At least two adjacent column segments 11 are connected by the first connector 121. Each column segment 11 is provided with a first connecting hole 111. The first connector 121 is provided with a second connecting hole 1211 corresponding to the first connecting hole 111. Along the length direction of the gantry column 10, the distance between two first connecting holes 111 respectively provided on two adjacent column segments 11 at the same mating point is greater than the distance between two corresponding second connecting holes 1211 on the first connector 121. The column segment 11 and the first connector 121 are connected by fasteners 124 passing through the first connecting hole 111 and the corresponding second connecting hole 1211.

[0037] In related technologies, the length of the mast upright 10 is generally matched with the height of the rack. In order to obtain a larger storage capacity, the height of the rack in the warehousing industry is getting higher and higher, so the height of the mast also needs to be increased accordingly. The total length of the mast is generally a few meters or tens of meters, and some can even reach tens of meters. The length of the mast upright 10 will also increase accordingly. The longer the mast upright 10 is, the more the production cost and transportation cost will increase.

[0038] To facilitate transportation and production, in actual design, longer gantry columns 10 are generally designed as multi-segment structures. After arriving at the work site, the multiple segments are spliced ​​together to form an integrated structure to meet the needs of longer gantry columns.

[0039] In this embodiment, the first connector 121 and the column segment 11 are fixedly connected by connecting holes and fasteners 124. The fasteners 124 can generally be screws, pins, or bolts. Since the fasteners 124 generally only have a fixing effect in the tightening direction during use, when there are processing errors in the hole positions or hole diameters on the column segment 11 and the first connector 121 in related technologies, gaps can easily appear at the joint of the two column segments 11, which will affect the stability of the roller running on the gantry column 10.

[0040] In this embodiment, when the first connecting hole 111 on the column segment 11 and the second connecting hole 1211 on the first connector 121 are installed, along the length direction of the gantry column 10, the distance between two first connecting holes 111 on adjacent column segments 11 is greater than the distance between two corresponding second connecting holes 1211 on the first connector 121, as shown in the attached figure. Figure 2 As shown, the first connecting hole 111 and the second connecting hole 1211 do not need to be perfectly aligned during the processing, and a certain processing error is allowed. Moreover, after being connected by the fastener 124, under the action of the fastener 124 itself, the two column segments 11 need to make slight movements in opposite directions to adapt to the gap between the two second connecting holes 1211. In this way, while the two column segments 11 are connected, they can also move closer to each other under the action of the fastener 124 and the first connector 121, thereby avoiding gaps at the mating parts of the two column segments 11.

[0041] In this embodiment, the difference between the spacing H1 of the two first connecting holes 111 on adjacent column segments 11 and the spacing H2 of the two corresponding second connecting holes 1211 on the first connector 121 is not specifically limited. In actual installation, in order to ensure that the two column segments 11 can approach each other and that the fasteners 124 can be smoothly inserted into the first connecting holes 111 and the second connecting holes 1211 at the same time, the difference between the two spacings is generally controlled within a certain range.

[0042] In actual setup, the aforementioned spacing difference in this embodiment can be the hole spacing difference between the first connector 121 and one of the column segments 11, that is, the second connecting hole 1211 on the first connector 121 is only misaligned with the first connecting hole 111 on one of the column segments 11, and is not misaligned with the first connecting hole 111 on the other column segment 11. Alternatively, it can be the sum of the hole spacing differences between the first connector 121 and both column segments 11, in which case the second connecting hole 1211 on the first connector 121 is misaligned with the first connecting hole 111 on both column segments 11.

[0043] In actual production, once the positions of the second connecting hole 1211 on the first connector 121 and the first connecting hole 111 on the column segment 11 are determined, the misalignment of the first connecting hole 111 and the second connecting hole 1211 can be adaptively adjusted according to the position of the first connector 121 during the actual assembly process, which also reduces the assembly accuracy accordingly.

[0044] This embodiment does not specifically limit the shape of the first connecting hole 111 and the second connecting hole 1211. In actual installation, one of the first connecting hole 111 and the second connecting hole 1211 can be set as a conical hole. In this way, during the connection process, the structure of the conical hole can guide the fastening process of the fastener 124, making the connection process of the fastener 124 smoother.

[0045] In addition, in actual installation, each column segment 11 can be provided with multiple first connecting holes 111, which can be arranged in one row or multiple rows.

[0046] In this embodiment, the gantry column 10 is formed by splicing multiple column segments 11. Adjacent column segments 11 are fixedly connected by a connecting component 12. The connecting component 12 in this embodiment includes a first connector 121, which can be inserted into two column segments 11. The insertion structure can fix the relative position between the first connector 121 and the column segment 11. After the fixed connection, the relative position of the two column segments 11 is fixed accordingly. It can be seen that the first connector 121 can achieve the pre-positioning of the two column segments 11, which facilitates subsequent assembly.

