A lifting portal and bin handling robot

Abstract

The utility model discloses a kind of lifting gantry and material box carrying robot, it is related to intelligent logistics warehousing technical field.The lifting gantry includes: lifting drive component, gantry frame, lifting driving wheel, lifting driven wheel, lifting synchronous belt and tensioning mechanism;Gantry frame is erected in mounting plane along height direction;Lifting drive component is set in the top of gantry frame, for driving lifting synchronous belt rotates around lifting driving wheel and lifting driven wheel;Lifting driving wheel is set in the top of gantry frame;Lifting driven wheel is set in the bottom of gantry frame;Lifting synchronous belt is sleeved in the outside of lifting driving wheel and lifting driven wheel;Tensioning mechanism includes: tensioning plate;Tensioning plate is installed in the bottom of gantry frame;Lifting driven wheel is rotatably installed in tensioning plate.The lifting gantry is by adjusting the position of tensioning plate, so that lifting driven wheel can be tensioned to the lifting synchronous belt of sleeve in the outside of lifting driving wheel and lifting driven wheel.

Description

Technical Field

[0001] This utility model relates to the field of intelligent logistics warehousing technology, and in particular to a lifting gantry and bin handling robot. Background Technology

[0002] Currently, the main components of a bin handling robot include: a mobile chassis, a lifting gantry, and a bin loading / unloading device. The lifting gantry is mounted on the mobile chassis, and the bin loading / unloading device is mounted on the lifting gantry, allowing it to move up and down on the gantry to load and unload bins at different heights.

[0003] In related technologies, common lifting gantry frames include: a gantry frame and lifting drive and transmission components mounted on the gantry frame. The lifting drive component mainly includes: a drive motor and a reducer, etc.; the transmission component usually uses a synchronous belt sleeved on the driving pulley and the driven pulley for transmission. Since the synchronous belt may loosen after running for a long time, a tensioning pulley set connected to the synchronous belt is also installed on the gantry frame to tension the synchronous belt.

[0004] However, the gantry frame requires an additional tensioning pulley assembly, making the overall structure of the lifting gantry complex. During the replacement or maintenance of the lifting timing belt, the tensioning pulley assembly must also be disassembled simultaneously. This leads to increased costs and inconvenience in maintenance of the lifting gantry. Utility Model Content

[0005] The purpose of this utility model embodiment is to provide a lifting gantry and a bin handling robot to simplify the lifting gantry structure. The specific technical solution is as follows:

[0006] This utility model provides a lifting gantry, which includes: a lifting drive assembly, a gantry frame, a lifting drive wheel, a lifting driven wheel, a lifting timing belt, and a tensioning mechanism;

[0007] The gantry frame is erected vertically on the mounting plane along the height direction;

[0008] The lifting drive assembly is located at the top of the gantry frame and is used to drive the lifting drive wheel to rotate the lifting timing belt around the lifting drive wheel and the lifting driven wheel. The lifting drive wheel is located at the top of the gantry frame and is connected to the lifting drive assembly. The lifting driven wheel is located at the bottom of the gantry frame. The lifting timing belt is sleeved on the outside of the lifting drive wheel and the lifting driven wheel.

[0009] The tensioning mechanism includes: a tensioning plate; the tensioning plate is installed at the bottom of the gantry frame; and the lifting driven wheel is rotatably installed on the tensioning plate.

[0010] The tensioning plate is used to drive the lifting driven wheel to move along the height direction of the gantry frame, so as to tension the lifting synchronous belt.

[0011] In some embodiments of this utility model, the tensioning plate is installed at the bottom of the gantry frame by tensioning blocks and tensioning bolts, and moves along the height direction of the gantry frame;

[0012] The tensioning block is fixedly installed on the gantry frame and located above the tensioning plate; the tensioning block is provided with an adjustment screw hole that extends through the height direction of the tensioning block;

[0013] The tensioning bolt passes through the adjusting screw hole and is fixedly connected to the top of the tensioning plate, thereby driving the tensioning plate to move along the height direction.

[0014] In some embodiments of this utility model, a tensioning nut is also provided on the top of the tensioning block; the tensioning bolt passes through the tensioning nut and the tensioning block and is fixedly connected to the top of the tensioning plate.

[0015] In some embodiments of this utility model, at least one elongated hole is provided on the side of the tensioning plate facing the gantry frame; at least one fixing bolt passes through the elongated hole to install the tensioning plate to the bottom of the gantry frame;

[0016] The length direction of the elongated hole is parallel to the height direction of the gantry frame, and is used to allow the tensioning plate to move relative to the fixing bolt along the length direction of the elongated hole.

