Transfer apparatus, mast and transfer accessory

Abstract

A mast, a transfer accessory and a transfer apparatus, belonging to the technical field of intelligent warehousing. The transfer apparatus (100) comprises a moving chassis (100a), a mast (100b) and at least two accessories (100c), the mast (100b) having a height direction. The mast (100b) comprises a plurality of sub-masts, the sub-masts respectively being a first mast (10), a second mast (20) and at least one third mast (30). The first mast (10) is mounted on the moving chassis (100a), and the at least one third mast (30) and the second mast (20) are successively and movably connected to each other in the height direction and can each move in the height direction. At least one accessory (100c) is mounted on the first mast (10), at least one accessory (100c) is mounted on the second mast (20), and the at least two accessories (100c) can move in the height direction of the sub-masts where the accessories (100c) are located. Configuring the mast to consist of the plurality of sub-masts that are movably connected to each other helps to reduce the bending deformation of single sub-masts, and can increase the design height of the mast while keeping the stability of the mast. In addition, the transfer apparatus can fork or transfer a plurality of pallets at a time, thereby effectively improving efficiency.

Description

Handling equipment, gantry and handling attachments Technical Field

[0001] This application relates to a gantry, handling attachments, and handling equipment, belonging to the field of intelligent warehousing technology. Background Technology

[0002] With the rapid development of the logistics and warehousing industry, the construction of automated warehouses for storing goods is becoming more and more widespread. Various types of intelligent handling equipment such as stacking AGVs and AMRs used in automated warehouses are becoming more and more common, especially forklift intelligent handling equipment, where goods are stacked on pallets and transferred by picking up the pallets with forks.

[0003] Existing AMR forklift products typically only allow the installation of one set of working attachments, thus limiting them to picking up or transferring only one pallet at a time, resulting in low efficiency. Secondly, due to stability requirements, the lifting height of the forks in material handling equipment is relatively limited, making it difficult to access and retrieve goods from higher levels in taller automated warehouses.

[0004] In addition, existing handling or warehousing robots include: a motion chassis; a mast, which is located at the center of the motion chassis; and a fork assembly, which is used to pick up and place goods. The fork assembly is located on the mast and at the center of the mast. Its beneficial effect is that the operation of the handling or warehousing robot can be more stable and the operating efficiency of the handling or warehousing robot can be improved.

[0005] However, it also has the following drawbacks: due to the setting of the moving chassis under the fork assembly, the moving chassis forms an obstruction on the path of the forks moving downward in the fork assembly, making it impossible for the forks to move to the ground. As a result, the forks can only pick up pallets in the air and cannot pick up pallets on the ground, which has poor applicability. Summary of the Invention

[0006] One object of this application is to provide a handling device whose forks are capable of lifting goods to a high position and in a relatively stable manner.

[0007] This application provides a handling device, including:

[0008] Sport chassis;

[0009] A gantry has a height direction and includes multiple sub-gantry frames, namely a first gantry frame, a second gantry frame, and at least one third gantry frame. The first gantry frame is mounted on the motion chassis. At least one third gantry frame and the second gantry frame are sequentially movably connected along the height direction and can move along the height direction respectively.

[0010] An attachment, which is mounted on the second gantry and is movable along the second gantry in the height direction.

[0011] In one embodiment, the third gantry is provided, and the conveying device further includes a linkage mechanism, the linkage mechanism comprising:

[0012] A linkage sprocket is rotatably mounted on the third gantry at the top position in the height direction; and

[0013] A linkage chain is wound around the linkage sprocket, with one end of the linkage chain fixed to the first gantry and the other end fixed to the bottom position of the second gantry.

[0014] In one embodiment, the attachment includes forks that are movable downward along the height direction to a preset position, whereby the forks are in contact with or at a distance from the upper surface of the motion chassis.

[0015] In one embodiment, the motion chassis includes:

[0016] The support body has an installation area, and the first gantry is installed in the installation area. The installation area is eccentrically positioned relative to the centerline of the support body in a first direction and is relatively close to the first end of the support body located in the first direction.

[0017] In one embodiment, the attachment is on the same side as the second end of the bearing body located in the first direction.

[0018] In one embodiment, one of the two movably connected sub-gantry frames is provided with a gantry mounting space, and the other sub-gantry frame is installed in the gantry mounting space. The sub-gantry frame provided with the gantry mounting space includes a first enclosure portion and a first connecting portion, and the gantry mounting space is enclosed by the first enclosure portion and the first connecting portion.

[0019] In one embodiment, there are two first enclosure portions. The first enclosure portions extend along a first direction, and the two first enclosure portions are spaced apart along a second direction perpendicular to the height direction. The second direction is perpendicular to the first direction. The first connecting portion is disposed between the two first enclosure portions, and the opposite ends of the first connecting portion are respectively fixed to the two first enclosure portions. The other gate frame is slidably disposed on the inner wall of the two first enclosure portions.

[0020] In one embodiment, the first connecting portion includes:

[0021] Multiple first connecting plates are spaced apart along the height direction, the first connecting plates extend along the second direction, and the two ends of the first connecting plates are respectively fixed to two first enclosure parts.

[0022] In one embodiment, the sub-gantry installed within the gantry mounting space includes:

[0023] Two limiting portions, having a height direction, are spaced apart along the second direction, and the outer walls of the two limiting portions are slidably connected to the inner walls of the two first enclosure portions; and...

[0024] Multiple second connecting plates are spaced apart along the height direction, the second connecting plates extend along the second direction, and both ends of the second connecting plates are respectively fixed to the two limiting portions.

[0025] In one embodiment, the motion chassis further includes a motion mechanism, the motion mechanism comprising:

[0026] A drive wheel, rotatably mounted on the support body and relatively close to a first end of the support body located in the first direction, wherein part or all of the drive wheel protrudes from the lower surface of the support body; and

[0027] A driven wheel is disposed on the bearing body and relatively close to the second end of the bearing body located in the first direction, and part or all of the driven wheel protrudes from the lower surface of the bearing body;

[0028] The drive wheels include two sets spaced apart along a second direction, which is perpendicular to the first direction and the height direction. When the two sets of drive wheels rotate in opposite directions and at the same speed, the motion chassis turns, and the center of rotation is located between the two sets of drive wheels.

[0029] In one embodiment, the motion chassis further includes:

[0030] A drive wheel assembly is disposed on the load-bearing body. The drive wheel assembly includes two drive wheels, each drive wheel is equipped with a drive motor, and the drive motor is used to drive the corresponding drive wheel to rotate, so that the load-bearing body can switch between straight-line and turning.

[0031] At least two driven wheels, and the at least two driven wheels and the drive wheel assembly are used to support the load-bearing body.

[0032] In one embodiment, the two drive wheels of the drive wheel assembly are connected by a connector so that the rotation axes of the two drive wheels are in a straight line. The connector is pivotally connected to the bearing body so that the rotation axes of the two drive wheels can be adjusted to be parallel to the running surface or to form an angle with the running surface.

[0033] In one embodiment, the motion chassis further includes a first gear, a second gear, and a sensor. The first gear and the second gear mesh and rotate on the load-bearing body. The connecting member is pivotally connected to the first gear. The differential rotation of the drive wheel drives the connecting member to rotate. The rotation of the connecting member drives the first gear to rotate. The second gear is connected to the sensor.

[0034] In one embodiment, the motion chassis travels along a first direction, the drive wheel assembly is disposed at a first end of the load-bearing body in the first direction, and is disposed at the middle position of the first end in a second direction, the second direction being perpendicular to the first direction.

[0035] In one embodiment, the motion chassis travels along a first direction, and two driven wheels are disposed at the second end of the load-bearing body in the first direction, and the two driven wheels are spaced apart on both sides below the load-bearing body along the second direction.

[0036] In one embodiment, the motion chassis further includes:

[0037] An auxiliary support member is disposed within the bearing body and can selectively extend beyond the lower surface of the bearing body.

[0038] In one embodiment, the auxiliary support is provided in two sets, and the two sets of auxiliary support are respectively provided on both sides of the drive wheel set in the direction perpendicular to the walking direction of the bearing body.

[0039] In one embodiment, the auxiliary support includes:

[0040] A landing component, which extends beyond the lower surface of the supporting body;

[0041] A lifting drive component, wherein the fixed end of the lifting drive component is disposed on the bearing body, and the driving end of the bearing body is connected to the landing component, so as to drive the landing component to extend out of the lower surface of the bearing body or retract into the bearing body.

[0042] In one embodiment, the auxiliary support further includes:

[0043] A pressure sensor is disposed on the landing component. The pressure sensor is configured to sense the pressure value of the landing component on the running surface of the moving chassis, so as to stop the driving action of the lifting drive component when the pressure value reaches a preset value.

[0044] In one embodiment, the load-bearing body has symmetrically arranged counterweights at both ends in the second direction, and the counterweights are relatively close to the second end of the load-bearing body in the first direction. The second direction is perpendicular to the first direction and the height direction, and the counterweights are configured to bear counterweights.

[0045] In one embodiment, the counterweight includes:

[0046] Multiple balancing plates are stacked in the balancing chamber along the first direction.

[0047] In one embodiment, the conveying device further includes:

[0048] The guide unit is disposed at both ends of the support body in a second direction, the second direction being perpendicular to the first direction and the height direction;

[0049] The guiding unit includes at least one guide wheel, which is rotatably mounted on the supporting body, and part or all of the guide wheel protrudes from the side of the supporting body located in the second direction. The rotation plane of the guide wheel is parallel to the plane defined by the first direction and the second direction.

[0050] In one embodiment, the attachment further includes a fork carriage, which is directly or indirectly connected to the second mast, and the forks are rotatably connected to the fork carriage, with the rotation axis of the forks parallel to the height direction.

[0051] In one embodiment, the attachment further includes a fork carriage, the fork carriage comprising:

[0052] The sliding part extends along the height direction and is indirectly or directly connected to the first gantry;

[0053] The mounting portion extends along the first direction, and the forks are fixed to the mounting portion.

[0054] In one embodiment, the attachment further includes a translation mechanism configured to move the forks along a second direction perpendicular to the first direction and the height direction, the translation mechanism comprising:

[0055] A carriage, extending along the second direction, is disposed on the side of the second gantry and is movable along the height direction.

[0056] The forks are slidably mounted on the carriage and are capable of moving along the second direction.

[0057] In one embodiment, the attachment further includes an identification unit capable of identifying the specific location and distance of the pallet during pickup or placement, the identification unit comprising:

[0058] A telescopic rod, fixed to the bottom end of the forks, is capable of extending and retracting along the height direction; and

[0059] The identification element is fixed to the telescopic end of the telescopic rod and located between the two individual forks in the forks.

[0060] Therefore, this application has the following advantages compared with the prior art:

[0061] According to the handling equipment involved in this application, by configuring the gantry as composed of multiple movable sub-gantry, it helps to reduce the bending deformation of individual sub-gantry, thereby improving the overall structural strength of the gantry and increasing the design height of the gantry while maintaining its stability. Furthermore, the attachment is installed on the second gantry furthest from the moving chassis, and the attachment can move along the second gantry in the vertical direction, thus enabling the attachment and the second gantry to cooperate in a two-stage movement. The attachment has a greater travel distance in the vertical direction, further increasing the lifting height of the attachment to be able to lift goods at higher positions.

[0062] Another objective of this application is to provide a handling device that can fork or transfer multiple pallets at a time and can stably lift the pallets to a higher position.

[0063] This application provides a handling device, including:

[0064] A handling device, comprising:

[0065] Sport chassis;

[0066] A gantry has a height direction and includes multiple sub-gantry frames, namely a first gantry frame, a second gantry frame, and at least one third gantry frame. The first gantry frame is mounted on the motion chassis. At least one third gantry frame and the second gantry frame are sequentially movably connected along the height direction and can move along the height direction respectively.

[0067] At least two attachments, at least one of the attachments is mounted on the first gantry, at least one of the attachments is mounted on the second gantry, and at least two of the attachments are movable along the sub-gantry to which they are located in the height direction.

[0068] In one embodiment, the attachments mounted on the first gantry and the attachments mounted on the second gantry are respectively located at both ends of the gantry in a first direction, which is the traveling direction of the motion chassis.

[0069] In one embodiment, the third gantry is provided, and the conveying device further includes a linkage mechanism, the linkage mechanism comprising:

[0070] A linkage sprocket is rotatably mounted on the corresponding third gantry at its top position in the height direction; and

[0071] A linkage chain is wound around the linkage sprocket, with one end of the linkage chain fixed to the first gantry and the other end fixed to the bottom position of the second gantry.

[0072] In one embodiment, the attachments include ground attachments and air attachments, each of the attachments including forks;

[0073] The ground attachment is directly or indirectly slidably connected to the first mast. The forks of the ground attachment can move downward along the height direction to a first preset position. When in the first preset position, the forks are in contact with the traveling surface of the moving chassis or below the traveling surface.

[0074] The aerial attachment is slidably connected to the second mast. The forks of the aerial attachment can move downward along the height direction to a second preset position. When in the second preset position, the forks are in contact with or a distance away from the upper surface of the moving chassis.

[0075] In one embodiment, the gantry further includes a connecting frame detachably connected to the side of the first gantry facing the ground attachment, the ground attachment being slidably connected to the connecting frame.

[0076] In one embodiment, the motion chassis includes a load-bearing body with an installation area, and the first gantry is installed in the installation area.

[0077] The installation area is eccentrically positioned relative to the centerline of the support body in the first direction and is relatively close to the first end of the support body located in the first direction.

[0078] In one embodiment, relative to the first gantry on both sides in the first direction, the ground attachment and the first end of the load-bearing body in the first direction are on the same side, and the air attachment and the second end of the load-bearing body in the first direction are on the same side.

[0079] In one embodiment, one of the two movably connected sub-gantry frames is provided with a gantry mounting space, and the other sub-gantry frame is installed in the gantry mounting space. The sub-gantry frame with the gantry mounting space includes a enclosure portion and a connecting portion, and the gantry mounting space is enclosed by the enclosure portion and the connecting portion.

[0080] In one embodiment, there are two enclosure portions, which extend along the first direction and are spaced apart along a second direction perpendicular to the height direction. The second direction is perpendicular to the first direction. A connecting portion is disposed between the two enclosure portions, and the opposite ends of the connecting portion are fixed to the two enclosure portions respectively. Another gate frame is slidably disposed on the inner wall of the two enclosure portions.

[0081] In one embodiment, the connecting portion includes:

[0082] Multiple first connecting plates are spaced apart along the height direction, the first connecting plates extend along the second direction, and the two ends of the first connecting plates are respectively fixed to the two enclosure parts.

[0083] In one embodiment, the sub-gantry installed within the gantry mounting space includes:

[0084] Two limiting portions, having a height direction, are spaced apart along the second direction, and the outer walls of the two limiting portions are slidably connected to the inner walls of the two enclosure portions; and...

[0085] Multiple second connecting plates are spaced apart along the height direction, the second connecting plates extend along the second direction, and both ends of the second connecting plates are respectively fixed to the two limiting portions.

[0086] In one embodiment, the motion chassis further includes a motion mechanism, the motion mechanism comprising:

[0087] A drive wheel, rotatably mounted on the support body and relatively close to a first end of the support body located in the first direction, wherein part or all of the drive wheel protrudes from the lower surface of the support body; and

[0088] A driven wheel is disposed on the bearing body and relatively close to the second end of the bearing body in the first direction, and part or all of the driven wheel protrudes from the lower surface of the bearing body.

[0089] The drive wheels include two sets spaced apart along a second direction, which is perpendicular to the first direction and the height direction. When the two sets of drive wheels rotate in opposite directions and at the same speed, the motion chassis turns, and the center of rotation is located between the two sets of drive wheels.

[0090] In one embodiment, the motion chassis further includes:

[0091] A drive wheel assembly is disposed on the load-bearing body. The drive wheel assembly includes two drive wheels, each drive wheel is equipped with a drive motor, and the drive motor is used to drive the corresponding drive wheel to rotate, so that the load-bearing body can switch between straight-line and turning.

[0092] At least two driven wheels, and the at least two driven wheels and the drive wheel assembly are used to support the load-bearing body.