[0047] This embodiment does not specifically limit the plug-in fit structure between the first connector 121 and the column segment 11. When implementing the fit, it can be set as a slot-protrusion fit, hole-shaft fit, mortise and tenon structure or other plug-in fit structure. In addition, in the plug-in fit, the first connector 121 and the column segment 11 can be set as a clearance fit, transition fit or interference fit, etc., without specific limitation.

[0048] It should be noted that, in the actual production process, in order to avoid affecting the movement of the external sliding parts (generally referring to the actuator) installed on the gantry column, the first connecting member 121 and the column segment 11 are generally positioned on the non-rail surface of the column segment to avoid the external sliding parts.

[0049] As one embodiment of this utility model, see the appendix. Figure 3 The column segment 11 is provided with a receiving cavity 114, and the first connecting hole 111 is provided on the side wall of the receiving cavity 114;

[0050] The receiving cavities 114 of two adjacent column segments 11 are opposite to each other and are interconnected. The first connector 121 is simultaneously inserted into the corresponding receiving cavities 114 of the two adjacent column segments 11.

[0051] In this embodiment, the column segment 11 is provided with a receiving cavity 114. During installation, the first connector 121 is inserted into the corresponding receiving cavities 114 of the two column segments 11. The design of the receiving cavity 114 provides installation space for the first connector 121. In actual design, the side wall of the receiving cavity 114 can be set to fit against the outer wall of the first connector 121, which can achieve a better positioning and fitting effect and make the pre-positioning between the first connector 121 and the column segment 11 more accurate.

[0052] This embodiment does not limit the specific structure of the receiving cavity 114. In actual installation, the receiving cavity 114 can be configured as a ring structure with a closed circumferential edge. In this case, as shown in the attached figure... Figure 3 As shown, during production and assembly, the first connector 121 is completely hidden within the receiving cavity 114 of the two column segments 11 after assembly, and is not visible from the outside, making the overall structure more compact. Furthermore, the first connector 121 can also help increase the strength of the connection between the column segments 11. In addition, the receiving cavity 114 can also be configured with an open side, allowing a portion of the first connector 121 to be exposed on the outside of the column segment 11 during installation.

[0053] This embodiment does not specifically limit the shape of the receiving cavity 114. In actual installation, as shown in the attached figure... Figure 3 As shown, the cross-section of the receiving cavity 114 can be set to T-shape, square, rhombus or other shapes, as long as the first connecting member 121 is set to match the cross-sectional shape of the receiving cavity 114 in actual installation.

[0054] As one embodiment of this utility model, see the appendix. Figure 3, a plurality of the accommodating cavities 114 are provided on the column section 11. The column section 11 includes a docking surface. The docking surfaces of two adjacent column sections 11 face each other. A plurality of docking ports respectively communicating with the plurality of accommodating cavities 114 are formed on the docking surface. The plurality of docking ports are spaced apart on the docking surface. At least two adjacent column sections 11 correspond to a plurality of the first connecting members 121. The plurality of first connecting members 121 are respectively inserted into the plurality of accommodating cavities 114 through the docking ports in one-to-one correspondence.

[0055] When the two column sections in this embodiment are connected, the docking surfaces of the two column sections generally fit together. A plurality of accommodating cavities 114 are provided on the column section 11 in this embodiment. Each accommodating cavity 114 is correspondingly provided with a first connecting member 121. The arrangement of the plurality of first connecting members 121 can provide a more stable locking force for the two column sections 11. During actual arrangement, through the reasonable arrangement of the positions of the plurality of first connecting members 121, the docking force between the two column sections 11 is more balanced during the splicing process, ensuring the reliability of docking and avoiding possible gaps or steps caused by uneven stress.

[0056] As one embodiment of the present utility model, the column section 11 includes a first guiding portion 112 and two second guiding portions 113. The two second guiding portions 113 are provided on the same side of the first guiding portion 112 and are connected to the first guiding portion. The two second guiding portions are spaced apart relatively. The accommodating cavities 114 are respectively provided on the first guiding portion 112 and the second guiding portions 113.

[0057] As shown in the Figure 3 drawing, the first guiding portion 112 and the two second guiding portions 113 of this embodiment are distributed in a "pin" shape. The accommodating cavities 114 and the first connecting members 121 are provided on each guiding portion. In this way, the first connecting members 121 are also distributed in a "pin" shape. During the connection process, the docking force is more evenly distributed and the balance is better.