[0017] The lifting driven wheel is located below the elongated hole on the tensioning plate.

[0018] In some embodiments of this utility model, the lifting drive assembly includes a drive motor and a motor reducer;

[0019] The drive motor is connected to the motor reducer; the motor reducer is installed on the top of the gantry frame; the output shaft of the motor reducer is fixedly connected to the lifting drive wheel and is used to drive the lifting drive wheel to rotate.

[0020] In some embodiments of this utility model, the gantry frame includes: a gantry base plate, gantry columns, and a gantry top plate;

[0021] The gantry column is erected on the gantry base plate; the gantry top plate is disposed on the top of the gantry column;

[0022] The drive motor and motor reducer are installed below the top plate of the gantry; the tensioning mechanism is located at the bottom of the gantry column.

[0023] In some embodiments of this utility model, the number of gantry columns is two; the two gantry columns are spaced apart; the bottoms of the two gantry columns are both fixed to the gantry base plate; the tops of the two gantry columns are both fixed to the gantry top plate.

[0024] The drive motor and motor reducer are installed between the two gantry columns; the motor reducer is a dual-output-shaft reducer.

[0025] The top of the motor reducer is fixedly installed at the bottom of the gantry top plate; the two output shafts of the motor reducer extend toward the two gantry columns respectively;

[0026] The number of lifting drive wheels is two, which are respectively installed on the two output shafts of the motor reducer;

[0027] The number of the lifting driven wheel and the number of the lifting synchronous belt are both two; the number of the tensioning mechanism is two, which are respectively installed at the bottom of the side of the gantry column facing the other gantry column, and each tensions one lifting synchronous belt.

[0028] In some embodiments of this utility model, the lifting gantry further includes: a lifting assembly; the lifting assembly includes: a lifting fixing plate and a toothed pressure plate; the lifting fixing plate is installed on the side of the lifting synchronous belt away from the gantry frame; the toothed pressure plate is detachably installed on the side of the lifting fixing plate close to the gantry frame, for fixing the lifting synchronous belt between the lifting fixing plate and the toothed pressure plate.

[0029] This utility model also provides a bin handling robot, which includes: a lifting gantry, a bin handling device, and a mobile chassis as described in any of the above embodiments; the lifting gantry is erected on top of the mobile chassis along the height direction; the bin handling device is fixed to the lifting synchronous belt.

[0030] In some embodiments of this utility model, the gantry frame includes: a gantry base plate, gantry columns, and a gantry top plate; the gantry columns are vertically installed on the gantry base plate; the gantry top plate is disposed on the top of the gantry columns; and the gantry base plate is fixedly installed on the top of the mobile chassis.

[0031] In some embodiments of this utility model, the lifting gantry includes: a lifting assembly; the lifting assembly includes: a lifting fixing plate and a toothed pressure plate; the toothed pressure plate is detachably installed on the side of the lifting fixing plate near the gantry frame, for fixing the lifting synchronous belt between the lifting fixing plate and the toothed pressure plate; the hopper transport device is fixedly installed on the side of the lifting fixing plate away from the lifting gantry.

[0032] Beneficial effects:

[0033] This utility model provides a lifting gantry and bin handling robot. A lifting drive assembly is installed on the top of the gantry frame, and a tensioning mechanism is installed on the bottom of the gantry frame. The lifting drive assembly drives the lifting drive wheel to rotate the lifting synchronous belt around the lifting drive wheel and the lifting driven wheel. The lifting driven wheel is rotatably mounted on a tensioning plate and can move along the height direction of the gantry frame under the drive of the tensioning plate. By adjusting the position of the tensioning plate, the tension of the lifting driven wheel on the lifting synchronous belt can be adjusted, so that the lifting driven wheel can tension the lifting synchronous belt.

[0034] Compared to lifting gantry structures in related technologies, this invention achieves both tensioning and auxiliary rotation simultaneously using only the lifting driven wheel, eliminating the need for the "tensioning wheel assembly" found in lifting gantry structures in related technologies, thus simplifying the lifting gantry structure. When maintenance or replacement of the lifting timing belt is required, the tension of the lifting driven wheel can be adjusted simply by changing the position of the tensioning plate, thereby removing the lifting timing belt and effectively reducing the cost of the lifting gantry and simplifying maintenance.

[0035] Of course, any product implementing this utility model does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art 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.

[0037] Figure 1 This is a schematic diagram of a lifting gantry that simultaneously incorporates a tensioning wheel assembly and an idler wheel in related technologies.