[0093] In one embodiment, the two drive wheels of the drive wheel assembly are connected by a connector so that the rotation axes of the two drive wheels are in a straight line. The connector is pivotally connected to the bearing body so that the rotation axes of the two drive wheels can be adjusted to be parallel to the running surface or to form an angle with the running surface.

[0094] In one embodiment, the motion chassis further includes a first gear, a second gear, and a sensor. The first gear and the second gear mesh and rotate on the load-bearing body. The connecting member is pivotally connected to the first gear. The differential rotation of the drive wheel drives the connecting member to rotate. The rotation of the connecting member drives the first gear to rotate. The second gear is connected to the sensor.

[0095] In one embodiment, the motion chassis travels along a first direction, the drive wheel assembly is disposed at a first end of the load-bearing body in the first direction, and is disposed at the middle position of the first end in a second direction, the second direction being perpendicular to the first direction.

[0096] In one embodiment, the motion chassis travels along a first direction, and two driven wheels are disposed at the second end of the load-bearing body in the first direction, and the two driven wheels are spaced apart on both sides below the load-bearing body along the second direction.

[0097] In one embodiment, the motion chassis further includes:

[0098] An auxiliary support member is disposed within the bearing body and can selectively extend beyond the lower surface of the bearing body.

[0099] In one embodiment, the auxiliary support is provided in two sets, and the two sets of auxiliary support are respectively provided on both sides of the drive wheel set in the direction perpendicular to the walking direction of the bearing body.

[0100] In one embodiment, the auxiliary support includes:

[0101] A landing component, which extends beyond the lower surface of the supporting body;

[0102] A lifting drive component, wherein the fixed end of the lifting drive component is disposed on the bearing body, and the driving end of the bearing body is connected to the landing component, so as to drive the landing component to extend out of the lower surface of the bearing body or retract into the bearing body.

[0103] In one embodiment, the auxiliary support further includes:

[0104] A pressure sensor is disposed on the landing component. The pressure sensor is configured to sense the pressure value of the landing component on the running surface of the moving chassis, so as to stop the driving action of the lifting drive component when the pressure value reaches a preset value.

[0105] In one embodiment, the supporting body has symmetrically arranged counterweights at both ends in the second direction, and the counterweights are relatively close to the second end of the supporting body in the first direction, and the second direction is perpendicular to the first direction and the height direction;

[0106] The counterweight bin is configured to carry the counterweight.

[0107] In one embodiment, the counterweight includes a plurality of balance plates, which are stacked in the counterweight chamber along the first direction.

[0108] In one embodiment, the conveying device further includes:

[0109] The guide unit is disposed at both ends of the support body in a second direction, the second direction being perpendicular to the first direction and the height direction;

[0110] The guiding unit includes at least one guide wheel, which is rotatably mounted on the supporting body, and part or all of the guide wheel protrudes from the side of the supporting body located in the second direction.

[0111] The rotation plane of the guide wheel is parallel to the plane defined by the first direction and the second direction.

[0112] In one embodiment, the forks of the ground attachment are ground forks, and the ground attachment further includes a ground fork carriage, which is directly or indirectly connected to the first mast. The ground forks are rotatably connected to the ground fork carriage, and the rotation axis of the ground forks is parallel to the height direction; and / or,

[0113] The forks of the aerial attachment are aerial forks, and the aerial attachment also includes an aerial fork carriage, which is connected to the second mast. The aerial forks are rotatably connected to the aerial fork carriage, and the rotation axis of the aerial forks is parallel to the height direction.

[0114] In one embodiment, the forks of the ground attachment are ground forks, and the ground attachment further includes a ground fork carriage, the ground fork carriage comprising:

[0115] The sliding part extends along the height direction and is indirectly or directly connected to the first gantry;

[0116] The mounting section extends along the first direction, and the ground forks are fixed to the mounting section.

[0117] In one embodiment, the forks of the aerial attachment are aerial forks, the aerial attachment further includes an aerial fork carriage, and both the ground attachment and the aerial attachment further include a translation mechanism configured to move the ground fork or the aerial fork along a second direction perpendicular to the first direction and the height direction, the translation mechanism comprising:

[0118] The carriage extends along the second direction, is disposed on the side of the corresponding second gantry, and is movable along the height direction.

[0119] The ground fork carriage or the overhead fork carriage is slidably mounted on the carriage and is capable of moving along the second direction.

[0120] In one embodiment, both the ground attachment and the aerial attachment further include an identification unit capable of identifying the specific location and distance of the pallet during pickup or placement, the identification unit comprising:

[0121] A telescopic rod, fixed to the bottom end of the ground forklift or the overhead forklift, and capable of extending and retracting along the height direction; and

[0122] The identification element is fixed to the telescopic end of the telescopic rod and is located between two individual forks in the ground fork or the overhead fork.

[0123] Therefore, this application has the following advantages compared with the prior art:

[0124] According to the handling equipment involved in this application, by configuring the gantry as composed of multiple movable sub-gantry, it helps to reduce the bending deformation of individual sub-gantry, thereby improving the overall structural strength of the gantry and increasing the design height of the gantry while maintaining its stability. Furthermore, the attachments are installed on the second gantry furthest from the moving chassis, and the attachments can move along the second gantry in the vertical direction, thus enabling the attachments and the second gantry to cooperate in a two-stage movement. The attachments have a larger travel distance in the vertical direction, further increasing the lifting height of the attachments to be able to lift goods at higher positions. Moreover, since attachments are provided on both the first and second gantry, the handling equipment can fork or transfer multiple pallets at once, effectively improving efficiency.

[0125] Another objective of this application is to provide a handling device capable of forking or transferring multiple pallets at once.

[0126] This application provides a handling device, including:

[0127] Sport chassis;

[0128] A gantry, having a height direction, includes a first gantry mounted on the moving chassis and at least two second gantryes, wherein the at least two second gantryes are respectively movably mounted on the first gantry and are capable of moving along the height direction; and

[0129] At least two attachments are respectively mounted on the at least two second masts and are capable of moving along the height direction respectively.

[0130] In one embodiment, the attachments include ground attachments and air attachments, each of the attachments including forks;

[0131] The forks of the ground attachment can move downward along the height direction to a first preset position. When in the first preset position, the forks are in contact with the traveling surface of the moving chassis or below the traveling surface.

[0132] The forks of the aerial attachment can move downward along the height direction to a second preset position. When in the second preset position, the forks are in contact with or at a distance from the upper surface of the moving chassis.

[0133] In one embodiment, there are two second gantry frames, located on either side of the first gantry frame in a first direction perpendicular to the height direction.

[0134] The motion chassis includes a load-bearing body with an installation area, and the first gantry is installed in the installation area.

[0135] The installation area is eccentrically positioned relative to the centerline of the support body in the first direction and is relatively close to the first end of the support body located in the first direction.

[0136] In one embodiment, relative to the first gantry on both sides in the first direction, the ground attachment and the first end of the load-bearing body in the first direction are on the same side, and the air attachment and the second end of the load-bearing body in the first direction are on the same side.

[0137] In one embodiment, the first gantry has a gantry mounting space on each of its two sides in the first direction, and each second gantry is installed in one of the gantry mounting spaces.

[0138] The first gantry includes a enclosure portion and a connecting portion, and the two gantry installation spaces are enclosed by the enclosure portion and the connecting portion.

[0139] In one embodiment, there are two enclosure portions, which are spaced apart along a second direction perpendicular to the height direction, the second direction being perpendicular to the first direction.

[0140] The connecting part is disposed between the two enclosure parts, and its opposite ends are respectively fixed to the two enclosure parts.

[0141] The enclosure extends along the first direction, and the two extended ends protrude a certain distance relative to the two ends of the connecting portion located in the first direction.

[0142] The area between the two enclosure sections and located on one side of the connecting section constitutes a gantry installation space.

[0143] The second gantry is slidably mounted on the inner walls of the two enclosure sections.

[0144] In one embodiment, the connecting portion includes:

[0145] Multiple first connecting plates are spaced apart along the height direction, the first connecting plates extend along the second direction, and the two extension ends are respectively fixed to the two enclosure portions.

[0146] In one embodiment, each of the second gantry frames includes:

[0147] Two limiting portions, having a height direction, are spaced apart along the second direction, and the outer walls of the two limiting portions are slidably connected to the inner walls of the two enclosure portions; and...

[0148] Multiple second connecting plates are spaced apart along the height direction, the second connecting plates extend along the second direction, and the two extension ends are respectively fixed to the two limiting portions.

[0149] In one embodiment, the gantry is further provided with a reinforcing member having four connecting ends, which are disposed between two adjacent first connecting plates on the first gantry, or between two adjacent second connecting plates on the second gantry;

[0150] Two of the connecting ends are fixed to one of the two adjacent first connecting plates or one of the two adjacent second connecting plates, and the other two connecting ends are fixed to the other of the two adjacent first connecting plates or the other of the two adjacent second connecting plates.

[0151] In one embodiment, the conveying device further includes a linkage mechanism corresponding to the at least two attachments, and includes:

[0152] A sprocket, rotatably mounted on the second gantry at its top position in the said height direction; and

[0153] A chain is wound around the sprocket, with one end of the chain fixed to the first gantry and the other end fixed to the corresponding attachment.

[0154] In one embodiment, the motion chassis further includes a motion mechanism, the motion mechanism comprising:

[0155] A drive wheel, rotatably mounted on the support body and relatively close to a first end of the support body located in the first direction, wherein part or all of the drive wheel protrudes from the lower surface of the support body; and

[0156] A driven wheel is disposed on the bearing body and relatively close to the second end of the bearing body in the first direction, and part or all of the driven wheel protrudes from the lower surface of the bearing body.

[0157] In one embodiment, the drive wheels comprise two sets spaced apart along the second direction.

[0158] When the two sets of drive wheels rotate in opposite directions and at the same speed, the moving chassis turns, and at this time the center of rotation is located between the two sets of drive wheels.

[0159] In one embodiment, balancing weights are symmetrically arranged at both ends of the support body in the second direction, with the balancing weights relatively close to the second end of the support body in the first direction.

[0160] The counterweight bin is configured to carry the counterweight.

[0161] In one embodiment, the counterweight includes a plurality of balance plates, which are stacked in the counterweight chamber along the first direction.

[0162] In one embodiment, it further includes:

[0163] Guide units are disposed at both ends of the supporting body in the second direction.

[0164] The guiding unit includes at least one guide wheel, which is rotatably mounted on the supporting body, and part or all of the guide wheel protrudes from the side of the supporting body located in the second direction.

[0165] The rotation plane of the guide wheel is parallel to the plane defined by the first direction and the second direction.

[0166] In one embodiment, the forks of the ground attachment are ground forks, and the ground attachment further includes a ground fork carriage, the ground fork carriage comprising:

[0167] The sliding part extends along the height direction and is indirectly or directly connected to the second gantry;

[0168] A mounting portion extends along a first direction perpendicular to the height direction, and the ground forks are fixed to the mounting portion; and

[0169] An extension portion connects the sliding portion and the mounting portion into one unit, and extends downward at an angle from the lower end of the sliding portion toward the side away from the load-bearing body, so that the ground fork can move downward along the height direction to the first preset position.

[0170] In one embodiment, the forks of the aerial attachment are aerial forks, and the aerial attachment further includes an aerial fork carriage.

[0171] Both the ground attachment and the aerial attachment further include a translation mechanism, which is configured to move the ground fork or the aerial fork along the second direction, including:

[0172] The carriage extends along the second direction, is disposed on the side of the corresponding second gantry, and is movable along the height direction.

[0173] The ground fork carriage or the overhead fork carriage is slidably mounted on the carriage and is capable of moving along the second direction.

[0174] In one embodiment, both the ground attachment and the aerial attachment further include an identification unit capable of identifying the specific location and distance of the pallet during pickup or placement, the identification unit comprising:

[0175] A telescopic rod, fixed to the bottom end of the ground forklift or the overhead forklift, and capable of extending and retracting along the height direction; and

[0176] The identification element is fixed to the telescopic end of the telescopic rod and is located between two individual forks in the ground fork or the overhead fork.

[0177] Therefore, this application has the following advantages compared with the prior art:

[0178] According to the handling equipment involved in this application, the handling equipment includes a mobile chassis, a gantry, and at least two attachments. The gantry has a height direction and includes a first gantry mounted on the mobile chassis and at least two second gantry. The at least two second gantry are movably mounted on the first gantry and are capable of moving along the height direction. The at least two attachments are respectively mounted on the at least two second gantry and are capable of moving along the height direction. When the second gantry moves along the height direction, it can drive the attachments on it to move synchronously, thereby driving the attachments to pick up or transfer pallets. Since attachments are provided on multiple second gantry, the handling equipment can pick up or transfer multiple pallets at once, effectively improving efficiency. In addition, since the attachments can move relative to the second gantry along the height direction, the attachments and the second gantry cooperate to form a two-stage movement, and the attachments have a larger travel distance in the height direction.

[0179] Another objective of this application is to provide a gantry and handling equipment capable of picking up or transferring multiple pallets at once.

[0180] This application provides a gantry for carrying and driving attachments, including:

[0181] A first gantry has a height direction, and gantry mounting spaces are respectively provided on both sides in a first direction perpendicular to the height direction; and

[0182] Two second masts are movably installed in the two mast installation spaces respectively and are movable along the height direction respectively, each of the second masts being configured to carry the attachment.

[0183] In one embodiment, the first gantry includes:

[0184] Two first enclosure portions are spaced apart along a second direction perpendicular to the height direction, the second direction being perpendicular to the first direction; and

[0185] A first connecting portion is disposed between the two first enclosure portions, with its opposite ends respectively fixed to the two first enclosure portions.

[0186] The first enclosure portion extends along the first direction, and the two extended ends protrude a certain distance relative to the two ends of the first connecting portion located in the first direction.

[0187] The area between the two first enclosure portions and located on one side of the first connecting portion constitutes a gantry installation space.

[0188] The two opposite ends of the second gantry are slidably connected to the inner walls of the two first enclosure sections, respectively.

[0189] In one embodiment, the second gantry is provided with a first limiting and guiding mechanism.

[0190] The first limiting guide mechanism includes:

[0191] A first guide rail is disposed on the first connecting portion and extends along the height direction; and

[0192] Multiple first rolling units are disposed on the second gantry at one end facing the first connecting portion and are spaced apart along the height direction.

[0193] Each of the first scrolling units includes:

[0194] The first roller mounting bracket is fixed to the second gantry; and

[0195] At least two first rollers are rotatably mounted on the first roller mounting base and are spaced apart along the second direction.

[0196] The circumferential surfaces of the two first rollers respectively abut against two opposite surfaces on the first guide rail.

[0197] In one embodiment, the first connecting portion includes:

[0198] Multiple first connecting plates are spaced apart along the height direction, and the two extended ends of each first connecting plate are respectively fixed to two first enclosure portions; and

[0199] At least one first reinforcing plate, each first reinforcing plate being disposed between two adjacent first connecting plates, and having four connecting ends.

[0200] Two of the connecting ends are fixed to one of the two adjacent first connecting plates, and the other two connecting ends are fixed to the other of the two adjacent first connecting plates.

[0201] In one embodiment, each of the second gantry frames includes:

[0202] Two second enclosure portions are provided at intervals along the second direction; and

[0203] The second connecting part is disposed between the two second enclosure parts, and its opposite ends are respectively fixed to the two second enclosure parts.

[0204] The two second enclosure portions are slidably disposed on the inner walls of the two first enclosure portions.

[0205] In one embodiment, the second connecting portion includes:

[0206] A plurality of second connecting plates are spaced apart along the height direction, the second connecting plates extending along the second direction, and two of the extending ends are respectively fixed to two second enclosure portions; and

[0207] At least one second reinforcing plate, each second reinforcing plate being disposed between two adjacent second connecting plates and having four connecting ends.

[0208] Two of the connecting ends are fixed to one of the two adjacent second connecting plates, and the other two connecting ends are fixed to the other of the two adjacent second connecting plates.

[0209] In one embodiment, some or all of the second connecting plates are reinforcing beams, the reinforcing beams comprising:

[0210] The intermediate connecting plate arches towards the side closest to the first connecting part; and

[0211] Two side plates are fixed to the middle connecting plate at both ends in the height direction, and the side plates are arched towards the first connecting part.