[0058] Of course, during actual installation, the column section 11 is not limited to the structure distributed in a "pin" shape as described above, and can also be set in a "cross" shape, an "L" shape or other shapes.

[0059] To improve the splicing quality of the column section 11, the connecting component 12 further includes at least one positioning member 122. At least one positioning pin hole 115 along the length direction of the gantry column 10 is provided on the column section 11. When two column sections 11 are connected, the positioning pin holes 115 of the two column sections 11 face each other and penetrate through. The positioning member 122 is simultaneously inserted into the corresponding positioning pin holes 115 of the two connected column sections 11 to position the two adjacent column sections 11.

[0060] The first connector 121 mentioned above mainly functions to make it easier for the two column segments 11 to approach each other during the docking process, reducing the docking gap. The connecting component 12 in this embodiment also includes a positioning component 122. The positioning component 122 and the column segment 11 are engaged through a positioning pin hole 115. The positioning component 122 is mainly used to accurately position the relative position of the two column segments 11. In actual installation, the positioning component 122 and the positioning pin hole 115 are generally set to a transition fit or an interference fit, so that during the installation process, under the action of the positioning component 122, the relative position of the two adjacent column segments 11 is more accurate. At this time, the outer contours of the two column segments 11 are generally aligned with each other.

[0061] In this embodiment, the insertion and engagement of the first connector 121 and the column segment 11 can form a coarse positioning of the relative positions of the two column segments 11. The engagement of the positioning component 122 and the positioning pin hole 115 can achieve precise positioning of the two adjacent column segments 11. Through the mutual cooperation of the two, the assembly efficiency and assembly accuracy of the column segments 11 can be improved.

[0062] In this embodiment, the specific number and setting position of the positioning element 122 are not specifically limited. In actual setting, one positioning element 122 can be set at the joint of the two column segments 11, or multiple positioning elements 122 can be set (generally multiple). Moreover, the relative positions of the positioning element 122 and the first connecting element 121 can be set in pairs or set individually.

[0063] As one embodiment of this utility model, see the appendix. Figure 1 , 3 The column segment 11 is provided with a receiving cavity 114. When two column segments 11 are connected, the receiving cavities 114 of the two column segments 11 are opposite to each other and are interconnected. The first connecting member 121 is simultaneously inserted into the corresponding receiving cavities 114 of the two adjacent column segments 11. The side wall of the receiving cavity 114 is provided with the first connecting hole 111. Each side wall of the receiving cavity 114 is provided with a plurality of opposite and spaced positioning pin holes 115. The connecting assembly 12 includes a plurality of positioning members 122 that correspond one-to-one with the positioning pin holes 115.

[0064] In this embodiment, the positioning element 122 and the first connecting element 121 are arranged in a corresponding manner. Specifically, each first connecting element 121 is provided with two positioning elements 122, and the corresponding first connecting element 121 and positioning element 122 are arranged in the same receiving cavity 114, which can improve the accuracy and stability of docking.

[0065] In this embodiment, the multiple positioning elements 122 in each receiving cavity 114 are relatively spaced apart. In this way, the multiple positioning elements 122 in the multiple receiving cavities 114 can form multiple limiting points, ensuring the reliability of positioning and further facilitating the alignment of the outer contours of the two column segments 11.

[0066] In this embodiment, the positioning pin hole 115 can be set directly on the side wall of the receiving cavity 114, with one side communicating with the container. Alternatively, a protrusion can be set on the side wall of the receiving cavity 114, and a corresponding positioning pin hole 115 can be formed on the protrusion. Of course, in actual installation, the positioning pin hole 115 can also be set to not communicate with the receiving cavity 114.

[0067] To further improve the reliability of the connection of column segment 11, as one embodiment of this utility model, see the appendix. Figure 1 , 4 The connecting component 12 further includes a second connector 123, which is disposed on the outside of the column segment 11 and is used to connect the two column segments 11.

[0068] In this embodiment, the second connector 123 mainly serves a connecting function. As shown in the attached figure, it is located on the outside of the column segment 11. Multiple second connectors 123 can be provided and distributed in different positions to improve the reliability of the connection between the column segment 11. The connection between the second connector 123 and the column segment 11 can be made by bolts, screws or rivets, or by welding or snap-fitting.

[0069] For example, when column segment 11 includes a first guide portion 112 and a second guide portion 113, a second connector 123 can be provided at the corresponding position of each guide portion to improve the reliability of the connection.