[0038] Figure 2a This is a schematic diagram of the lifting gantry provided by this utility model;

[0039] Figure 2b for Figure 2a A structural schematic diagram of the lifting gantry from another perspective is shown;

[0040] Figure 2c for Figure 2a A cross-sectional view along the AA direction;

[0041] Figure 3a This is a partially enlarged view of the tensioning mechanism installed on the lifting gantry;

[0042] Figure 3b for Figure 3a The diagram shown is a structural schematic of a lifting gantry without a lifting timing belt installed.

[0043] Figure 4a This is a schematic diagram of the tensioning mechanism;

[0044] Figure 4b An exploded view of the tensioning mechanism;

[0045] Figure 5a A magnified view showing the interaction between the lifting components and the lifting timing belt;

[0046] Figure 5b for Figure 5a Cross-sectional view along the BB direction;

[0047] Figure 6 This is a structural schematic diagram of the bin handling robot provided by this utility model.

[0048] Figure label:

[0049] Lifting drive assembly 1, drive motor 11, motor reducer 12;

[0050] 2. Gantry frame, 21. Gantry base plate, 22. Gantry column, 23. Gantry top plate, 24. Lifting guide groove, 25. Cable chain;

[0051] 3. Lifting drive wheel; 4. Lifting driven wheel; 5. Lifting synchronous belt;

[0052] Tensioning mechanism 6, tensioning plate 61, oblong hole 611, fixing bolt 612, driven wheel mounting shaft 613, tensioning block 62, adjusting screw hole 621, tensioning nut 622, mounting bolt 623, tensioning bolt 63, fixing plate 64;

[0053] Lifting component 7, lifting fixing plate 71, guide wheel assembly 711, toothed pressure plate 72, pressure plate mating part 73;

[0054] 8. Material box handling device; 91. Mobile chassis; 92. Storage box;

[0055] Synchronous belt 100, drive pulley 210, driven pulley 220, tension pulley 230, top plate 310, column 320, bottom plate 330, lifting platform 400, loading platform 500. Detailed Implementation

[0056] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art based on the present utility model are within the protection scope of the present utility model.

[0057] In related technologies, such as Figure 1 As shown, Figure 1 This is a structural diagram of a lifting gantry that simultaneously incorporates a tensioning pulley set and idler pulleys in related technologies. In common lifting gantry designs, a timing belt 100 is fitted onto the driving pulley 210 and two driven pulleys 220. The driving pulley 210 is mounted on the base plate 330 of the lifting gantry, and the two driven pulleys 220 are respectively mounted on the top plate 310 and the base plate 330. The top plate 310 and the base plate 330 are connected by a column 320. The driving pulley 210 drives the timing belt 100 to rotate around the driving pulley 210 and the driven pulleys 220, allowing the lifting platform 400 to move the loading platform 500 vertically under the drive of the timing belt 100. Figure 1 As shown, in the related technology, the lifting gantry needs to be provided with at least one tensioning pulley 230 on the outside of the synchronous belt 100, and the tensioning pulley 230 is used to press the synchronous belt 100 to keep the synchronous belt 100 in a taut state.

[0058] However, as Figure 1 As shown, in the related technology, the tensioning wheel 230 on the lifting gantry is fixedly installed on the base plate 330 of the lifting gantry. The tensioning wheel 230 can only rotate around the central axis relative to the base plate 330, making it difficult to adjust the tension according to the tightness of different timing belts 100. Because the lifting gantry in the related technology requires an additional tensioning wheel 230, the lifting gantry structure is complex, and the production cost and assembly difficulty are high.

[0059] To solve the above-mentioned technical problems, this utility model provides a lifting gantry, such as... Figures 2a to 2c As shown, Figure 2a This is a structural schematic diagram of the lifting gantry provided by this utility model. Figure 2b for Figure 2a The diagram shows a structural schematic of the lifting gantry from another perspective. Figure 2c for Figure 2aA cross-sectional view along the AA direction. The lifting gantry includes: a lifting drive assembly 1, a gantry frame 2, a lifting drive wheel 3, a lifting driven wheel 4, a lifting synchronous belt 5, and a tensioning mechanism 6; the gantry frame 2 is erected vertically on the mounting plane along the height direction; the lifting drive assembly 1 is located at the top of the gantry frame 2 and is used to drive the lifting drive wheel 3 to rotate the lifting synchronous belt 5 around the lifting drive wheel 3 and the lifting driven wheel 4; the lifting drive wheel 3 is located at the top of the gantry frame 2 and is connected to the lifting drive assembly 1 for transmission; the lifting driven wheel 4 is located at the bottom of the gantry frame 2; the lifting synchronous belt 5 is sleeved on the outside of the lifting drive wheel 3 and the lifting driven wheel 4; the tensioning mechanism 6 includes: a tensioning plate 61; the tensioning plate 61 is installed at the bottom of the gantry frame 2; the lifting driven wheel 4 is rotatably installed on the tensioning plate 61; the tensioning plate 61 is used to drive the lifting driven wheel 4 to move along the height direction of the gantry frame 2 so that the lifting driven wheel 4 tensions the lifting synchronous belt 5.