[0212] The side plate has a protrusion in the middle that extends toward the first connecting part.

[0213] This application also provides a handling device, including:

[0214] The gantry is as described above; and

[0215] Two attachments, each of which corresponds to one of the second gantry frames.

[0216] The attachments are movably mounted on the side of the corresponding second gantry facing away from the first gantry, and the two attachments can move along the height direction respectively.

[0217] In one embodiment, it further includes:

[0218] Two sets of linkage mechanisms, each linkage mechanism corresponding to one of the attachments, each linkage mechanism comprising:

[0219] Two sprockets are rotatably mounted on the top positions of the two second masts in the aforementioned height direction, and the rotation plane of the sprockets is parallel to the first direction; and

[0220] Two linkage chains, each of which is wound around a corresponding linkage sprocket.

[0221] One end of the linkage chain is fixed to the first gantry, and the other end is fixed to the corresponding attachment.

[0222] In one embodiment, it further includes:

[0223] Two sets of second limiting guide mechanisms, each second limiting guide mechanism corresponding to one of the aforementioned attachments, each second limiting guide mechanism comprising:

[0224] The second guide rail is fixed to one end of the second gantry facing away from the first connecting part and extends along the height direction; and

[0225] Multiple second rolling units are disposed on the attachment at one end facing the second gantry and are spaced apart along the height direction.

[0226] Each of the second scrolling units includes:

[0227] The second roller mounting base is fixed to the attachment; and

[0228] Two second rollers are rotatably mounted on the second roller mounting base and are spaced apart along the second direction.

[0229] The circumferential surfaces of the two second rollers respectively abut against two opposite surfaces on the second guide rail.

[0230] Therefore, this application has the following advantages compared with the prior art:

[0231] According to the gantry and handling equipment involved in this application, the handling equipment includes a gantry and two attachments. The gantry includes a first gantry and two second gantry. The first gantry has a height direction, and gantry mounting spaces are respectively provided on both sides of a first direction perpendicular to the height direction. The two second gantry are respectively movably installed in the two gantry mounting spaces and can move along the height direction respectively. Each second gantry is configured as a load-bearing attachment. The first gantry includes two first enclosure portions and a first connecting portion. The two first enclosure portions are spaced apart along a second direction perpendicular to the height direction. The second direction is perpendicular to the first direction. The first connecting portion is disposed between the two first enclosure portions, and its opposite ends are respectively fixed to the two first enclosure portions. The first enclosure portions extend along the first direction, and the two extended ends are respectively relative to the first... The connecting part has two protruding ends in the first direction, and the area between the two first enclosure parts and on one side of the first connecting part forms a gantry mounting space. The opposite ends of the second gantry are slidably connected to the inner walls of the two first enclosure parts. The second gantry is installed in the gantry mounting space. When the second gantry moves along the height direction in the gantry mounting space, it can move the attachments on it synchronously, thereby driving the attachments to pick up or transfer the pallet. Through the setting of the two first enclosure parts and the first connecting part, two gantry mounting spaces can be formed in the area between the two first enclosure parts and on both sides of the first connecting part, so that the two second gantry can be installed in one gantry mounting space respectively, so that the gantry can install two sets of attachments and pick up or transfer two pallets at one time, effectively improving efficiency.

[0232] Another objective of this application is to provide an attachment and handling equipment that can eliminate the influence of a moving chassis on the fork travel, thereby enabling the forks to pick up ground pallets.

[0233] This application provides an attachment mounted on a gantry having a motion chassis, comprising:

[0234] Fork carriage, indirectly or directly and movably mounted on the mast; and

[0235] Forks, fixed to the fork carriage.

[0236] The fork carriage includes:

[0237] The connecting part extends along the height direction of the gantry and is indirectly or directly connected to the gantry;

[0238] A mounting portion extends along a first direction perpendicular to the height direction, and the forks are fixed to the mounting portion; and

[0239] An extension portion connects the connecting portion and the mounting portion into one unit, and extends downward at an angle from the lower end of the connecting portion toward the side away from the mast, so that the forks can move downward along the height direction to a preset position.

[0240] In one embodiment, it further includes:

[0241] A translation mechanism is disposed between the fork carriage and the mast; the translation mechanism includes:

[0242] A carriage, extending along a second direction perpendicular to the height direction, is disposed on the side of the gantry and is movable along the height direction.

[0243] The fork carriage is mounted on the carriage and is movable along the second direction; and

[0244] A drive unit is disposed on the carriage and the fork carriage to drive the fork carriage to move along the second direction.

[0245] In one embodiment, the drive unit includes:

[0246] The drive element is mounted on the fork carriage;

[0247] The driving element, mounted on the fork carriage and poweredly connected to the drive element; and

[0248] A mating component is disposed on the carriage, and the driving component cooperates with the mating component so that when the driving element is activated, it can drive the fork carriage to move along the second direction.

[0249] In one embodiment, the driving element is a drive motor, the driving element is a gear fixed on the output shaft of the drive motor, the mating element is a rack extending along the second direction, and the driving element meshes with the mating element.

[0250] In one embodiment, it further includes:

[0251] A guiding mechanism is provided for guiding the fork carriage as it moves along the carriage in a second direction; the guiding mechanism includes:

[0252] The slider is fixed to the fork carriage; and

[0253] A guide member, disposed on the carriage, has a guide groove extending along the second direction, and the slider is slidably fitted into the guide groove.

[0254] In one embodiment, it further includes:

[0255] An attachment controller is disposed on the mounting portion and configured to control the operation of the drive element.

[0256] In one embodiment, it further includes:

[0257] The identification unit, capable of identifying the pallet position when picking up or placing goods, includes:

[0258] A telescopic rod, fixed to the bottom end of the mounting portion, and capable of extending and retracting along the height direction; and

[0259] The identification element is fixed to the telescopic end of the telescopic rod and located between the two individual forks in the forks.

[0260] In one embodiment, the identification element is a camera.

[0261] This application also provides a handling device, including:

[0262] gantry;

[0263] A movable chassis, fixed to the bottom end of the gantry; and

[0264] The attachments are those described above.

[0265] In one embodiment, it further includes:

[0266] A first limiting guide assembly is disposed on the gantry; and

[0267] The roller assembly is mounted on the attachment.

[0268] The roller assembly cooperates with the first limiting guide assembly to enable the attachment to move on the gantry.

[0269] In one embodiment, the first limiting guide assembly includes a limiting member disposed on the side wall of the gantry facing the attachment, and the limiting member is provided with a groove extending along the height direction.

[0270] The roller assembly includes a rolling connecting unit disposed on one end of the carriage facing the gantry, the rolling connecting unit corresponding to the limiting member, and the rolling connecting unit comprising:

[0271] A roller mounting plate, fixed to the carriage, and extending along the height direction; and

[0272] Multiple main rollers are rotatably mounted on the roller mounting plate and spaced apart along the height direction. The rotation plane of the main rollers is perpendicular to the second direction.

[0273] The circumferential surfaces of the plurality of main rollers abut against the sidewall of the chute.

[0274] In one embodiment, the rolling connection unit further includes:

[0275] At least one side roller is rotatably mounted on the roller mounting plate, either indirectly or directly, and the rotation plane of the side roller is parallel to the second direction.

[0276] The circumferential surface of at least one side roller abuts against the bottom wall of the chute.

[0277] In one embodiment, the rolling connection unit further includes:

[0278] At least one side roller mounting block is movably disposed on the roller mounting plate and is capable of being adjusted in position along the second direction. The number of side roller mounting blocks is consistent with the number of side rollers, and the side rollers are rotatably disposed on the corresponding side roller mounting blocks.

[0279] In one embodiment, it further includes:

[0280] The second limiting guide component includes:

[0281] The third guide rail is fixed to one end of the gantry facing the carriage and extends along the height direction;

[0282] The third roller mounting base is fixed to one end of the carriage facing the gantry and extends along the height direction; and

[0283] At least one rolling guide unit, each of the rolling guide units comprising:

[0284] A pair of guide rollers are rotatably mounted on the third roller mounting base, either indirectly or directly, and are spaced apart along the second direction. The rotation plane of the guide rollers is parallel to the second direction.

[0285] The circumferential surfaces of the two guide rollers within the same rolling guide unit respectively abut against two opposing surfaces on the third guide rail.

[0286] In one embodiment, each of the rolling guide units further includes:

[0287] Multiple guide roller mounting blocks are movably mounted on the third roller mounting base and their positions can be adjusted along the second direction.

[0288] Each of the guide rollers corresponds to a guide roller mounting block, and the guide roller is rotatably mounted on the corresponding guide roller mounting block.

[0289] Therefore, this application has the following advantages compared with the prior art:

[0290] According to the attachments and handling equipment involved in this application, the handling equipment includes a mast, a mobile chassis, and attachments. The attachments include a fork carriage and forks. The fork carriage is movably mounted on the mast, either indirectly or directly. The forks are fixed to the fork carriage. The fork carriage includes a connecting part, a mounting part, and an extension part. The connecting part extends along the height direction of the mast and is indirectly or directly connected to the mast. The mounting part extends along a first direction perpendicular to the height direction, and the forks are fixed to the mounting part. The extension part connects the connecting part and the mounting part into one unit and extends downward at an angle from the lower end of the connecting part toward the side away from the mast, so that the forks can move along the height direction. The fork carriage moves downwards in the vertical direction to a preset position. When it is necessary to pick up a pallet from the ground, the fork carriage moves downwards along the vertical direction. Due to the extension, when the fork carriage moves downwards, the moving chassis only obstructs the connecting part in the fork carriage, and does not obstruct the mounting part or extension part in the fork carriage. This eliminates the influence of the moving chassis on the fork travel. As a result, when the fork carriage moves downwards, it can drive the fork to move to the preset position. When it reaches the preset position, the fork contacts the ground that supports the moving chassis during use, allowing the fork to move to the ground and pick up the pallet from the ground. Attached Figure Description

[0291] Figure 1 is a schematic diagram of the structure of a handling device provided in an embodiment of this application;

[0292] Figure 2 is a schematic diagram of the structure of a handling device provided in one embodiment of this application;

[0293] Figure 3 is a schematic diagram of the structure of a gantry provided in one embodiment of this application;

[0294] Figure 4 is a schematic diagram of the structure of a handling device provided in one embodiment of this application;

[0295] Figure 5 is a schematic diagram of the distribution structure of the attachments provided in one embodiment of this application;

[0296] Figure 6 is a schematic diagram of the structure of the motion chassis provided in one embodiment of this application;

[0297] Figure 7 is a schematic diagram of the structure of the first gantry provided in an embodiment of this application from one view.

[0298] Figure 8 is a structural schematic diagram of the first gantry provided in one embodiment of this application from another perspective;

[0299] Figure 9 is a structural schematic diagram of the third gantry provided in one embodiment of this application;

[0300] Figure 10 is a schematic diagram of the installation structure of the driven wheel provided in one embodiment of this application;

[0301] Figure 11 is a schematic diagram of the motion trajectory of a motion chassis turning in place according to an embodiment of this application;

[0302] Figure 12 is a schematic diagram of the motion trajectory of the arc steering of the sports chassis provided in an embodiment of this application;

[0303] Figure 13 is a schematic diagram of the installation structure of the counterweight provided in one embodiment of this application;

[0304] Figure 14 is a three-dimensional structural diagram of an attachment provided in one embodiment of this application;

[0305] Figure 15 is a three-dimensional structural diagram of a ground attachment provided in one embodiment of this application;

[0306] Figure 16 is a three-dimensional structural diagram of an aerial attachment provided in one embodiment of this application;

[0307] Figure 17 is a schematic diagram of the installation structure of the identification unit provided in one embodiment of this application;

[0308] Figure 18 is a structural schematic diagram of a handling device or warehousing robot provided in an embodiment of this application;

[0309] Figure 19 is a bottom view of the structure of the motion chassis provided in one embodiment of this application;

[0310] Figure 20 is a schematic diagram of the drive wheel assembly provided in one embodiment of this application from one view.

[0311] Figure 21 is a schematic diagram of the drive wheel assembly provided in one embodiment of this application from another perspective;

[0312] Figure 22 is a structural schematic diagram of the auxiliary support member provided in one embodiment of this application;

[0313] Figure 23 is a schematic diagram of the structure of the contactless charging device and charging pile provided in one embodiment of this application;

[0314] Figure 24 is a three-dimensional structural schematic diagram of the handling equipment in one embodiment of this application;

[0315] Figure 25 is a three-dimensional structural diagram of the gantry in one embodiment of this application;

[0316] Figure 26 is a schematic diagram of the distribution structure of the gantry in one embodiment of this application;

[0317] Figure 27 is a three-dimensional structural diagram of the first gantry in one embodiment of this application;

[0318] Figure 28 is a three-dimensional structural diagram of the second gantry in one embodiment of this application;

[0319] Figure 29 is a three-dimensional structural schematic diagram of the linkage mechanism in one embodiment of this application;

[0320] Figure 30 is a three-dimensional structural diagram of a ground attachment in one embodiment of this application;

[0321] Figure 31 is a three-dimensional structural diagram of an aerial attachment in one embodiment of this application;

[0322] Figure 32 is a three-dimensional structural diagram of the second connecting plate in one embodiment of this application;

[0323] Figure 33 is a three-dimensional structural schematic diagram of the second rolling unit in one embodiment of this application;

[0324] Figure 34 is a front view of the conveying equipment in one embodiment of this application;

[0325] Figure 35 is a three-dimensional structural schematic diagram of the attachment in one embodiment of this application;

[0326] Figure 36 is a three-dimensional structural diagram of a portion of the gantry and the first limiting guide assembly in one embodiment of this application; and

[0327] Figure 37 is a three-dimensional structural diagram of the roller assembly and the second limiting guide assembly in one embodiment of this application.

[0328] Reference numerals: 100, handling equipment; 100a, moving chassis; 100b, gantry; 10, first gantry; 101, gantry mounting space; 11, first enclosure; 12, first connecting part; 13, connecting frame; 121, first connecting plate; 111, stop bar; 20, second gantry; 30, third gantry; 301, limiting part; 302, second connecting plate; 21, second enclosure; 22, second connecting part; 221a, intermediate connecting plate; 221b, side plate; 230, first limiting guide mechanism; 231, first guide rail; 232, first rolling unit; 2321, first roller mounting seat; 2322, first roller; 100c, attachment; 31, fork; 32, fork carriage; 211, connecting part; 322, mounting part; 323, extension part; 130. Ground attachment; 131. Ground fork; 132. Ground fork carriage; 140. Overhead attachment; 141. Overhead fork; 142. Overhead fork carriage; 321. Sliding part; 322. Mounting part; 33. Translation mechanism; 331. Carriage; 332. Drive unit; 332c. Rack; 3321. Drive element; 3322. Driving element; 3323. Mating part; 34. Identification unit; 341. Telescopic rod; 342. Identification element; 340. First limit guide assembly; 70. Limiting element; 70a. Slide groove; 350. Second limit guide mechanism; 351. Second guide rail; 352. Second rolling unit; 3521. Second roller mounting base; 3522. Second roller. 360. Second limit guide assembly; 361. Third guide rail; 362. Third roller mounting base; 93. Rolling guide unit; 931. Guide roller; 932. Guide roller mounting block.40. Guide mechanism; 411. Slider; 412. Guide component; Guide groove 421; 440. Roller assembly; 440a. Rolling connection unit; 441. Roller mounting plate; 442. Main roller; 443. Side roller; 444. Side roller mounting block; 50. Bearing body; 51. Mounting area; 511. Connecting hole; 52. Counterweight chamber; 521. Counterweight; 521a. Balance plate; 53. Mounting plate; 54. First clearance hole; 55. Second clearance hole; 60. Reinforcing component; 61. First reinforcing plate; 62. Second reinforcing plate; 100d. Linkage mechanism; 71. Linkage sprocket; 72. Linkage chain; 80. Motion mechanism; 801. Drive wheel assembly; 81. Drive wheel; 811. Drive motor; 812. Connecting block; 813. First gear; 814. Second gear; 82. Driven wheel; 100e, Guide unit; 91, Guide wheel; 100f, Drive mechanism; 402, Drive chain; 403, Drive sprocket; 100g, Non-contact charging pile; 110, Power supply end; 100h, Auxiliary support component; 501, Landing component; 502, Lifting drive component; 5021, Lifting mounting plate; 5022, Lifting motor; 5023, Lifting reducer; 503, Universal wheel mounting plate; 504, Universal wheel bracket; 100j, Non-contact charging device; 610, Power receiving end. Detailed Implementation

[0329] Various embodiments of this application provide a handling device, also known as a handling apparatus, handling robot, or warehouse robot.