[0070] As one embodiment of this utility model, see the appendix. Figure 1 , 4 The first connector 121 is disposed inside the column segment 11. The first connector 121 and the second connector 123 are connected to the same side of the column segment 11, and the second connector 123 can cover the first connecting hole 111 on the column segment 11 that mates with the corresponding first connector 121.

[0071] In this embodiment, the first connecting member 121 and the second connecting member 123 are correspondingly arranged. Combined with the positioning member 122 mentioned above, which can also be correspondingly arranged with the first connecting member 121, the corresponding arrangement of the positioning member 122, the first connecting member 121, and the second connecting member 123 improves assembly convenience in actual production. Furthermore, during processing, the corresponding structure makes machining of mating holes and other components more convenient. For example, in this utility model... Figure 1As shown, the connecting holes of the column segment 11 and the corresponding first connecting member 121 and second connecting member 123 are located on the same side of the column segment 11. During the processing, the number of times the workpiece posture needs to be adjusted can be reduced, thereby improving processing efficiency and quality.

[0072] In this embodiment, the first connection is located inside the column segment 11, and the second connector 123 is located outside the column segment 11. The two cooperate with each other to connect to the column segment 11 from the inside and outside respectively. This not only improves the structural strength of the column segment 11, but also ensures the reliability of the connection and avoids the impact on the docking accuracy of the column segment 11 caused by the imbalance that may be caused by the force on one side.

[0073] In this embodiment, the second connector 123 covers the connection between the first connector 121 and the column segment 11. Thus, after assembly, the mating structure of the first connector 121, the positioning member 122, and the column segment 11 cannot be seen from the outside. That is, only the column segment 11 and the first connector 121 can be seen from the outside, making the overall structure more compact and reserving more installation space for the external sliding member installed on the gantry column 10.

[0074] This utility model does not specify how the external sliding member is slidably connected to the gantry column 10; see appendix. Figure 4 This is a schematic diagram of the connection structure between the external sliding member and a gantry column 10 in one embodiment of the present invention.

[0075] As one embodiment of this utility model, see the appendix. Figure 1 At least one of the first connecting hole 111 and the second connecting hole 1211 is provided with a tapered hole section.

[0076] In actual installation, the first connecting hole 111 and the second connecting hole 1211 in this embodiment are misaligned. In order to ensure that the fastener 124 can smoothly enter the first connecting hole 111 and the second connecting hole 1211, at least one of the first connecting hole 111 and the second connecting hole 1211 is provided with a tapered hole section. The tapered hole section can guide the connection of the fastener 124 and improve the ease of assembly of the fastener 124.

[0077] For example, the attached diagram shows a structure with a tapered hole section on the first connecting hole 111. In the actual assembly process, a tapered structure can also be provided on the nut end of the fastener 124. This makes it easier to connect the fastener 124 with the tapered surface. Moreover, the tapered end of the first connecting hole 111 can also form a countersunk hole structure, so that the end of the fastener 124 will not protrude from the side wall of the column section 11 after connection, which facilitates the setting of the second connector 123.

[0078] The second aspect of this utility model discloses a gantry, see appendix. Figure 5 The robot is used for shelving and includes multiple beams 20 and at least two mast columns 10 in the first aspect. The at least two mast columns 10 are arranged opposite each other and spaced apart (generally parallel spaced apart). The beams 20 span between the two mast columns 10. The multiple beams 20 are arranged spaced apart along the length of the mast columns 10.

[0079] This embodiment does not specify the exact number of crossbeams 20 or the specific connection structure between the crossbeams 20 and the gantry columns 10, as long as the two spaced gantry columns 10 can be stably fixed. The gantry structure in this embodiment forms the frame mechanism shown in the diagram, resulting in significantly improved overall structural strength and adaptability to applications requiring greater length.

[0080] A third aspect of this application discloses a shelf robot, see appendix. Figure 5 The second aspect includes a gantry and an actuator 30, the actuator 30 being slidably connected across at least two of the gantry columns 10 along the length direction of the gantry columns 10, the gantry being slidably mounted on the shelf along a first direction of the shelf, the first direction intersecting the length direction of the gantry columns 10.

[0081] In this embodiment, the shelf robot is generally installed on the shelf, with the first direction generally along the length of the shelf and the length of the gantry column 10 generally along the height of the shelf. In this way, with the cooperation of the gantry and the actuator 30 moving together, the actuator 30 can reach any position on the shelf, thereby enabling faster retrieval of materials on the shelf.

[0082] The above are merely specific embodiments of this utility model, but the scope of protection of this utility model is not limited thereto. Those skilled in the art should understand that this utility model includes, but is not limited to, the contents described in the accompanying drawings and the specific embodiments above. Any modifications that do not depart from the functional and structural principles of this utility model will be included within the scope of the claims.