[0060] In this embodiment, the lifting drive assembly 1 is installed on the top of the gantry frame 2, and the tensioning mechanism 6 is installed on the bottom of the gantry frame 2. The lifting drive assembly 1 can drive the lifting drive wheel 3 to rotate the lifting synchronous belt 5 around the lifting drive wheel 3 and the lifting driven wheel 4.

[0061] like Figures 3a to 3b As shown, Figure 3a This is a partially enlarged view of the tensioning mechanism installed on the lifting gantry. Figure 3b for Figure 3a The diagram shows the structure of the lifting gantry without the lifting timing belt installed. The lifting driven wheel 4 is rotatably mounted on the tension plate 61 and can move along the height direction of the gantry frame 2 under the drive of the tension plate 61. By adjusting the position of the tension plate 61, the tension of the lifting driven wheel 4 on the lifting timing belt 5 can be adjusted so that the lifting driven wheel 4 can tension the lifting timing belt 5.

[0062] Compared to the lifting gantry in related technologies, this embodiment achieves both tensioning and auxiliary rotation simultaneously using only the lifting driven wheel 4, eliminating the need for the "tensioning wheel assembly" found in lifting gantry systems in related technologies, thus simplifying the lifting gantry structure. When maintenance or replacement of the lifting synchronous belt 5 is required, the tension of the lifting driven wheel 4 can be adjusted simply by changing the position of the tension plate 61, thereby removing the lifting synchronous belt 5. This effectively reduces the cost of the lifting gantry and simplifies maintenance.

[0063] like Figure 2c As shown, a cable chain 25 can also be installed on the lifting gantry to accommodate the wires and provide protection for them.

[0064] In actual production, the positions of the lifting drive assembly 1 and the tensioning mechanism 6 can be reversed. That is, the lifting drive assembly 1 is placed above the gantry base plate 21, and the tensioning mechanism 6 is placed on top of the gantry column 22. As long as the tensioning mechanism 6 can assist the lifting synchronous belt 5 in rotating while achieving the tensioning function, it is acceptable.

[0065] For details, see Figures 3a to 4b , Figure 4a This is a schematic diagram of the tensioning mechanism. Figure 4b This is an exploded view of the tensioning mechanism. The tensioning plate 61 is mounted to the bottom of the gantry frame 2 via a tensioning block 62 and a tensioning bolt 63, and moves along the height of the gantry frame 2. The tensioning block 62 is fixedly mounted on the gantry frame 2 and located above the tensioning plate 61. The tensioning block 62 has an adjusting screw hole 621 extending through its height. The tensioning bolt 63 passes through the adjusting screw hole 621 and is fixedly connected to the top of the tensioning plate 61, used to drive the tensioning plate 61 to move along its height. The lifting driven wheel 4 is rotatably mounted on the driven wheel mounting shaft 613 on the tensioning plate 61. When the tensioning bolt 63 drives the tensioning plate 61 to move along its height, the lifting driven wheel 4 can move along its height with the tensioning plate 61, thereby adjusting the tension of the lifting driven wheel 4 on the lifting synchronous belt 5, so that the lifting driven wheel 4 can tension the lifting synchronous belt 5.

[0066] like Figure 4b As shown, the driven wheel mounting shaft 613 has a screw hole at one end away from the tensioning plate 61. When the lifting driven wheel 4 is mounted on the driven wheel mounting shaft 613, a screw can be inserted into the screw hole. A washer or baffle is placed between the screw and the lifting driven wheel 4 to restrict the movement of the lifting driven wheel 4 along the axial direction of the driven wheel mounting shaft 613.

[0067] In this embodiment, as Figures 3a to 4b As shown, the tensioning block 62 can be fixed to the gantry frame 2 by mounting bolts 623, and the tensioning bolt 63 passes through the adjusting screw hole 621 of the tensioning block 62 and is fixedly connected to the tensioning plate 61. The length of the tensioning bolt 63 extending out of the tensioning block 62 can be adjusted to move the tensioning bolt 63 along the through direction of the adjusting screw hole 621. The tensioning bolt 63 can drive the tensioning plate 61 to move up and down along the through direction of the adjusting screw hole 621, thereby adjusting the tension of the tensioning mechanism 6.