[0330] An embodiment of this application provides a handling device. Figure 1 is a structural schematic diagram of the handling device provided in one embodiment of this application from one perspective; Figure 2 is a structural schematic diagram of the handling device in an alternative embodiment; Figure 3 is a three-dimensional structural schematic diagram of the gantry in one embodiment of this application; Figure 4 is a structural schematic diagram of the handling device provided in an alternative embodiment from another perspective.

[0331] Referring to Figures 1 to 4, the handling equipment 100 includes a moving chassis 100a, a gantry 100b, and one or more attachments 100c. The multiple attachments include, for example, at least two attachments 100c. The gantry 100b has a height direction and includes multiple sub-gantryes, namely a first gantry 10, a second gantry 20, and at least one third gantry 30. The first gantry 10 is mounted on the moving chassis 100a. The at least one third gantry 30 and the second gantry 20 are sequentially movably connected along the height direction and are capable of moving along the height direction respectively. The attachments 100c are mounted on the second gantry 20 and are capable of moving along the second gantry 20 in the height direction.

[0332] In an embodiment including at least two attachments 100c, at least one attachment 100c is mounted on the first mast 10, at least one attachment 100c is mounted on the second mast 20, and at least two attachments 100c are movable in the height direction along their respective masts. It should be noted that the direction indicated by A in Figures 3 and 4 is the height direction.

[0333] By configuring the gantry 100b as a series of movable sub-gantry frames, the bending deformation of individual sub-gantry frames is reduced, thereby improving the overall structural strength of the gantry 100b. This allows for an increase in the design height of the gantry 100b while maintaining its stability. Furthermore, the attachment 100c is mounted on the second gantry 20, which is furthest from the motion chassis 100a. The attachment 100c can move vertically along the second gantry 20, creating a two-stage motion with the second gantry 20. The attachment 100c has a greater vertical travel, further increasing its lifting height to enable the lifting of goods at higher positions.

[0334] Furthermore, since attachments 100c are provided on both the first mast 10 and the second mast 20, the handling equipment 100 can pick up or transfer multiple pallets at a time, thus effectively improving efficiency.

[0335] In one embodiment, as shown in Figures 3 and 4, a third gantry 30 is provided, which is slidably disposed on the first gantry 10. The second gantry 20 is slidably disposed on the third gantry 30. When both the second gantry 20 and the third gantry 30 slide upward to the top, the gantry 100b reaches its maximum height, which is approximately equal to the sum of the heights of the first gantry 10, the third gantry 30, and the second gantry 20.

[0336] Figure 5 is a schematic diagram of the distribution structure of the attachments in one embodiment of this application.

[0337] As shown in Figure 5, the attachment 100c installed on the first gantry 10 and the attachment 100c installed on the second gantry 20 are located at both ends of the gantry 100b in the first direction, which is the traveling direction of the moving chassis 100a.

[0338] Specifically, attachment 100c includes a ground attachment 130 and an overhead attachment 140, each attachment 100c including forks. The forks of the ground attachment 130 can move downwards in the height direction to a first preset position, where the forks are in contact with or below the traveling surface of the supporting chassis 100a. The forks of the overhead attachment 140 can move downwards in the height direction to a second preset position, where the forks are in contact with or at a distance from the upper surface of the chassis 100a.

[0339] Understandably, since the forks of the ground attachment 130 can move downwards along the height direction to a first preset position where they contact or are below the traveling surface of the carrying chassis 100a, and the forks of the ground attachment 130 can move downwards along the height direction to a second preset position where they contact or are a distance away from the upper surface of the chassis 100a, the handling equipment 100 can not only pick up pallets on the ground, but also pick up pallets in the air, thus having a wide range of applications, and the two attachments 100c can work independently.

[0340] Figure 6 is a schematic diagram of the structure of the motion chassis in one embodiment of this application.

[0341] Referring to Figures 3 and 6, the motion chassis 100a includes a support body 50, on which an installation area 51 is provided, and a first gantry 10 is installed in the installation area 51. The installation area 51 is eccentrically positioned relative to the centerline of the support body 50 in a first direction, and is relatively close to the first end of the support body 50 located in the first direction. It should be noted that the direction indicated by B in Figure 6 is the first direction.

[0342] Understandably, since the mounting area 51 is eccentrically positioned and relatively close to the first end of the bearing body 50 in the first direction, i.e., the mounting area 51 is relatively close to the edge of the bearing body 50, it is possible to simply provide two rows of spaced wheels on one side of the bottom of the bearing body 50, which makes the structure simpler than the prior art.

[0343] In one embodiment, a plurality of connection holes 511 are provided at the mounting area 51 of the support body 50, so that the support body 50 is connected to the first gantry 10 by bolts.

[0344] As shown in Figures 1 and 5, relative to the two sides of the first gantry 10 in the first direction, the attachment 100c and the second end of the bearing body 50 in the first direction are on the same side, so that the center of gravity of the attachment 100c is located at the center of the bearing body 50, which helps to maintain the overall balance of the handling equipment.

[0345] Additionally, as shown in Figures 2 and 5, relative to the two sides of the first gantry 10 in the first direction, the ground attachment 130 and the first end of the bearing body 50 located in the first direction are on the same side, and the aerial attachment 140 and the second end of the bearing body 50 located in the first direction are on the same side.

[0346] Understandably, this is to ensure that the forks of the ground attachment 130 can move downwards in the height direction to a first preset position, and the forks of the air attachment 140 can move downwards in the height direction to a second preset position.

[0347] Figure 7 is a three-dimensional structural diagram of the first gantry in one embodiment of this application from one perspective.

[0348] In order to realize the movable connection between the first gantry 10 and the third gantry 30, and between the third gantry 30 and the second gantry 20, one of the two movablely connected sub-gantry is provided with a gantry installation space 101, and the other sub-gantry is installed in the gantry installation space 101. The sub-gantry with the gantry installation space 101 includes a enclosure part 11 and a connecting part 12, and the gantry installation space 101 is enclosed by the enclosure part 11 and the connecting part 12.

[0349] Referring to Figure 7, taking the example of a gantry mounting space 101 on the first gantry 10, the third gantry 30 is installed within the gantry mounting space 101 on the first gantry 10. The first gantry 10 includes a enclosure portion 11 and a connecting portion 12, and the gantry mounting space 101 is formed by the enclosure portion 11 and the connecting portion 12. Of course, the gantry mounting space 101 can also be provided on the third gantry 30, and the first gantry 10 can be installed within the gantry mounting space 101 of the third gantry 30. The third gantry 30 and the second gantry 20 also adopt the same connection method; when there are two or more third gantry 30s, the adjacent third gantry 30s also adopt this connection method, which will not be repeated here.

[0350] Understandably, the cooperation between the enclosure portion 11 and the connecting portion 12 forms a gantry mounting space 101 on one side of the first gantry 10, so as to provide mounting space for the third gantry 30.

[0351] Specifically, the second gantry 20 is installed inside the third gantry 30, and the gantry installation space 101 on the third gantry 30 is set towards the second end of the supporting body 50 so as to expose the side of the second gantry 20 facing the second end of the supporting body 50, thereby facilitating the installation of the aerial attachment 140.

[0352] Referring to Figure 7, there are two enclosure sections 11. The enclosure sections 11 extend along a first direction, and the two enclosure sections 11 are spaced apart along a second direction perpendicular to the height direction. The second direction is perpendicular to the first direction. A connecting section 12 is disposed between the two enclosure sections 11, and the opposite ends of the connecting section 12 are fixed to the two enclosure sections 11 respectively. Another gate frame is slidably disposed on the inner wall of the two enclosure sections 11. It should be noted that the direction indicated by C in Figure 5 is the second direction.

[0353] In one embodiment, the two enclosure portions 11 are parallel to each other, the connecting portion 12 is perpendicular to the two enclosure portions 11, and the gantry installation space 101 is a rectangular space.

[0354] As shown in Figure 7, the connecting part 12 includes a plurality of first connecting plates 121, which are spaced apart along the height direction. The first connecting plates 121 extend along the second direction, and both ends of the first connecting plates 121 are fixed to two enclosure parts 11 respectively.

[0355] Understandably, the two enclosure parts 11 are connected together by multiple first connecting plates 121, so that the first gantry 10 can form a stable frame structure to support the third gantry 30, the second gantry 20 and the attachment 100c.

[0356] Figure 8 is a three-dimensional structural diagram of the first gantry in one embodiment of this application from another perspective.

[0357] The gantry 100b also includes a connecting frame 13, which is detachably connected to the side of the first gantry 10 facing the ground attachment 130, and the ground attachment 130 is slidably connected to the connecting frame 13. Specifically, the connecting frame 13 can be connected to the first gantry 10 by multiple bolts.

[0358] By detachably installing the connecting frame 13 on the first gantry 10, the ground attachment 130 can be flexibly disassembled and assembled. When the ground attachment 130 is not needed, the connecting frame 13 can be removed together with the ground attachment 130; when needed, the connecting frame 13 and the ground attachment 130 can be installed back onto the first gantry 10.

[0359] Figure 9 is a three-dimensional structural diagram of the third gantry in one embodiment of this application.

[0360] As shown in Figure 3, the second gantry 20 is installed within the gantry mounting space 101 of the third gantry 30. The first gantry 10 is located on the outermost side, the second gantry 20 is on the innermost side, and the third gantry 30 is located between the first gantry 10 and the second gantry 20. That is, the second gantry 20 and the third gantry 30 adopt essentially the same structure. Taking the third gantry 30 as an example, as shown in Figure 9, the third gantry 30 includes two limiting parts 301 and multiple second connecting plates 302. The limiting parts 301 have a height direction and are spaced apart along a second direction. The outer walls of the two limiting parts 301 are slidably connected to the inner walls of the two enclosure parts 11. The multiple second connecting plates 302 are spaced apart along the height direction, extend along the second direction, and their two ends are fixed to the two limiting parts 301 respectively.

[0361] Understandably, by connecting the two second limiting parts 301 together with multiple second connecting plates 302, the second gantry 20 and the third gantry 30 can form a stable frame structure. In addition, the cooperation between the limiting part 301 and the enclosure part 11 enables a sliding connection between the second gantry 20 and the third gantry 30, and between the third gantry 30 and the first gantry 10, thereby allowing the second gantry 20 to move along the third gantry 30 and the third gantry 30 to move along the first gantry 10 in the height direction.

[0362] Meanwhile, the limiting part 301 and the multiple second connecting plates 302 can also enclose the gate frame installation space 101 to realize the installation of the second gate frame 20, or when the second gate frame 20 encloses the gate frame installation space 101, the attachment 100c (e.g., aerial attachment 140) can be installed.

[0363] Referring to Figure 9, to drive the third gantry 30 to slide along the first gantry 10, the conveying device 100 further includes a drive mechanism 100f. The drive mechanism 100f includes a drive element (not shown), a drive sprocket 403, and a drive chain 402. The drive sprocket 403 is rotatably mounted on the first gantry 10 at its top position in the height direction. The drive chain 402 is wound around the drive sprocket 403. One end of the drive chain 402 extends downward in the height direction and connects to the drive end of the drive element, while the other end is connected to the bottom position of the third gantry 30 in the height direction. When the drive element pulls the drive chain 402 downward, the third gantry 30 will be pulled upward through the drive chain 402; when the drive element releases the drive chain 402, the third gantry 30 will move downward under the action of gravity. The drive element can specifically adopt a linear drive structure such as a hydraulic cylinder, a pneumatic cylinder, or an electrode screw module.

[0364] Referring to Figure 9, in order to drive the second gantry 20 to move up and down when the third gantry 30 moves up and down, the conveying equipment also includes a linkage mechanism 100d. The linkage mechanism 100d includes a linkage sprocket 71 and a linkage chain 72. The linkage sprocket 71 is rotatably mounted on the third gantry 30 at the top position in the height direction. The linkage chain 72 is wound around the linkage sprocket 71, with one end of the linkage chain 72 fixed to the first gantry 10 and the other end fixed to the bottom position of the second gantry 20.

[0365] Understandably, when the third gantry 30 moves along the height direction, it can drive the linkage sprocket 71 on it to move synchronously. Since one end of the linkage chain 72 is fixed to the third gantry 30, when the linkage sprocket 71 moves with the third gantry 30, it can pull the linkage chain 72 to make the second gantry 20 move upward along the height direction, or release the linkage chain 72 to make the second gantry 20 move downward under the action of gravity. This realizes the linkage between the second gantry 20 and the third gantry 30, and the second gantry 20 and the third gantry 30 have a 2:1 ratio of rising height.

[0366] In one embodiment, to enable the attachment 100c of, for example, the aerial attachment 140, to be linked with the second gantry 20, the aforementioned linkage mechanism 100d can also be provided between the second gantry 20 and the attachment 100c (e.g., the aerial attachment 140). The linkage sprocket 71 is rotatably disposed on the second gantry 20 at the top position in the height direction. The linkage chain 72 is wound around the linkage sprocket 71, with one end of the linkage chain 72 extending downward in the height direction and fixed to the third gantry 30, and the other end extending downward in the height direction and fixed to the attachment 100c (e.g., the aerial attachment 140).

[0367] Understandably, when the second gantry 20 moves relative to the third gantry 30 in the height direction, it can drive the linkage sprocket 71 on it to move synchronously. Since one end of the linkage chain 72 is fixed to the third gantry 30, when the linkage sprocket 71 moves with the second gantry 20, it can pull the linkage chain 72 to make the aerial attachment 140 move upward in the height direction, or release the linkage chain 72 to make the aerial attachment 140 move downward under the action of gravity. This realizes the linkage between the aerial attachment 140 and the second gantry 20, and the aerial attachment 140 and the second gantry 20 have a 2:1 ratio of rising height.

[0368] Figure 10 is a schematic diagram of the installation structure of the driven wheel in one embodiment of this application.

[0369] Referring to Figures 6 and 10, the motion chassis 100a also includes a motion mechanism 80, which includes a drive wheel 81 and a driven wheel 82. The drive wheel 81 is rotatably mounted on the support body 50 and is relatively close to a first end of the support body 50 in a first direction, with part or all of the drive wheel 81 protruding from the lower surface of the support body 50. The driven wheel 82 is mounted on the support body 50 and is relatively close to a second end of the support body 50 in the first direction, with part or all of the driven wheel 82 protruding from the lower surface of the support body 50.

[0370] Understandably, the forward, backward, and turning movements of the motion chassis 100a can be achieved through the cooperation between the drive wheel 81 and the driven wheel 82.

[0371] Most of the wheel pressure is on the drive wheel 81, which improves the grip between the drive wheel 81 and the ground, making it less prone to slippage during driving. When the vehicle is traveling in a straight line, the driven wheel 82 may be slightly deflected due to the influence of ground conditions, which may cause the drive wheel 81 to slip slightly, affecting the straight-line accuracy of the vehicle and resulting in a serpentine driving pattern. The greater the grip of the drive wheel 81, the less likely this situation will occur. When the vehicle is changing direction, especially when changing from front-wheel drive to rear-wheel drive, the vehicle needs to make directional corrections due to the swaying of the driven wheel 82. The greater the drive wheel pressure, the greater the correction acceleration, and the easier the correction.

[0372] Figure 11 is a schematic diagram of the motion trajectory of the sports chassis turning in place in one embodiment of this application; Figure 12 is a schematic diagram of the motion trajectory of the sports chassis turning in an arc in one embodiment of this application.

[0373] As shown in Figures 11 and 12, the drive wheels 81 include two sets spaced apart along the second direction. When the two sets of drive wheels 81 rotate in opposite directions and at the same speed, the moving chassis 100a performs a stationary turn, at which time the center of rotation is located between the two sets of drive wheels 81.