Claims

1. A gantry column, the gantry column (10) comprising a connecting assembly (12) and multiple column segments (11), the multiple column segments (11) being sequentially connected along the length direction of the gantry column (10), characterized in that, The connecting assembly (12) includes at least one first connector (121), at least two adjacent column segments (11) are connected by the first connector (121), the column segment (11) is provided with a first connecting hole (111), the first connector (121) is provided with a second connecting hole (1211) corresponding to the first connecting hole (111), along the length direction of the gantry column (10), the distance between the two first connecting holes (111) respectively provided on the two adjacent column segments (11) at the same docking point is greater than the distance between the two corresponding second connecting holes (1211) on the first connector (121), the column segment (11) and the first connector (121) are connected by fasteners (124) passing through the first connecting hole (111) and the corresponding second connecting hole (1211).

2. The gantry column according to claim 1, characterized in that, The column segment (11) is provided with a receiving cavity (114), and the first connecting hole (111) is provided on the side wall of the receiving cavity (114); The receiving cavities (114) of two adjacent column segments (11) are opposite to each other and are interconnected. The first connector (121) is simultaneously inserted into the corresponding receiving cavities (114) of the two adjacent column segments (11).

3. The gantry column according to claim 2, characterized in that, The column segment (11) includes a mating surface, and the mating surfaces of two adjacent column segments (11) are opposite to each other. A plurality of receiving cavities (114) are provided on the column segment (11). A plurality of mating interfaces are formed on the mating surface, which are respectively connected to the plurality of receiving cavities (114). The plurality of mating interfaces are spaced apart on the mating surface. At least two adjacent column segments (11) correspond to a plurality of first connectors (121). The plurality of first connectors (121) are respectively inserted into the corresponding receiving cavity (114) through the mating interface.

4. The gantry column according to claim 3, characterized in that, The column segment (11) includes a first guide portion (112) and two second guide portions (113). The two second guide portions (113) are disposed on the same side of the first guide portion (112) and connected to the first guide portion. The two second guide portions are disposed at intervals relative to each other. The first guide portion (112) and the second guide portion (113) are respectively provided with the receiving cavity (114).

5. The gantry column according to claim 1, characterized in that, The connecting assembly (12) further includes at least one positioning element (122). The column segment (11) is provided with at least one positioning pin hole (115) along the length direction of the gantry column (10). When the two column segments (11) are connected, the positioning pin holes (115) of the two column segments (11) are opposite to each other and are connected. The positioning element (122) is simultaneously inserted into the corresponding positioning pin holes (115) of the two connected column segments (11) to position the two adjacent column segments (11).

6. The gantry column according to claim 5, characterized in that, The column segment (11) is provided with a receiving cavity (114). The receiving cavities (114) of two adjacent column segments (11) are opposite to each other and are interconnected. The first connector (121) is simultaneously inserted into the corresponding receiving cavities (114) of two adjacent column segments (11). The side wall of the receiving cavity (114) is provided with the first connecting hole (111). Each receiving cavity (114) is provided with a plurality of opposite and spaced positioning pin holes (115) on its side wall. The connecting assembly (12) includes a plurality of positioning members (122) that correspond one-to-one with the positioning pin holes (115).

7. The gantry column according to any one of claims 1 to 6, characterized in that, The connecting assembly (12) further includes a second connector (123), which is disposed on the outside of the column segment (11) and is used to connect two adjacent column segments (11).

8. The gantry column according to claim 7, characterized in that, The first connector (121) is disposed inside the column segment (11). The first connector (121) and the second connector (123) are connected to the same side of the column segment (11), and the second connector (123) can cover the first connecting hole (111) on the column segment (11) that mates with the corresponding first connector (121).

9. The gantry column according to any one of claims 1 to 6, characterized in that, At least one of the first connecting hole (111) and the second connecting hole (1211) is provided with a tapered hole section.

10. A gantry for a shelf robot, characterized in that, It includes a plurality of crossbeams (20) and at least two gantry columns (10) as described in any one of claims 1 to 9, wherein the at least two gantry columns (10) are arranged opposite to each other and spaced apart, and the crossbeams (20) span between the two gantry columns (10), and the plurality of crossbeams (20) are arranged at intervals along the length direction of the gantry columns (10).

11. A shelf robot, characterized in that, Includes the gantry as described in claim 10 and the actuator (30), the actuator (30) being slidably connected across at least two gantry columns (10) along the length direction of the gantry columns (10), the gantry being slidably disposed on the shelf along a first direction of the shelf, the first direction intersecting the length direction of the gantry columns (10).

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