[0068] like Figure 4b As shown, a fixing plate 64 can be installed on the side of the gantry column 22 away from the tension plate 61. The fixing plate 64 is provided with fixing holes. The fixing bolts 612 installed on the tension plate 61 are passed through the gantry column 22 and inserted into the fixing holes of the fixing plate 64 to fix the tension plate 61 to the gantry column 22.

[0069] In some implementations of this application, such as Figures 3a to 4b As shown, a tensioning nut 622 is also provided on the top of the tensioning block 62. The tensioning bolt 63 can pass through the tensioning nut 622 and the tensioning block 62 and be fixedly connected to the top of the tensioning plate 61. By screwing the tensioning nut 622, the length of the tensioning bolt 63 extending out of the tensioning block 62 can be adjusted, so that the tensioning plate 61 can move along the height direction.

[0070] Specifically, such as Figures 3a to 4b As shown, on the side of the tensioning plate 61 facing the gantry frame 2, at least one elongated hole 611 is provided through the tensioning plate 61; at least one fixing bolt 612 passes through the elongated hole 611 to install the tensioning plate 61 to the bottom of the gantry frame 2; the length direction of the elongated hole 611 is parallel to the height direction of the gantry frame 2, which is used to move the tensioning plate 61 relative to the fixing bolt 612 along the length direction of the elongated hole 611; the lifting driven wheel 4 is located below the elongated hole 611 on the tensioning plate 61.

[0071] In this embodiment, the tensioning plate 61 is provided with an elongated hole 611. When it is necessary to increase the tension of the tensioning mechanism 6, the fixing bolt 612 passing through the elongated hole 611 is loosened, so that the tensioning plate 61 can move along the height direction. Since the tensioning bolt 63 is fixedly connected to the tensioning plate 61, and the tensioning plate 61 is in contact with the gantry column 22, the rotational movement of the tensioning bolt 63 in the circumferential direction is restricted. Figure 3a As shown, when the tension nut 622 is tightened, the tension bolt 63, which cannot rotate, rotates relative to the tension nut 622, causing the tension bolt 63 to slide downwards axially within the adjusting screw hole 621. At this time, the lifting driven wheel 4 on the tension plate 61 tensions the lifting synchronous belt 5. After adjustment, the tension nut 622 is brought into contact with the tension block 62, and the fixing bolt 612 is tightened to re-secure the tension plate 61 to the gantry frame 2.

[0072] When it is necessary to reduce the tension of the tensioning mechanism 6, loosen the fixing bolt 612 passing through the elongated hole 611 to allow the tensioning plate 61 to move along the height direction. As mentioned earlier, the tensioning bolt 63 cannot rotate in the circumferential direction. Tighten the tensioning nut 622, and the tensioning bolt 63, which cannot rotate, will rotate relative to the tensioning nut 622, causing the tensioning bolt 63 to slide upward in the axial direction within the adjusting screw hole 621. At this time, the tension of the lifting driven wheel 4 on the tensioning plate 61 on the lifting synchronous belt 5 is reduced. After adjustment, make the tensioning nut 622 fit against the tensioning block 62, tighten the fixing bolt 612, and re-secure the tensioning plate 61 to the gantry frame 2.

[0073] In some embodiments of this utility model, such as Figure 2a and Figure 2bAs shown, the lifting drive assembly 1 includes a drive motor 11 and a motor reducer 12; the drive motor 11 is connected to the motor reducer 12; the motor reducer 12 is installed on the top of the gantry frame 2; the output shaft of the motor reducer 12 is fixedly connected to the lifting drive wheel 3 and is used to drive the lifting drive wheel 3 to rotate.

[0074] In this embodiment, the drive motor 11 transmits torque to the lifting drive wheel 3 through the motor reducer 12. Driven by the motor reducer 12, the lifting drive wheel 3 rotates and drives the lifting timing belt 5 wrapped around it to rotate, thereby realizing the lifting function of the lifting gantry.

[0075] In some embodiments of this utility model, such as Figures 2a to 2c As shown, the gantry frame 2 includes: a gantry base plate 21, gantry columns 22, and a gantry top plate 23; the gantry columns 22 are vertically installed on the gantry base plate 21; the gantry top plate 23 is located on top of the gantry columns 22; the drive motor 11 and the motor reducer 12 are installed below the gantry top plate 23; and the tensioning mechanism 6 is located at the bottom of the gantry columns 22.

[0076] In this embodiment, the drive motor 11 and the motor reducer 12 are located below the gantry top plate 23 of the gantry frame 2, and the tensioning mechanism 6 is located at the bottom of the gantry column 22. By adjusting the position of the tensioning plate 61, the tension of the lifting driven wheel 4 on the lifting synchronous belt 5 can be adjusted so that the lifting driven wheel 4 can tension the lifting synchronous belt 5.