[0374] In one embodiment, there are two drive wheels 81 and two driven wheels 82. The two drive wheels 81 and the two driven wheels 82 are respectively arranged at intervals along the second direction. Each drive wheel 81 is connected to a drive motor and a servo controller, and the driven wheel 82 is a caster wheel.

[0375] It should be noted that when the motion chassis 100a moves, the control system sends commands to the servo controller, which in turn controls the two drive motors to drive the two drive wheels 81. When the two drive wheels 81 rotate in the same direction and at the same speed, the vehicle moves forward or backward; when the two drive wheels 81 rotate in opposite directions and at the same speed, the vehicle turns on the spot; when the two drive wheels 81 rotate in the same direction but at different speeds, the vehicle turns in an arc; and when the two drive wheels 81 rotate in opposite directions and at different speeds, the vehicle turns in a near-circular arc. The motion chassis 100a can execute different operating modes according to working conditions and scenario requirements to improve efficiency.

[0376] Figure 13 is a schematic diagram of the installation structure of the counterweight in one embodiment of this application.

[0377] As shown in Figure 13, the load-bearing body 50 has symmetrically arranged counterweights 52 at both ends in the second direction. The counterweights 52 are relatively close to the second end of the load-bearing body 50 in the first direction, and the counterweights 52 are configured to bear counterweights 521.

[0378] Understandably, since the center of gravity of the gantry 100b after installation is close to the drive wheel 81, that is, close to the first end of the load-bearing body 50 in the first direction, the counterweight 52 is relatively close to the second end of the load-bearing body 50 in the first direction. The counterweight 521 in the counterweight 52 can balance the gravity exerted by the vehicle on the load-bearing body 50, thereby effectively preventing the load-bearing body 50 from tipping over and ensuring the stability of the load-bearing body 50 in supporting the gantry 100b.

[0379] As shown in Figure 13, the counterweight 521 includes multiple counterweight plates 521a, which are stacked in the counterweight chamber 52 along a first direction.

[0380] Understandably, since the installation area 51 and the counterweight chamber 52 are spaced apart relative to the first direction, the multiple counterweight plates 521a stacked in the counterweight chamber 52 along the first direction can better balance the gravity exerted by the vehicle on the load-bearing body 50, further ensuring the stability of the load-bearing body 50 supporting the vehicle.

[0381] In one embodiment, the balance plate 521a is designed with chamfers around its perimeter to avoid weld protrusions at the corners of various mounting areas 51.

[0382] As shown in Figure 13, the counterweight chamber 52 is also equipped with a retaining strip 111 and bolt fasteners. The retaining strip 111 is fixed to the outer side of the bottom of the counterweight chamber 52 and extends along a first direction. Each counterweight plate 521a has a notch on its outer bottom end, and the notch on each counterweight plate 521a abuts against the retaining strip 111. The bolt fasteners are configured to pass through each counterweight plate 521a along a second direction and connect to the load-bearing body 50.

[0383] Understandably, by engaging with the notch of each balance plate 521a, each balance plate 521a can be positioned within the balance chamber 52, and each balance plate 521a can be fixed to the bearing body 50 by bolt fasteners. This allows for the fixed installation of each balance plate 521a within the balance chamber 52, and facilitates easy installation and disassembly, so that the number of balance plates 521a can be increased or decreased according to the vehicle model expansion requirements.

[0384] Referring to Figure 6, the handling device 100 further includes guide units 100e, which are disposed at both ends of the support body 50 in the second direction. Each guide unit 100e includes at least one guide wheel 91, which is rotatably mounted on the support body 50, and part or all of the guide wheel 91 protrudes from the side of the support body 50 in the second direction. The plane of rotation of the guide wheel 91 is parallel to the plane defined by the first and second directions.

[0385] Understandably, when the tunnel is too narrow, the guide wheel 91 cooperates with the tunnel guide rail, and the guide wheel 91 moves within the guide rail, so that the moving chassis 100a can be used in the working environment of moving in narrow tunnels.

[0386] In one embodiment, there are four guide wheels 91, arranged in pairs at both ends of the support body 50 in the second direction.

[0387] Figure 14 is a three-dimensional structural diagram of an accessory in one embodiment of this application.

[0388] As shown in Figure 14, attachment 100c includes forks 31 and fork carriage 32. The fork carriage 32 is directly or indirectly connected to the second mast 20. The forks 31 are rotatably connected to the fork carriage 32, and the axis of rotation of the forks 31 is parallel to the height direction. The forks 31 rotate in a plane perpendicular to the height direction, realizing the adjustment of the position of the forks 31 relative to the moving chassis 100a, allowing the forks 31 to extend from different sides of the moving chassis 100a, thus improving application flexibility.

[0389] Specifically, the fork 31 is rotatably connected to the fork carriage 32 via a rotating shaft. The rotating shaft is connected to the output end of a rotary motor, and the rotating shaft is driven to rotate by the rotary motor, thereby causing the fork 31 to rotate.

[0390] Figure 15 is a three-dimensional structural diagram of a ground attachment in one embodiment of this application; Figure 16 is a three-dimensional structural diagram of an aerial attachment in one embodiment of this application.

[0391] As shown in Figures 14 to 16, the attachment 100c of this application may include a ground attachment 130 and an overhead attachment 140. Thus, the forks 31 may include...

[0392] The forks of the ground attachment 130 are ground forks 131. The ground attachment 130 also includes a ground fork carriage 132, which is directly or indirectly connected to the first mast 10. The ground forks 131 are rotatably connected to the ground fork carriage 132, and the axis of rotation of the ground forks 131 is parallel to the height direction; and / or,

[0393] The forks of the overhead attachment 140 are overhead forks 141. The overhead attachment 140 also includes an overhead fork carriage 142, which is connected to the second mast 20. The overhead forks 141 are rotatably connected to the overhead fork carriage 142, and the rotation axis of the overhead forks 141 is parallel to the height direction.

[0394] Thus, the fork 31 can include a ground fork 131 and an overhead fork 141. The ground fork 131 and the overhead fork 141 can rotate in a plane in the vertical direction, realizing the adjustment of the position of the ground fork 131 and the overhead fork 141 relative to the moving chassis 100a, and improving the application flexibility.

[0395] The structures of ground attachment 130 and aerial attachment 140 are basically the same. The following description will take ground attachment 130 as an example.

[0396] Specifically, as shown in Figure 15, the ground fork 131 is rotatably connected to the ground fork carriage 132 via a rotating shaft. The rotating shaft is connected to the output end of a rotary motor, and the rotating shaft is driven to rotate by the rotary motor, thereby causing the ground fork 131 to rotate.

[0397] In one embodiment, the ground fork carriage 132 includes a sliding portion 321 and a mounting portion 322. The sliding portion 321 extends along the height direction and is indirectly or directly connected to the corresponding second mast 20. The mounting portion 322 extends along a first direction perpendicular to the height direction, and the ground forks 131 are rotatably mounted on the mounting portion 322. Optionally, the mounting portion 322 and the sliding portion 321 are integrally formed or fixedly connected.

[0398] As shown in Figure 15, the ground attachment 130 also includes a translation mechanism 33, which is configured to move the ground forks 131 along a second direction. The translation mechanism 33 includes a carriage 331 extending along the second direction, disposed on the side of the corresponding second mast 20, and movable in the height direction. The ground fork carriage 132 is slidably mounted on the carriage 331 and is movable in the second direction.

[0399] Understandably, when the carriage 331 moves along the height direction, it can drive the ground fork carriage 132 on it to move synchronously, so that the ground fork carriage 131 can move to pick up or transfer the pallet in the height direction. In addition, the ground fork carriage 132 can also move relative to the carriage 331 in a second direction, so that the ground fork carriage 131 can move to pick up or transfer the pallet in the second direction.

[0400] In one embodiment, the second direction is the horizontal direction in the use state and is perpendicular to the first direction, and the two fork units of the ground fork 131 are horizontally spaced apart.

[0401] As shown in Figure 15, the translation mechanism 33 also includes a drive unit 332, which drives the ground fork carriage 132 to move along the second direction. The drive unit 332 includes a drive motor (not shown), a gear (not shown), and a rack 332c. The drive motor is fixed to the ground fork carriage 132. The gear is fixed to the output shaft of the drive motor. The rack 332c is fixed to the carriage 331 and extends along the second direction. The gear meshes with the rack 332c.

[0402] Understandably, when the drive motor rotates, it can drive the gear to rotate. When the gear rotates, it can rotate along the extension direction of the rack 332c under the action of the rack 332c, thereby driving the ground fork carriage 132 to move in the second direction.

[0403] In one embodiment, the drive motor adopts servo control, which can accurately control the moving distance of the ground fork carriage 132. A translation position sensor is provided on the ground fork carriage 132, which can detect the translation position of the ground fork carriage 132 and feed back the signal to the ground attachment 130 controller.

[0404] Figure 17 is a schematic diagram of the installation structure of the identification unit in one embodiment of this application.

[0405] As shown in Figures 15 to 17, both the ground attachment 130 and the aerial attachment 140 also include an identification unit 34 that can identify the specific position and distance of the pallet when picking up or placing goods. The identification unit 34 includes a telescopic rod 341 and an identification element 342.

[0406] The telescopic rod 341 is fixed to the bottom end of the ground fork carriage 132 or the overhead fork carriage 142 and can extend and retract along the height direction. The identification element 342 is fixed to the telescopic end of the telescopic rod 341 and is located between two individual forks in the ground fork carriage 131 or the overhead fork carriage 141.

[0407] It should be noted that the identification unit 34 of the ground attachment 130 and the aerial attachment 140 has the same structure. Here, we will take the identification unit 34 in the ground attachment 130 as an example.

[0408] Understandably, the identification element 342 in the identification unit 34 can identify the specific position and distance of the pallet when picking up or placing goods, so as to control the corresponding forks to move accurately to the picking and placing position. If there are goods or the pallet on the forks that block the identification element 342, the telescopic rod 341 can be extended to drive the identification element 342 to extend for identification. When it is not necessary to extend, the telescopic rod 341 can be retracted.

[0409] In one embodiment, the identification element 342 is a 3D camera.

[0410] One embodiment of this application provides a handling device that is basically the same as the handling device in the previous embodiment, except that the structure of the moving chassis 100a is different.

[0411] Specifically, the motion chassis 100a travels along a first direction, defined as direction B as shown in Figure 18. The first end of the motion chassis 100a faces the forward direction, and the second end faces the backward direction. A gantry 100b is located on the upper side of the second end of the motion chassis 100a, and an attachment 100c is located on the front side of the gantry 100b. After carrying goods, the attachment 100c's center of gravity falls above the motion chassis 100a, which helps maintain the stability of the handling equipment's (e.g., a warehouse robot) center of gravity.

[0412] It should be noted that this embodiment of the application mainly relates to the improvement of the motion chassis 100a, and does not limit the specific structure of the gantry 100b and the attachment 100c or their arrangement on the motion chassis 100a. The above is one arrangement of the gantry 100b and the attachment 100c on the motion chassis 100a. In some other embodiments, the attachment 100c may be disposed on the rear side of the gantry 100b, or the gantry 100b may be disposed at the first end of the motion chassis 100a.

[0413] Please refer to Figures 19 and 20. Figure 19 shows a bottom view of the structure of the motion chassis 100a provided in an embodiment of this application; Figure 20 shows a structural schematic diagram of the drive wheel assembly 801 provided in an embodiment of this application from one perspective.

[0414] The motion chassis 100a includes a load-bearing body 50, a drive wheel set 801, and at least two driven wheels 82. The drive wheel set 801 is disposed on the load-bearing body 50 and includes two drive wheels 81. Each drive wheel 81 is equipped with a drive motor 811, which drives the corresponding drive wheel 81 to rotate, enabling the load-bearing body 50 to switch between straight-line and turning motion. The at least two driven wheels 82 and the drive wheel set 801 support the load-bearing body 50.

[0415] According to the embodiments of this application, the motion chassis 100a provides driving force for the movement of the support body 50 by providing a drive wheel set 801 on the support body 50. The drive wheel set 801 includes two drive wheels 81. By configuring a drive motor 811 for each drive wheel 81, the two drive wheels 81 can be driven to rotate at different speeds or directions. When the motion chassis 100a needs to move straight, the two drive wheels 81 rotate in the same direction and at the same speed; when the motion chassis 100a needs to turn, the drive motors 811 drive the two drive wheels 81 to rotate in opposite directions, thereby enabling the motion chassis 100a to rotate in place around the center point of the rotation axis of the two drive wheels 81, improving the turning flexibility of the motion chassis 100a.

[0416] In one embodiment, as shown in FIG19, the motion chassis 100a moves along a first direction, and the drive wheel set 801 is disposed at the first end of the bearing body 50 in the first direction and at the middle position of the first end in the second direction. The second direction is perpendicular to the first direction, and the second direction is specifically the C direction shown in FIG19.

[0417] By placing the drive wheel assembly 801 at the middle position of the first end, compared to the prior art scheme where the two drive wheels 81 are placed at the top corner of the bearing body 50, the axle spacing between the two drive wheels 81 is reduced, which helps to reduce the turning radius of the motion chassis 100a, thereby further improving turning flexibility.

[0418] In one embodiment, two driven wheels 82 are provided. The two driven wheels 82 are located at the second end of the bearing body 50 in the first direction, and the two driven wheels 82 are spaced apart on both sides below the bearing body 50 along the second direction.

[0419] The two driven wheels 82 and the drive wheel set 801 form three contact points on the running surface of the moving chassis 100a. The three-point support structure can keep the three contact points in contact with the running surface at all times, which is beneficial to maintaining the running stability of the moving chassis 100a. Especially on uneven running surfaces, the drive wheel 81 and driven wheel 82 of the drive wheel set 801 can float with the undulation of the running surface, but will not detach from the running surface, thereby preventing the moving chassis 100a from losing balance due to the sudden loss of support at a certain support point.

[0420] As shown in Figure 18, the gantry 100b and the driven wheel 82 are mounted on the same end of the supporting body 50, both located at the second end of the supporting body 50. The drive wheel 81 is located at the first end of the supporting body 50, with the first end facing the forward direction of the moving chassis 100a and the second end facing the backward direction of the moving chassis 100a. Therefore, the moving chassis 100a is a front-driven force, which is more flexible in turning and has a smaller turning radius compared to the rear-driven force.

[0421] The attachment 100c is located on the front side of the mast 100b. When the handling equipment (such as a warehouse robot) moves forward, the attachment 100c faces forward and can move directly to the front of the shelf. Compared with the solution where the attachment 100c is located on the rear side of the mast 100b, it can get closer to the front shelf.

[0422] Please refer to Figure 19. In order to allow the drive wheel 81 to extend out of the lower surface of the support body 50, a first clearance hole 54 is provided on the bottom plate of the support body 50. The drive wheel 81 extends out of the first clearance hole 54 so that it can contact the running surface.

[0423] In one embodiment, as shown in FIG19, two driven wheels 82 are respectively disposed at the top corner of the second end of the motion chassis 100a, and the drive wheel set 801 is close to the front edge of the first end of the motion chassis 100a, so that the two driven wheels 82 and the drive wheel set 801 maintain the largest possible distance, which is beneficial to improving the stability of the motion chassis 100a.

[0424] Please refer to Figure 21, which is a structural schematic diagram of the drive wheel assembly 801 provided in one embodiment of this application from another perspective. To facilitate the installation of the drive wheels 81 and the drive motor 811, the drive wheel assembly 801 also includes a connector. The two drive wheels 81 of the drive wheel assembly 801 are connected by the connector so that the rotation axes of the two drive wheels 81 are in a straight line. The connector is rotatably connected to the supporting body 50, allowing adjustment so that the rotation axes of the two drive wheels 81 are parallel to or form an angle with the running surface.