[0077] In some embodiments of this utility model, such as Figures 2a to 2c As shown, there are two gantry columns 22; the two gantry columns 22 are spaced apart; the bottoms of both gantry columns 22 are fixed to the gantry base plate 21; the tops of both gantry columns 22 are fixed to the gantry top plate 23; the drive motor 11 and the motor reducer 12 are installed between the two gantry columns 22. The motor reducer 12 is a dual-output shaft reducer; the top of the motor reducer 12 is fixedly installed at the bottom of the gantry top plate 23; the two output shafts of the motor reducer 12 extend toward the two gantry columns 22 respectively; there are two lifting drive wheels 3, each installed on one of the two output shafts of the motor reducer 12; there are two lifting driven wheels 4 and two lifting synchronous belts 5; there are two tensioning mechanisms 6, each installed at the bottom of the side of the gantry column 22 facing the other gantry column 22, each tensioning one lifting synchronous belt 5.

[0078] In this embodiment, the lifting gantry can be a double-column gantry, that is, the gantry frame 2 has two gantry columns 22. When the lifting gantry is a double-column gantry, the lifting drive assembly 1 is located between the two gantry columns 22, and the motor reducer 12 therein is a dual-output shaft reducer. The two output ends of the dual-output shaft reducer extend toward the two gantry columns 22 respectively, and each output end is connected to a lifting drive wheel 3, which can simultaneously drive the two lifting drive wheels 3 to rotate.

[0079] Meanwhile, each gantry column 22 is equipped with a tensioning mechanism 6. The lifting gantry has two lifting synchronous belts 5. Due to the inconsistent lengths of the two lifting synchronous belts 5, tension deviation may occur. In this case, the two tensioning mechanisms 6 installed on the two gantry columns 22 can drive the lifting driven wheel 4 to adjust the tension of the two lifting synchronous belts 5 respectively, thereby achieving independent tensioning of the two lifting synchronous belts 5 by the two tensioning mechanisms 6 and the lifting driven wheel 4, further improving the adaptability to tension deviation.

[0080] In some embodiments of this utility model, such as Figure 5a and Figure 5b As shown, Figure 5a To provide a magnified view of the components when they are in conjunction with the lifting synchronous belt. Figure 5b for Figure 5a A cross-sectional view along the BB direction. The lifting gantry also includes: a lifting assembly 7; the lifting assembly 7 includes: a lifting fixing plate 71 and a toothed pressure plate 72; the lifting fixing plate 71 is installed on the side of the lifting synchronous belt 5 away from the gantry frame 2; the toothed pressure plate 72 is detachably installed on the side of the lifting fixing plate 71 near the gantry frame 2, for fixing the lifting synchronous belt 5 between the lifting fixing plate 71 and the toothed pressure plate 72.

[0081] Specifically, such as Figure 5b As shown, a pressure plate mating part 73 can be provided on the side of the lifting fixing plate 71 near the toothed pressure plate 72, and the pressure plate mating part 73 protrudes outward from the lifting fixing plate 71. The lifting synchronous belt 5 is placed between the pressure plate mating part 73 and the toothed pressure plate 72. The pressure plate mating part 73 and the toothed pressure plate 72 cooperate with each other to press the lifting synchronous belt 5, thereby fixing the lifting fixing plate 71 to the lifting synchronous belt 5.

[0082] In this embodiment, the lifting synchronous belt 5 is fixedly connected to the lifting fixing plate 71 by the toothed pressure plate 72, so that the lifting synchronous belt 5 can drive the lifting assembly 7 to move up and down along the height direction of the gantry frame 2. During the replacement of the lifting synchronous belt 5, the position of the tensioning plate 61 is adjusted by the tensioning bolt 63, so that the lifting driven wheel 4 located on the tensioning plate 61 moves upward, thereby reducing the tension force of the lifting driven wheel 4 on the lifting synchronous belt 5. At the same time, the toothed pressure plate 72 can be opened to disassemble and assemble the lifting synchronous belt 5, effectively reducing the difficulty of the maintenance process and making maintenance more convenient.

[0083] Also see Figure 5a Lifting guide grooves 24 are provided on both sides of the gantry frame 2, and guide wheel sets 711 are provided on both sides of the lifting fixing plate 71. The guide wheel sets 711 of the lifting fixing plate 71 are embedded in the lifting guide grooves 24 of the gantry frame 2. When the lifting assembly 7 is lifted, the guide wheel sets 711 cooperate with the lifting guide grooves 24 to improve the stability of the lifting assembly 7.