[0425] When the running surface is relatively flat, the contact points between the two drive wheels 81 and the running surface are on the same plane, and the rotation axes of the two drive wheels 81 are parallel to the running surface. When the running surface is uneven, if the rotation axes of the drive wheels 81 cannot be adjusted, one drive wheel 81 may be suspended in the air due to potholes in the running surface below the two drive wheels 81, resulting in unstable support. However, by using the aforementioned connector pivotally connected to the supporting body 50, the connector can drive the two drive wheels 81 to rotate relative to the supporting body 50. When potholes appear in the running surface below the two drive wheels 81, the connector can rotate at a certain angle relative to the supporting body 50, thereby causing the two drive wheels 81 to tilt according to the potholes in the running surface, adapting to the potholes and ensuring that the two drive wheels 81 always maintain contact with the running surface, so that the two drive wheels 81 maintain a stable supporting force on the supporting body 50.

[0426] Specifically, please refer to Figures 20 and 21. A mounting plate 53 is provided on the supporting body 50. The moving chassis 100a also includes a first gear 813, a second gear 814, and a sensor. The first gear 813 and the second gear 814 are meshed and rotatably mounted on the supporting body 50, specifically on the mounting plate 53. A connecting member is pivotally connected to the first gear 813. The differential rotation of the two drive wheels 81 drives the connecting member to rotate, which in turn drives the first gear 813 to rotate. The second gear 814 is connected to the sensor to sense the rotation angle of the second gear 814, thus confirming whether the drive wheels 81 are in a straight or turning state. The sensor can be a wire encoder.

[0427] Specifically, the connector includes a connecting block 812 and a pivot shaft (not shown in the figure). One end of the pivot shaft is pivotally connected to the connecting block 812, and the other end is pivotally connected to the first gear 813, thereby achieving a pivot connection between the drive wheel 81 and the supporting body 50. The pivot shaft can be configured as a flat shaft, capable of rotating in a vertical plane relative to the connecting block 812 and the first gear 813 but unable to rotate in a horizontal plane. This allows the connecting block 812 to sway as the two drive wheels 81 tilt, and also allows it to rotate as the connecting block 812 rotates in a horizontal plane.

[0428] In one embodiment, two drive wheels 81 are respectively disposed on the left and right sides of the connecting block 812, and two drive motors 811 are respectively disposed on the front and rear sides of the connecting block 812. The distribution of the two drive wheels 81 and the two drive motors 811 on the connecting block 812 is relatively balanced.

[0429] In one embodiment, referring back to Figure 19, in order to ensure steering flexibility, the wheelbase L between the two drive wheels 81 is designed to be no greater than 1 / 2 of the width of the load-bearing body 50 in the second direction. This ratio is generally set in the range of 1 / 3 to 1 / 2.

[0430] During the process of handling equipment or warehouse robot picking up and placing goods, attachment 100c may need to be raised to a higher position. Moreover, placing goods on attachment 100c or unloading goods from attachment 100c will change the center of gravity of handling equipment or warehouse robot, which may easily cause the warehouse robot to tilt or even tip over.

[0431] To address the above issues, please refer to Figure 19. The motion chassis 100a also includes an auxiliary support 100h, which is disposed within the support body 50 and can selectively extend beyond the lower surface of the support body 50. When the handling equipment or warehouse robot is moving, the auxiliary support 100h is adjusted to retract upwards, so that the lower end face of the auxiliary support 100h is higher than the lowest point of the drive wheel 81 and the driven wheel 82. In other words, the auxiliary support 100h is kept away from the walking surface to ensure that only the drive wheel 81 and the driven wheel 82 are in contact with the walking surface during the movement of the motion chassis 100a, thus maintaining stable movement. To prevent the auxiliary support 100h from scraping against the protruding walking surface when moving on uneven surfaces, it can be configured to retract the auxiliary support 100h into the support body 50.

[0432] In one embodiment, as shown in Figure 19, two sets of auxiliary support members 100h are provided. These two sets of auxiliary support members 100h are respectively located on both sides of the drive wheel assembly 801 in the second direction, that is, on the left and right sides of the drive wheel assembly 801. By providing two sets of auxiliary support members 100h, support points are formed on both sides of the drive wheel assembly 801, providing more uniform support for the load-bearing body 50, which helps to further improve the stability of the handling equipment or warehouse robot when picking up and placing goods.

[0433] Optionally, as shown in Figure 19, auxiliary support members 100h are provided at the two apex corners of the first end of the bearing body 50 to further improve the uniformity of support for the bearing body 50.

[0434] Specifically, as shown in Figure 19, a second clearance hole 55 is provided on the bottom plate of the supporting body 50, and the auxiliary support member 100h is movably inserted through the second clearance hole 55 so as to extend out of the lower surface of the supporting body 50.

[0435] To enable the extension and retraction of the auxiliary support 100h, a structural design is implemented for the auxiliary support 100h. Please refer to Figures 19 and 22. Figure 22 shows a schematic diagram of the auxiliary support 100h provided in one embodiment of this application. Specifically, the auxiliary support 100h includes a landing component 501 and a lifting drive component 502. The landing component 501 extends beyond the lower surface of the supporting body 50. The fixed end of the lifting drive component 502 is disposed on the supporting body 50, and the driving end of the supporting body 50 is connected to the landing component 501 to drive the landing component 501 to extend beyond the lower surface of the supporting body 50 or retract into the supporting body 50.

[0436] It is understandable that the distance by which the landing component 501 extends out of the supporting body 50 determines the supporting force of the landing component 501 on the supporting body 50. The supporting force provided by the landing component 501 should be consistent with the supporting force provided by the drive wheel 81 and the driven wheel 82. Too large or too small a force is not conducive to the stability of the motion chassis 100a.

[0437] To this end, the auxiliary support 100h also includes a pressure sensor (not shown in the figure). The pressure sensor is set on the landing component 501 and is configured to sense the pressure value of the landing component 501 on the walking surface of the moving chassis 100a. When the pressure value reaches a preset value, the driving action of the lifting drive component 502 is stopped, thereby controlling the distance of the landing component 501 extending out of the bearing body 50, and thus ensuring that the landing component 501 provides a suitable support force to the bearing body 50.

[0438] In one embodiment, as shown in FIG22, the lifting drive component 502 includes a lifting mounting plate 5021, a lifting motor 5022, and a lifting reducer 5023. The lifting mounting plate 5021 is connected to the inner wall of the supporting body 50. The fixed end of the lifting reducer 5023 is connected to the lifting mounting plate 5021. The fixed end of the lifting motor 5022 is connected to the fixed end of the lifting reducer 5023. The landing component 501 is connected to the output end of the lifting reducer 5023. The lifting motor 5022 drives the landing component 501 to lift and lower after being reduced by the lifting reducer 5023.

[0439] Specifically, the lifting reducer 5023 and the floor component 501 are connected via a motor screw module, which converts the rotational motion of the lifting reducer 5023 into the linear motion of the floor component 501. This is a conventional structure in the prior art, and its specific structure and working principle will not be described in detail.

[0440] After the handling equipment or warehousing robot moves to the location for picking up or placing goods, the landing component 501 is driven down and supported on the walking surface. If the position of the handling equipment or warehousing robot is found to be inaccurate, minor adjustments are required. Since the landing component 501 is already on the ground, it will interfere with the movement of the handling equipment or warehousing robot. It is necessary to raise the landing component 501, adjust the position of the handling equipment or warehousing robot, and then lower it again. The operation is relatively cumbersome and affects the working efficiency of the handling equipment or warehousing robot.

[0441] Therefore, in one embodiment, as shown in FIG22, the landing component 501 is set as a caster wheel. The caster wheel can rotate 330° or 360° on the walking surface. Therefore, the motion chassis 100a can move when the caster wheel is in contact with the walking surface without raising the caster wheel, thereby simplifying the position adjustment steps of the handling equipment or warehouse robot and saving the operation time of the position adjustment of the handling equipment or warehouse robot.

[0442] To facilitate the installation of the casters, the auxiliary support component 100h also includes a caster mounting plate 503 and a caster bracket 504. The caster mounting plate 503 is connected to the output end of the lifting reducer 5023, and the caster bracket 504 is rotatably connected to the caster mounting plate 503. The casters are rotatably mounted on the caster bracket 504.

[0443] In one embodiment, two casters are provided, and the two casters are connected side by side to the caster bracket 504.

[0444] In one embodiment, as shown in FIG23, for the convenience of charging, a non-contact charging device 100j is provided on the motion chassis. The non-contact charging device 100j is used in conjunction with the non-contact charging pile 100g to charge the handling equipment or the warehouse robot.

[0445] Specifically, a non-contact charging pile 100g is provided in the workshop environment. The non-contact charging pile 100g includes a power supply end 110, and the non-contact charging device 100j includes a power receiving end 610. When the handling equipment or storage robot needs to be charged, the handling equipment or storage robot is moved to the non-contact charging pile 100g and the power receiving end 610 is aligned with the power supply end 110 to start charging, which is quite convenient.

[0446] In one embodiment, the motion chassis 100a is also equipped with a charging plug, which can be used for charging by plugging it into a power source. In actual working conditions, the appropriate charging method can be selected according to the actual situation on site.

[0447] One embodiment of this application provides a handling device capable of forking or transferring multiple pallets at a time.

[0448] Figure 24 is a three-dimensional structural diagram of the handling equipment in one embodiment of this application; Figure 25 is a three-dimensional structural diagram of the gantry in one embodiment of this application.

[0449] Referring to Figures 2 and 24-25, this application embodiment provides a handling device 100, which includes a mobile chassis 100a, a gantry 100b, and at least two attachments 100c. The gantry 100b has a height direction and includes a first gantry 10 mounted on the mobile chassis 100a and one or more second gantry 20s. The plurality of second gantry 20s may include, for example, at least two second gantry 20s.

[0450] The first gantry 10 has a height direction, and gantry mounting spaces 101 are respectively provided on both sides in a first direction perpendicular to the height direction. Two second gantry 20s are respectively movably installed in the two gantry mounting spaces 101 and can move along the height direction respectively. Each second gantry 20 is configured as a load-bearing attachment 100c. The first gantry 10 includes two first enclosure portions 11 and a first connecting portion 12.

[0451] At least two second masts 20 are movably mounted on the first mast 10 and are each movable along the height direction. At least two attachments 100c are mounted on at least two second masts 20 and are each movable along the height direction.

[0452] It should be noted that the direction indicated by A in Figure 25 is the height direction.

[0453] Understandably, when the second mast 20 moves along the height direction, it can drive the attachment 100c on it to move synchronously, thereby driving the attachment 100c to pick up or transfer pallets. Since multiple second masts 20 are equipped with attachments 100c, the handling equipment 100 can pick up or transfer multiple pallets at one time, effectively improving efficiency. In addition, since the attachment 100c can move relative to the second mast 20 along the height direction, the attachment 100c and the second mast 20 cooperate to form a two-stage motion, and the attachment 100c has a larger travel distance in the height direction.

[0454] Figure 26 is a schematic diagram of the distribution structure of the gantry in one embodiment of this application.

[0455] As shown in Figure 26, attachment 100c includes a ground attachment 130 and an aerial attachment 140, each attachment 100c including forks. The forks of the ground attachment 130 can move downwards in the height direction to a first preset position, where the forks are in contact with or below the traveling surface of the supporting chassis 100a. The forks of the aerial attachment 140 can move downwards in the height direction to a second preset position, where the forks are in contact with or at a distance from the upper surface of the chassis 100a.

[0456] Referring to Figures 25 and 6, there are two second gantry frames 20, located on both sides of the first gantry frame 10 in a first direction perpendicular to the height direction. The motion chassis 100a includes a support body 50, on which an installation area 51 is provided, and the first gantry frame 10 is installed in the installation area 51. The installation area 51 is eccentrically positioned relative to the centerline of the support body 50 in the first direction, and is relatively close to the first end of the support body 50 in the first direction.

[0457] Figure 27 is a three-dimensional structural diagram of the first gantry in one embodiment of this application.

[0458] As shown in Figure 27, the first gantry 10 has a gantry installation space 101 on each side in the first direction, and each second gantry 20 is installed in a corresponding gantry installation space 101. The first gantry 10 includes a first enclosure portion 11 and a first connecting portion 12, and the two gantry installation spaces 101 are enclosed by the first enclosure portion 11 and the first connecting portion 12.

[0459] Understandably, the cooperation between the first enclosure portion 11 and the first connecting portion 12 forms two gantry mounting spaces 101 on both sides of the first gantry 10 in the first direction, so as to provide mounting space for the second gantry 20.

[0460] Referring to Figures 6 to 27, there are two first enclosure portions 11, which are spaced apart along a second direction perpendicular to the height direction, and the second direction is perpendicular to the first direction. A first connecting portion 12 is disposed between the two first enclosure portions 11, with its opposite ends fixed to each of the two first enclosure portions 11. The first enclosure portions 11 extend along the first direction, and their two extended ends protrude a certain distance relative to the two ends of the first connecting portion 12 located in the first direction. The area between the two first enclosure portions 11 and located on one side of the first connecting portion 12 constitutes a gantry mounting space 101. The opposite ends of the second gantry 20 are slidably connected to the inner walls of the two first enclosure portions 11.

[0461] It should be noted that the direction indicated by C in Figures 6 and 27 is the second direction.

[0462] Understandably, the second mast 20 is installed in the mast installation space 101. When the second mast 20 moves along the height direction in the mast installation space 101, it can move the attachment 100c on it synchronously, thereby driving the attachment 100c to pick up or transfer the pallet. Through the setting of the two first enclosure parts 11 and the first connecting part 12, two mast installation spaces 101 are formed in the area between the two first enclosure parts 11 and on both sides of the first connecting part 12, so that the two second masts 20 can be installed in one mast installation space 101 respectively, so that the mast 100b can install two sets of attachments 100c, and can pick up or transfer two pallets at one time, effectively improving efficiency.

[0463] In one embodiment, the two first enclosure portions 11 are parallel to each other, the first connecting portion 12 is parallel to the two first enclosure portions 11, and the gantry installation space 101 is a rectangular space.

[0464] As shown in Figure 27, the first connecting part 12 includes a plurality of first connecting plates 121, which are spaced apart along the height direction. The first connecting plates 121 extend along the second direction, and the two extended ends are respectively fixed to the two first enclosure parts 11.

[0465] Understandably, the two first enclosure parts 11 are connected together by a plurality of first connecting plates 121, so that the first gantry 10 can form a stable frame structure to support the second gantry 20 and its attachments 100c.

[0466] Figure 28 is a three-dimensional structural diagram of the second gantry in one embodiment of this application.

[0467] As shown in Figure 28, each second gantry 20 includes two limiting portions 301 and multiple second connecting plates 302. The two limiting portions 301 are spaced apart along a second direction in the height direction, and their outer walls are slidably connected to the inner walls of the two first enclosure portions 11. The multiple second connecting plates 302 are spaced apart along the height direction, extend along the second direction, and their two extended ends are fixed to the two limiting portions 301 respectively.

[0468] Understandably, by connecting the two second limiting parts 301 together with multiple second connecting plates 302, the second gantry 20 can form a stable frame structure to support the attachment 100c on it. In addition, the cooperation between the limiting part 301 and the first enclosure part 11 enables the sliding connection between the second gantry 20 and the first gantry 10, thereby allowing the second gantry 20 to move along the height direction of the first gantry 10.

[0469] As shown in Figures 27 and 28, the gantry 100b is also provided with a reinforcing member 60, which has four connecting ends and is disposed between two adjacent first connecting plates 121 on the first gantry 10, or between two adjacent second connecting plates 302 on the second gantry 20.

[0470] Two of the connecting ends are fixed to one of the two adjacent first connecting plates 121 or one of the two adjacent second connecting plates 302, and the other two connecting ends are fixed to the other of the two adjacent first connecting plates 121 or the other of the two adjacent second connecting plates 302.

[0471] Understandably, the reinforcement component 60 can further strengthen the connection between the two first enclosure parts 11 and connect each of the first connecting plates 121 together, thereby further strengthening the overall structural strength of the first gantry 10. When the first gantry 10 is subjected to eccentric load, the reinforcement component 60 can also effectively prevent the first gantry 10 from shearing.

[0472] The reinforcing component 60 can further strengthen the connection between the two limiting parts 301 and connect multiple second connecting plates 302 together, thereby further strengthening the overall structural strength of the second gantry 20. When the second gantry 20 is subjected to eccentric load, the reinforcing component 60 can also effectively prevent the second gantry 20 from shearing.