[0084] This utility model also provides a bin handling robot, such as Figure 6 As shown, Figure 6 This is a schematic diagram of the structure of the bin handling robot provided by this utility model. The bin handling robot includes: a lifting gantry, a bin handling device 8, and a mobile chassis 91 as described in any of the above embodiments; movable wheels (not shown in the figure) are provided at the bottom of the mobile chassis 91, so that the lifting gantry and the bin handling device 8 can move under the drive of the mobile chassis 91; the lifting gantry is erected on the top of the mobile chassis 91 along the height direction; the bin handling device 8 is fixed to the lifting synchronous belt 5.

[0085] In this embodiment, the lifting gantry is erected on top of the mobile chassis 91 and can move under the drive of the mobile chassis 91. Furthermore, the material box handling device 8 can be raised and lowered along the height direction of the lifting gantry under the drive of the lifting synchronous belt 5 to pick up and place goods on the shelf.

[0086] In some embodiments, such as Figure 6 As shown, the gantry frame 2 of the lifting gantry is mounted on one side of the mobile chassis 91, and a receiving box 92 is provided on the side of the mobile chassis 91 away from the lifting gantry. The controller of the bin handling robot is installed inside the receiving box 92. In this way, there is no need to set up a receiving cavity inside the mobile chassis, which can reduce the height of the mobile chassis and improve stability.

[0087] Furthermore, since the lifting gantry and the container 92 are symmetrically arranged on the mobile chassis 91, the overall weight of the container handling robot is more balanced.

[0088] In some embodiments of this utility model, the gantry frame 2 includes: a gantry base plate 21, a gantry column 22, and a gantry top plate 23; the gantry column 22 is vertically installed on the gantry base plate 21; the gantry top plate 23 is disposed on the top of the gantry column 22; the gantry base plate 21 is fixedly installed on the top of the mobile chassis 91. The lifting gantry includes: a lifting assembly 7; the lifting assembly 7 includes: a lifting fixing plate 71 and a toothed pressure plate 72; the toothed pressure plate 72 is detachably installed on the side of the lifting fixing plate 71 near the gantry frame 2, for fixing the lifting synchronous belt 5 between the lifting fixing plate 71 and the toothed pressure plate 72; the hopper transport device 8 is fixedly installed on the side of the lifting fixing plate 71 away from the lifting gantry.

[0089] In this embodiment, the gantry base plate 21 of the gantry frame 2 is fixedly installed on the top of the mobile chassis 91, so that the entire lifting gantry can move under the drive of the mobile chassis 91. Furthermore, the hopper transport device 8 is fixedly installed on the side of the lifting fixing plate 71 away from the lifting gantry. When the lifting fixing plate 71 is driven by the lifting synchronous belt 5, the hopper transport device 8 can be simultaneously driven by the lifting fixing plate 71, thereby moving up and down along the height direction of the lifting gantry.

[0090] The above description is merely a preferred embodiment of this utility model and is not intended to limit the scope of protection of this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model are included within the scope of protection of this utility model.

Claims

1. A lifting gantry, characterized in that, include: The lifting drive assembly (1), the gantry frame (2), the lifting drive wheel (3), the lifting driven wheel (4), the lifting timing belt (5), and the tensioning mechanism (6); The gantry frame (2) is erected on the mounting plane along the height direction; The lifting drive assembly (1) is located on the top of the gantry frame (2) and is used to drive the lifting drive wheel (3) to rotate the lifting synchronous belt (5) around the lifting drive wheel (3) and the lifting driven wheel (4). The lifting drive wheel (3) is located on the top of the gantry frame (2) and is connected to the lifting drive assembly (1) for transmission. The lifting driven wheel (4) is located at the bottom of the gantry frame (2). The lifting synchronous belt (5) is sleeved on the outside of the lifting drive wheel (3) and the lifting driven wheel (4). The tensioning mechanism (6) includes: a tensioning plate (61); The tension plate (61) is installed at the bottom of the gantry frame (2); the lifting driven wheel (4) is rotatably installed on the tension plate (61); The tensioning plate (61) is used to drive the lifting driven wheel (4) to move along the height direction of the gantry frame (2) so that the lifting driven wheel (4) tensions the lifting synchronous belt (5).

2. The lifting gantry according to claim 1, characterized in that, The tensioning plate (61) is installed at the bottom of the gantry frame (2) by tensioning block (62) and tensioning bolt (63) and moves along the height direction of the gantry frame (2); The tension block (62) is fixedly installed on the gantry frame (2) and located above the tension plate (61); the tension block (62) is provided with an adjustment screw hole (621) that runs through the height direction of the tension block (62); The tensioning bolt (63) passes through the adjusting screw hole (621) and is fixedly connected to the top of the tensioning plate (61) to drive the tensioning plate (61) to move along the height direction.