[0473] In one embodiment, the reinforcing member 60 includes a first reinforcing plate 61 and a second reinforcing plate 62. Each first reinforcing plate 61 is disposed between two adjacent first connecting plates 121 and has four connecting ends, wherein two connecting ends are fixed to one of the two adjacent first connecting plates 121, and the other two connecting ends are fixed to the other of the two adjacent first connecting plates 121. Each second reinforcing plate 62 is disposed between two adjacent second connecting plates 302 and has four connecting ends, wherein two connecting ends are fixed to one of the two adjacent second connecting plates 302, and the other two connecting ends are fixed to the other of the two adjacent second connecting plates 302.

[0474] One embodiment of this application provides a gantry and handling equipment capable of picking up or transferring multiple pallets at once.

[0475] Referring to Figures 27 and 28, the gantry 100b further includes two sets of first limiting guide mechanisms 230, each first limiting guide mechanism 230 corresponding to a second gantry 20. Each first limiting guide mechanism 230 includes a first guide rail 231 and a plurality of first rolling units 232. The first guide rail 231 is fixed to one end of the first connecting portion 12 in a first direction and extends along the height direction. The plurality of first rolling units 232 are disposed on the second gantry 20 facing the first connecting portion 12 and are spaced apart along the height direction. Each first rolling unit 232 includes a first roller mounting seat 2321 and two first rollers 2322. The first roller mounting seat 2321 is fixed to the second gantry 20. The two first rollers 2322 are rotatably disposed on the first roller mounting seat 2321 and are spaced apart along a second direction. The circumferential surfaces of the two first rollers 2322 respectively abut against two opposite surfaces on the first guide rail 231.

[0476] Understandably, when the second gantry 20 moves along the height direction, it can drive the multiple first rolling units 232 on it to move synchronously, so that the two first rollers 2322 in each first rolling unit 232 move along the first guide rail 231, thereby ensuring the stability of the second gantry 20 when it moves along the height direction and effectively avoiding shaking.

[0477] Referring to Figure 27, the first connecting portion 12 includes a plurality of first connecting plates 121 and at least one first reinforcing plate 61. The plurality of first connecting plates 121 are spaced apart along the height direction, and extend along a second direction, with each of the two extending ends fixed to one of the two first enclosure portions 11. Each first reinforcing plate 61 is disposed between two adjacent first connecting plates 121 and has four connecting ends, wherein two connecting ends are fixed to one of the two adjacent first connecting plates 121, and the other two connecting ends are fixed to the other of the two adjacent first connecting plates 121.

[0478] Understandably, by connecting the two first enclosure parts 11 together with multiple first connecting plates 121, the first gantry 10 can form a stable frame structure to support the second gantry 20 and its attachments 100c. In addition, the first reinforcing plate 61 can further strengthen the connection between the two first enclosure parts 11 and connect the various first connecting plates 121 together, thereby further strengthening the overall structural strength of the first gantry 10. When the first gantry 10 is subjected to eccentric load, the first reinforcing plate 61 can also effectively prevent the first gantry 10 from shearing.

[0479] As a non-limiting embodiment, the first gantry 10 can be an outer gantry, and the second gantry 20 can be an inner gantry. In this case, the gantry installation space 101 can also be called the inner gantry installation space.

[0480] In one embodiment, the number of first reinforcing plates 61 is not limited and can be arranged between two adjacent first connecting plates 121 as needed.

[0481] Referring to Figure 28, each second gantry 20 includes two second enclosure portions 21 and a second connecting portion 22. The two second enclosure portions 21 are spaced apart along a second direction. The second connecting portion 22 is disposed between the two second enclosure portions 21, with its opposite ends fixed to the two second enclosure portions 21 respectively. The outer walls of the two second enclosure portions 21 are slidably connected to the inner walls of the two first enclosure portions 11 respectively.

[0482] Understandably, the two second enclosure parts 21 are connected together by the second connecting part 22, so that the second gantry 20 can form a stable frame structure to support the attachment 100c on it. In addition, the cooperation between the first enclosure part 11 and the second enclosure part 21 enables the second gantry 20 to slide with the first gantry 10, thereby allowing the second gantry 20 to move along the height direction of the first gantry 10.

[0483] As shown in Figure 28, the second connecting portion 22 includes a plurality of second connecting plates 302 and at least one second reinforcing plate 62. The plurality of second connecting plates 302 are spaced apart along the height direction, extend along a second direction, and have two extending ends fixed to two second enclosure portions 21 respectively. Each second reinforcing plate 62 is disposed between two adjacent second connecting plates 302 and has four connecting ends, wherein two connecting ends are fixed to one of the two adjacent second connecting plates 302, and the other two connecting ends are fixed to the other of the two adjacent second connecting plates 302.

[0484] Understandably, by connecting the two second enclosure parts 21 together with multiple second connecting plates 302, the second gantry 20 can form a stable frame structure to support the attachment 100c on it. In addition, the second reinforcing plate 62 can further strengthen the connection between the two second enclosure parts 21 and connect multiple second connecting plates 302 together, thereby further strengthening the overall structural strength of the second gantry 20. When the second gantry 20 is subjected to eccentric load, the second reinforcing plate 62 can also effectively prevent the first gantry 10 from shearing.

[0485] In one embodiment, the number of second reinforcing plates 62 is not limited and can be arranged between two adjacent second connecting plates 302 as needed.

[0486] Figure 32 is a three-dimensional structural diagram of the second connecting plate in one embodiment of this application.

[0487] As shown in Figure 32, part or all of the second connecting plate 302 is a reinforcing beam, which includes a middle connecting plate 221a and two side plates 221b. The middle connecting plate 221a arches towards the side closer to the first connecting portion 12. The two side plates 221b are fixed to the middle connecting plate 221a at both ends in the height direction, and the side plates 221b arch towards the direction closer to the first connecting portion 12. A protrusion extending towards the direction closer to the first connecting portion 12 is formed in the middle of the side plates 221b.

[0488] Understandably, because the side plate 221b arches toward the direction of the first connecting part 12, and the middle part of the side plate 221b has a protrusion extending toward the direction of the first connecting part 12, the load-bearing capacity of the reinforcing beam is effectively improved in the horizontal direction compared with a regular rectangular plate of the same weight.

[0489] As shown in Figures 24 and 25, the handling equipment 100 also includes two attachments 100c, each attachment 100c corresponding to a second gantry 20.

[0490] Understandably, this allows the gantry 100b to pick up or transfer two pallets at a time, effectively improving efficiency.

[0491] As shown in Figures 24 and 25, the attachment 100c is movably mounted on the side of the corresponding second mast 20 facing away from the first mast 10, and the two attachments 100c can move along the height direction respectively.

[0492] Understandably, this allows the attachment 100c to move relative to the second gantry 20 in the height direction, thereby enabling the attachment 100c and the second gantry 20 to cooperate to form a two-stage motion, with the attachment 100c having a greater travel distance in the height direction.

[0493] Figure 29 is a three-dimensional structural schematic diagram of the linkage mechanism in one embodiment of this application.

[0494] Referring to Figure 29, the handling device 100 also includes a linkage mechanism 100d. For example, the handling device 100 further includes two sets of linkage mechanisms 100d, each linkage mechanism 100d corresponding to an attachment 100c. Thus, the linkage mechanism 100d corresponds to at least two attachments 100c and includes a linkage sprocket 71 and a linkage chain 72. The linkage sprocket 71 is rotatably mounted on the second gantry 20 at its top position in the height direction. Preferably, the plane of rotation of the linkage sprocket 71 is parallel to the first direction. The linkage chain 72 is wound around the linkage sprocket 71, with one end of the linkage chain 72 extending downward in the height direction and fixed to the first gantry 10, and the other end extending downward in the height direction and fixed to the corresponding attachment 100c.

[0495] Understandably, when the second mast 20 moves along the height direction, it can drive the linkage sprocket 71 on it to move synchronously. Since one end of the linkage chain 72 is fixed to the first mast 10, when the linkage sprocket 71 moves with the second mast 20, it can pull the linkage chain 72 to make the attachment 100c move upward along the height direction, or release the linkage chain 72 to make the attachment 100c move downward under the action of gravity. This realizes the linkage between the attachment 100c and the second mast 20, and the attachment 100c and the second mast 20 are matched in a 2:1 ratio of rising height.

[0496] Figure 30 is a three-dimensional structural diagram of a ground attachment in one embodiment of this application.

[0497] As shown in Figure 30, the forks of the ground attachment 130 are ground forks 131. The ground attachment 130 also includes a ground fork carriage 132, which includes a sliding portion 321, a mounting portion 322, and an extension portion 323. The sliding portion 321 extends along the height direction and is indirectly or directly connected to the corresponding second mast 20. The mounting portion 322 extends along a first direction perpendicular to the height direction, and the ground fork 131 is fixed to the mounting portion 322. The extension portion 323 connects the sliding portion 321 and the mounting portion 322 into one unit, and extends downward at an angle from the lower end of the sliding portion 321 toward the side away from the load-bearing body 50, so that the ground fork 131 can move downward along the height direction to a first preset position.

[0498] Understandably, when it is necessary to pick up or transfer a pallet from the ground, the ground attachment 130 is controlled to move downward in the height direction, thereby driving the ground fork carriage 132 to move downward in the height direction. Due to the extension 323, when the ground fork carriage 132 moves downward, the moving chassis 100a only obstructs the sliding part 321 in the ground fork carriage 132, and does not obstruct the mounting part 322 and the extension 323 in the ground fork carriage 132. This eliminates the influence of the moving chassis 100a on the travel of the ground fork 131. As a result, when the ground fork carriage 132 moves downward, it can drive the ground fork 131 to move to a preset position. When it reaches the preset position, the ground fork 131 comes into contact with the traveling surface or below the traveling surface of the moving chassis 100a, so that the ground fork 131 can move to the ground, thereby enabling the ground fork 131 to pick up the pallet from the ground.

[0499] In one embodiment, the height direction of the gantry 100b is the vertical direction in the use state, and the sliding part 321 and the extension part 323 are located directly above the chassis, and the first direction is the horizontal direction in the use state.

[0500] Figure 31 is a three-dimensional structural diagram of an aerial attachment in one embodiment of this application.

[0501] Referring to Figures 30 and 31, the forks of the aerial attachment 140 are aerial forks 141, and the aerial attachment 140 also includes an aerial fork carriage 142. The structure of the aerial fork carriage 142 differs from that of the ground fork carriage 132 in that the aerial fork carriage 142 only includes the sliding part 321 and the mounting part 322 from the ground fork carriage 132. The sliding part 321 extends along the height direction and is indirectly or directly connected to the corresponding second mast 20. The mounting part 322 extends along a first direction perpendicular to the height direction and is integrally formed or fixedly connected to the sliding part 321. The aerial forks 141 are fixed to the mounting part 322.

[0502] As shown in Figures 30 and 31, both the ground attachment 130 and the overhead attachment 140 further include a translation mechanism 33. The translation mechanism 33 is configured to move the ground fork 131 or the overhead fork 141 along a second direction, and includes a carriage 331. The carriage 331 extends along the second direction, is disposed on the side of the corresponding second mast 20, and is movable in the height direction. The ground fork carriage 132 or the overhead fork carriage 142 is slidably mounted on the carriage 331 and is movable along the second direction.

[0503] It should be noted that the translation mechanism 33 of the ground attachment 130 and the aerial attachment 140 have the same structure. Here, the translation mechanism 33 in the ground attachment 130 is used as an example for illustration.

[0504] Understandably, when the carriage 331 moves along the height direction, it can drive the ground fork carriage 132 or the overhead fork carriage 142 on it to move synchronously, so that the ground fork 131 or the overhead fork carriage 141 can move to pick up or transfer pallets in the height direction. In addition, the ground fork carriage 132 or the overhead fork carriage 142 can also move relative to the carriage 331 in a second direction, so that the ground fork 131 or the overhead fork carriage 141 can move to pick up or transfer pallets in the second direction.

[0505] In one embodiment, the second direction is the horizontal direction in the use state and is perpendicular to the first direction, and the two fork units in the ground fork 131 or the air fork 141 are spaced apart along the first direction.

[0506] Referring to Figures 30 and 31, the translation mechanism 33 further includes a drive unit 332, which is mounted on the carriage 331, the ground fork carriage 132, or the overhead fork carriage 142 to drive the ground fork carriage 132 or the overhead fork carriage 142 to move along the second direction. The drive unit 332 includes a drive motor 332a, a gear 332b, and a rack 332c. The drive motor 332a is fixed to the ground fork carriage 132 or the overhead fork carriage 142. The gear 332b is fixed to the output shaft of the drive motor 332a. The rack 332c is fixed to the carriage 331 and extends along the second direction. The gear 332b meshes with the rack 332c.

[0507] Understandably, when the drive motor 332a rotates, it can drive the gear 332b to rotate. When the gear 332b rotates, it can rotate along the extension direction of the rack 332c under the action of the rack 332c, thereby driving the ground fork carriage 132 or the overhead fork carriage 142 to move in the second direction.

[0508] In one embodiment, the drive motor 332a is servo controlled and can precisely control the moving distance of the ground fork carriage 132 or the overhead fork carriage 142. A translational position sensor is provided on the ground fork carriage 132 or the overhead fork carriage 142 to detect the translational position of the ground fork carriage 132 or the overhead fork carriage 142 and feed back the signal to the attachment 100c controller.

[0509] Figure 33 is a three-dimensional structural diagram of the second rolling unit in one embodiment of this application.

[0510] As shown in Figure 33, the handling device 100 also includes two sets of second limiting and guiding mechanisms 350. Each second limiting and guiding mechanism 350 corresponds to an attachment 100c, and each second limiting and guiding mechanism 350 includes a second guide rail 351 and a plurality of second rolling units 352. The second guide rail 351 is fixed to one end of the second gantry 20 facing away from the first connecting portion 12 and extends along the height direction. The plurality of second rolling units 352 are disposed on one end of the attachment 100c facing the second gantry 20 and are spaced apart along the height direction. Each second rolling unit 352 includes a second roller mounting seat 3521 and two second rollers 3522. The second roller mounting seat 3521 is fixed to the attachment 100c. The two second rollers 3522 are rotatably disposed on the second roller mounting seat 3521 and are spaced apart along the second direction. The circumferential surfaces of the two second rollers 3522 respectively abut against two opposite surfaces on the second guide rail 351.

[0511] Understandably, when the attachment 100c moves along the height direction, it can drive the multiple second rolling units 352 on it to move synchronously, so that the two second rollers 3522 in each second rolling unit 352 move along the second guide rail 351, thereby ensuring the stability of the attachment 100c when it moves along the height direction and effectively avoiding shaking.

[0512] One embodiment of this application provides an attachment and handling equipment that can eliminate the influence of a moving chassis on the fork travel, thereby enabling the forks to pick up ground pallets.

[0513] Figure 34 is a front view of the conveying equipment in one embodiment of this application.

[0514] Referring to Figure 34, this application embodiment provides a handling device 100, which includes a gantry 100b, a moving chassis 100a, and attachments 100c. The moving chassis 100a is fixed to the bottom end of the gantry 100b. The attachments 100c are disposed on the gantry 100b.

[0515] In one embodiment, the chassis 100a is a moving chassis 100a, which can drive the attachment 100c to move synchronously to pick up and put down goods.

[0516] Figure 35 is a three-dimensional structural diagram of the attachment in one embodiment of this application.

[0517] Referring to Figures 34 and 35, the attachment 100c includes a fork carriage 32 and forks 31. The fork carriage 32 is movably mounted on the mast 100b, either indirectly or directly. The forks 31 are fixed to the fork carriage 32. The fork carriage 32 includes a connecting portion 211, a mounting portion 322, and an extension portion 323. The connecting portion 211 extends along the height direction of the mast 100b and is indirectly or directly connected to the mast 100b. The mounting portion 322 extends along a first direction perpendicular to the height direction, and the forks 31 are fixed to the mounting portion 322. The extension portion 323 connects the connecting portion 211 and the mounting portion 322 as a single unit and extends downward at an angle from the lower end of the connecting portion 211 toward a side away from the mast 100b, so that the forks 31 can move downward along the height direction to a preset position, where the forks 31 are in contact with the ground on which the moving chassis 100a is supported during use.