3. The lifting gantry according to claim 2, characterized in that, The tensioning block (62) is also provided with a tensioning nut (622) at the top; the tensioning bolt (63) passes through the tensioning nut (622) and the tensioning block (62) and is fixedly connected to the top of the tensioning plate (61).

4. The lifting gantry according to claim 2, characterized in that, On the side of the tension plate (61) facing the gantry frame (2), at least one elongated hole (611) is provided through the tension plate (61); at least one fixing bolt (612) passes through the elongated hole (611) to install the tension plate (61) to the bottom of the gantry frame (2); The length direction of the elongated hole (611) is parallel to the height direction of the gantry frame (2), and is used to allow the tensioning plate (61) to move relative to the fixing bolt (612) along the length direction of the elongated hole (611); The lifting driven wheel (4) is located below the elongated hole (611) on the tensioning plate (61).

5. The lifting gantry according to claim 1, characterized in that, The lifting drive assembly (1) includes a drive motor (11) and a motor reducer (12); The drive motor (11) is connected to the motor reducer (12); the motor reducer (12) is installed on the top of the gantry frame (2); the output shaft of the motor reducer (12) is fixedly connected to the lifting drive wheel (3) and is used to drive the lifting drive wheel (3) to rotate.

6. The lifting gantry according to claim 5, characterized in that, The gantry frame (2) includes: a gantry base plate (21), gantry columns (22) and a gantry top plate (23); The gantry column (22) is erected on the gantry base plate (21); the gantry top plate (23) is disposed on the top of the gantry column (22); The drive motor (11) and motor reducer (12) are installed below the top plate (23) of the gantry; the tensioning mechanism (6) is located at the bottom of the gantry column (22).

7. The lifting gantry according to claim 6, characterized in that, The number of gantry columns (22) is two; the two gantry columns (22) are spaced apart; the bottom of the two gantry columns (22) is fixed to the gantry bottom plate (21); the top of the two gantry columns (22) is fixed to the gantry top plate (23). The drive motor (11) and the motor reducer (12) are installed between the two gantry columns (22); the motor reducer (12) is a double-output shaft reducer; The top of the motor reducer (12) is fixedly installed at the bottom of the gantry top plate (23); the two output shafts of the motor reducer (12) extend toward the two gantry columns (22) respectively; The number of lifting drive wheels (3) is two, which are respectively installed on the two output shafts of the motor reducer (12); The number of the lifting driven wheel (4) and the lifting synchronous belt (5) are both two; the number of the tensioning mechanism (6) is two, which are respectively installed at the bottom of the side of the gantry column (22) facing the other gantry column (22), and each tensions one lifting synchronous belt (5).

8. The lifting gantry according to claim 1, characterized in that, The lifting gantry further includes a lifting assembly (7); the lifting assembly (7) includes a lifting fixing plate (71) and a toothed pressure plate (72); the lifting fixing plate (71) is installed on the side of the lifting synchronous belt (5) away from the gantry frame (2); the toothed pressure plate (72) is detachably installed on the side of the lifting fixing plate (71) close to the gantry frame (2) for fixing the lifting synchronous belt (5) between the lifting fixing plate (71) and the toothed pressure plate (72).

9. A bin handling robot, characterized in that, include: The lifting gantry, the hopper transport device (8), and the mobile chassis (91) according to any one of claims 1-8; the lifting gantry is erected on top of the mobile chassis (91) along the height direction; the hopper transport device (8) is fixed to the lifting synchronous belt (5).

10. The bin handling robot according to claim 9, characterized in that, The gantry frame (2) includes: a gantry base plate (21), a gantry column (22), and a gantry top plate (23); the gantry column (22) is vertically installed on the gantry base plate (21); the gantry top plate (23) is located on top of the gantry column (22); The gantry base plate (21) is fixedly installed on the top of the mobile chassis (91).

11. The bin handling robot according to claim 9, characterized in that, The lifting gantry includes a lifting assembly (7); the lifting assembly (7) includes a lifting fixing plate (71) and a toothed pressure plate (72); the toothed pressure plate (72) is detachably installed on the side of the lifting fixing plate (71) near the gantry frame (2) for fixing the lifting synchronous belt (5) between the lifting fixing plate (71) and the toothed pressure plate (72); the hopper transport device (8) is fixedly installed on the side of the lifting fixing plate (71) away from the lifting gantry.

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