[0518] Understandably, when it is necessary to pick up a pallet from the ground, the fork carriage 32 is controlled to move downward in the height direction. Due to the setting of the extension 323, when the fork carriage 32 moves downward, the moving chassis 100a only blocks the connecting part 211 in the fork carriage 32, and does not block the mounting part 322 and the extension 323 in the fork carriage 32. This eliminates the influence of the moving chassis 100a on the travel of the fork 31. As a result, when the fork carriage 32 moves downward, it can drive the fork 31 to move to a preset position. When it reaches the preset position, the fork 31 contacts the ground that supports the moving chassis 100a during use, so that the fork 31 can move to the ground and pick up the pallet from the ground. When the fork 31 in this embodiment descends to a preset position, the fork 31 contacts the traveling surface of the moving chassis 100a. Specifically, those skilled in the art can appropriately set the length of the extension 323 according to the requirements, so that the fork 31 can descend to a preset position below the traveling surface of the moving chassis 100a, or to a preset position above the upper surface of the moving chassis 100a.

[0519] In one embodiment, the height direction of the gantry 100b is the vertical direction in the use state, and the connecting portion 211 and the extension portion 323 are located directly above the moving chassis 100a. The first direction is the horizontal direction in the use state. The direction shown in A of Figure 34 is the height direction of the gantry 100b. The direction shown in B of Figure 35 is the first direction.

[0520] As shown in Figure 35, the attachment 100c further includes a translation mechanism 33, which includes a carriage 331 and a drive unit 332. The carriage 331 extends along a second direction perpendicular to the height direction, is disposed on the side of the mast 100b, and is movable along the height direction. The fork carriage 32 is disposed on the carriage 331 and is movable along the second direction. The drive unit 332 is disposed on the carriage 331 and the fork carriage 32 to drive the fork carriage 32 to move along the second direction. The second direction is the fork loading and unloading direction, and the first direction is perpendicular to the second direction.

[0521] Understandably, when the carriage 331 moves along the height direction, the fork carriage 32 can drive the fork 31 to move synchronously. In addition, the drive unit 332 can drive the fork carriage 32 to move along the second direction on the carriage 331, thereby driving the fork 31 to move along the second direction, so that the fork 31 can move along the second direction to pick up the pallet.

[0522] In one embodiment, the second direction is the horizontal direction in the use state and is perpendicular to the first direction. The fork 31 is fixed to the side of the mounting part 322 and extends along the second direction. The two fork units in the fork 31 are spaced apart along the first direction. The direction shown in C in Figure 35 is the first direction.

[0523] As shown in Figure 35, the drive unit 332 includes a drive element 3321, a driving element 3322, and a mating element 3323. The drive element 3321 is mounted on the fork carriage 32. The driving element 3322 is mounted on the fork carriage 32 and is poweredly connected to the drive element 3321. The mating element 3323 is mounted on the carriage 331, and the driving element 3322 cooperates with the mating element 3323 so that when the drive element 3321 is actuated, it can drive the fork carriage 32 to move in the second direction.

[0524] Understandably, through the cooperation between the driving element 3322 and the mating element 3323, when the driving element 3321 is activated, it can drive the fork carriage 32 to move along the carriage 331 in the second direction so that the forks 31 can pick up the pallet.

[0525] As shown in Figure 35, the driving element 3321 is a drive motor, the driving element 3322 is a gear fixed on the output shaft of the drive motor, and the mating element 3323 is a rack extending along the second direction. The driving element 3322 meshes with the mating element 3323.

[0526] Understandably, when the drive element 3321 rotates, it can drive the drive element 3322 to rotate. When the drive element 3322 rotates, it can rotate along the extension direction of the mating element 3323 under the action of the mating element 3323, thereby driving the fork carriage 32 to move in the second direction.

[0527] In one embodiment, the drive element 3321 adopts servo control, which can accurately control the moving distance of the fork carriage 32. A translation position sensor is provided on the fork carriage 32, which can detect the translation position of the fork carriage 32 and feed back the signal to the attachment controller 101c.

[0528] As shown in Figure 35, the attachment 100c also includes a guide mechanism 40, which includes a slider 411 and a guide member 412. The slider 41 is fixed to the fork carriage 32. The guide member 412 is disposed on the carriage 331 and has a guide groove 421 extending in a second direction, and the slider 411 is slidably fitted into the guide groove 421.

[0529] Understandably, when the fork carriage 32 moves in the second direction, it can drive the slider 411 to slide in the guide groove 421, thereby playing a guiding role when the fork carriage 32 moves and ensuring the stability of the fork carriage 32 when it moves.

[0530] In one embodiment, there are two sliders 411 and two guide members 412. The two guide members 412 are respectively disposed on the two ends of the slide 231 in the height direction. The two sliders 411 are respectively fixed on the two ends of the connecting part 211 in the fork carriage 32 in the height direction. The two sliders 411 are respectively slidably fitted into a corresponding guide groove 421. Through the cooperation of the sliders 411 and the guide grooves 421, not only can guidance be achieved, but also the movable connection between the fork carriage 32 and the slide 331 can be realized, so that the fork carriage 32 can move along the second direction on the slide 331.

[0531] As shown in Figure 35, the attachment 100c also includes an attachment controller 101c, which is disposed on the mounting part 322 and configured to control the operation of the drive element 3321.

[0532] Understandably, the attachment controller 101c is mounted on the mounting portion 322 in the fork carriage 32, which can effectively reduce the length of the wiring harness and the resulting signal attenuation or interference.

[0533] Figure 36 is a three-dimensional structural diagram of a portion of the gantry and the first limiting guide assembly in one embodiment of this application; Figure 37 is a three-dimensional structural diagram of the roller assembly and the second limiting guide assembly in one embodiment of this application.

[0534] As shown in Figures 36 and 37, the handling device 100 also includes a first limiting guide assembly 340 disposed on the gantry 100b and a roller assembly 440 disposed on the attachment 100c. The roller assembly 440 cooperates with the first limiting guide assembly 340 to enable the attachment 100c to move on the gantry 100b.

[0535] Understandably, the engagement between the first limiting guide assembly 340 and the roller assembly 440 enables the attachment 100c to be movably connected to the gantry 100b, and allows the attachment 100c to move on the gantry 100b.

[0536] Referring to Figures 36 and 37, the first limiting and guiding assembly 340 includes a limiting member 70, which is disposed on the side wall of the gantry 100b facing the attachment 100c. The limiting member 70 has a groove 70a extending along the height direction. The roller assembly 440 includes a rolling connecting unit 440a, which is disposed on one end of the carriage 331 facing the gantry 100b and corresponds to the limiting member 70. The rolling connecting unit 440a includes a roller mounting plate 441 and a plurality of main rollers 442. The roller mounting plate 441 is fixed to the carriage 331 and extends along the height direction. The plurality of main rollers 442 are rotatably disposed on the roller mounting plate 441 and spaced apart along the height direction. The rotation plane of the main rollers 442 is perpendicular to the second direction. The circumferential surfaces of the plurality of main rollers 442 abut against the side wall of the groove 70a.

[0537] In one embodiment, there are two limiting members 70, which are spaced apart along the second direction. Slide grooves 70a are provided on opposite sides of the two limiting members 70. The number of rolling connecting units 440a is the same as the number of limiting members 70. The cooperation between the two limiting members 70 and the two rolling connecting units 440a enables the slide 331 to be movably connected to the gantry 100b, so that the slide 331 can move along the height direction on the gantry 100b.

[0538] In one embodiment, the driving force in the height direction of the carriage 331 can be provided by a lifting drive component, such as a cylinder or an electric push rod. The lifting drive component is fixed to the gantry 100b or the motion chassis 100a, and its output end is fixedly connected to the carriage 331. A height position sensor is provided on the carriage 331 to detect the lifting position of the carriage 331.

[0539] As shown in Figures 36 and 37, the rolling connection unit 440a also includes at least one side roller 443, which is rotatably mounted on the roller mounting plate 441 either indirectly or directly. The rotation plane of the side roller 443 is parallel to the second direction, and the circumferential surface of at least one side roller 443 abuts against the bottom wall of the slide groove 70a.

[0540] Understandably, since the circumferential surface of at least one side roller 443 abuts against the side wall of the slide groove 70a, at least one side roller 443 can roll within the slide groove 70a, thereby further restricting the movement of the carriage 331 in the height direction and playing a guiding role in movement. It can also limit the carriage 331 in the second direction. In addition, at least one side roller 443 cooperates with multiple main rollers 442 to restrict and guide the movement of the carriage 331, which can ensure the stability of the carriage 331 when it moves, and further reduce the frictional resistance of the carriage 331 when it moves in the height direction, thereby further reducing the driving force required for the carriage 331 to move in the height direction.

[0541] In one embodiment, there are multiple side rollers 443, which are spaced apart along the height direction.

[0542] As shown in Figures 36 and 37, the rolling connection unit 440a further includes at least one side roller mounting block 444, which is movably disposed on the roller mounting plate 441 and can be adjusted in position along the second direction. The number of side roller mounting blocks 444 is consistent with the number of side rollers 443, and the side rollers 443 are rotatably disposed on the corresponding side roller mounting blocks 444.

[0543] Understandably, the side roller 443 is assembled with the roller mounting plate 441 via the side roller mounting block 444. Since the side roller mounting block 444 can be adjusted in position along the second direction, the gap between the circumferential surface of the side roller 443 and the bottom wall of the slide groove 70a can be adjusted, thereby realizing the adjustable installation of the side roller 443 in the second direction, which greatly reduces the assembly difficulty and improves adaptability and compatibility.

[0544] In one embodiment, the side roller mounting block 444 and the roller mounting plate 441 are connected by bolts. The gap between the side roller mounting block 444 and the roller mounting plate 441 can be adjusted by using shims, thereby adjusting the gap between the circumferential surface of the side roller 443 and the bottom wall of the chute 70a.

[0545] Referring to Figures 36 and 37, the handling device 100 further includes a second limiting guide assembly 360, which includes a third guide rail 361, a third roller mounting base 362, and at least one rolling guide unit 93. The third guide rail 361 is fixed to one end of the gantry 100b facing the carriage 331 and extends along the height direction. The third roller mounting base 362 is fixed to one end of the carriage 331 facing the gantry 100b and extends along the height direction. Each rolling guide unit 93 includes a pair of guide rollers 931, which are rotatably mounted on the third roller mounting base 362, either indirectly or directly, and spaced apart along a second direction. The rotation plane of the guide rollers 931 is parallel to the second direction. The circumferential surfaces of the two guide rollers 931 within the same rolling guide unit 93 abut against two opposing surfaces on the third guide rail 361.

[0546] Understandably, when the carriage 331 moves along the height direction, a pair of guide rollers 931 can roll along two opposing surfaces on the third guide rail 361, thereby enabling the carriage 331 to move smoothly along the height direction and avoiding swaying.

[0547] In one embodiment, there are multiple rolling guide units 93, which are spaced apart along the height direction.

[0548] As shown in Figures 36 and 37, each rolling guide unit 93 further includes multiple guide roller mounting blocks 932, which are movably mounted on the third roller mounting seat 362 and can be adjusted in position along the second direction. Each guide roller 931 corresponds to one guide roller mounting block 932, and the guide roller 931 is rotatably mounted on the corresponding guide roller mounting block 932.

[0549] Understandably, the guide roller 931 is assembled with the third roller mounting seat 362 via the guide roller mounting block 932. Since the guide roller mounting block 932 can be adjusted in position along the second direction, the gap between the circumferential surface of the guide roller 931 and the surface of the third guide rail 361 can be adjusted. This achieves adjustable installation of the guide roller 931 in the second direction, which greatly reduces the assembly difficulty and improves adaptability and compatibility.

[0550] In one embodiment, the guide roller mounting block 932 and the third roller mounting seat 362 are connected by bolts. The gap between the guide roller mounting block 932 and the third roller mounting seat 362 can be adjusted by using shims, thereby adjusting the gap between the circumferential surface of the guide roller 931 and the surface of the third guide rail 361.

[0551] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0552] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A handling device, characterized in that, include: Sport chassis (100a); A gantry (100b) has a height direction. The gantry (100b) includes a plurality of sub-gantry, which are a first gantry (10), a second gantry (20) and at least one third gantry (30). The first gantry (10) is mounted on the motion chassis (100a). At least one third gantry (30) and the second gantry (20) are sequentially movably connected along the height direction and can move along the height direction respectively. An attachment (100c) is mounted on the second gantry (20) and is movable along the second gantry (20) in the height direction.

2. The handling equipment according to claim 1, characterized in that, The third gantry (30) is provided, and the conveying equipment further includes a linkage mechanism (100d), the linkage mechanism (100d) comprising: A linkage sprocket (71) is rotatably mounted on the third gantry (30) at its top position in the height direction; and A linkage chain (72) is wound around the linkage sprocket (71). One end of the linkage chain (72) is fixed to the first gantry (10), and the other end is fixed to the bottom position of the second gantry (20).

3. The handling equipment according to claim 1, characterized in that, The attachment (100c) includes a fork (31) that can move downward along the height direction to a preset position. When in the preset position, the fork (31) is in contact with or at a distance from the upper surface of the moving chassis (100a).

4. The handling equipment according to claim 3, characterized in that, The motion chassis (100a) includes: The support body (50) has an installation area (51) on it. The first gantry (10) is installed in the installation area (51). The installation area (51) is eccentrically positioned relative to the center line of the support body (50) in a first direction and is relatively close to the first end of the support body (50) located in the first direction.

5. The handling equipment according to claim 4, characterized in that, The attachment (100c) and the second end of the bearing body (50) located in the first direction are on the same side.

6. The handling equipment according to claim 1, characterized in that, One of the two movable gantry frames is provided with a gantry mounting space (101), and the other gantry frame is installed in the gantry mounting space (101). The gantry frame provided with the gantry mounting space (101) includes a first enclosure part (11) and a first connecting part (12). The gantry mounting space (101) is enclosed by the first enclosure part (11) and the first connecting part (12).

7. The handling equipment according to claim 6, characterized in that, There are two first enclosure parts (11). The first enclosure parts (11) extend along a first direction. The two first enclosure parts (11) are spaced apart along a second direction perpendicular to the height direction. The second direction is perpendicular to the first direction. The first connecting part (12) is disposed between the two first enclosure parts (11). The opposite ends of the first connecting part (12) are respectively fixed to the two first enclosure parts (11). The other gate frame is slidably disposed on the inner wall of the two first enclosure parts (11).

8. The handling equipment according to claim 4, characterized in that, The motion chassis (100a) further includes a motion mechanism (80), which includes: A drive wheel (81) is rotatably mounted on the support body (50) and relatively close to a first end of the support body (50) located in the first direction; part or all of the drive wheel (81) protrudes from the lower surface of the support body (50); and A driven wheel (82) is disposed on the support body (50) and relatively close to the second end of the support body (50) in the first direction, and part or all of the driven wheel (82) protrudes from the lower surface of the support body (50); The drive wheels (81) include two sets spaced apart along a second direction, which is perpendicular to the first direction and the height direction. When the two sets of drive wheels (81) rotate in opposite directions and at the same speed, the motion chassis (100a) turns, and at this time the center of rotation is located between the two sets of drive wheels (81).

9. The handling equipment according to claim 4, characterized in that, The motion chassis (100a) also includes: A drive wheel assembly (801) is disposed on the bearing body (50). The drive wheel assembly (801) includes two drive wheels (81). Each drive wheel (81) is equipped with a drive motor (811). The drive motor (811) is used to drive the corresponding drive wheel (81) to rotate so that the bearing body (50) can switch between straight and turning. At least two driven wheels (82), the at least two driven wheels (82) and the drive wheel assembly (801) are used to support the load-bearing body (50).

10. The handling equipment according to claim 9, characterized in that, The two drive wheels (81) of the drive wheel assembly (801) are connected by a connector so that the rotation axes of the two drive wheels (81) are on a straight line. The connector is pivotally connected to the bearing body (50) so that the rotation axes of the two drive wheels (81) can be adjusted to be parallel to the running surface or form an angle with the running surface.

11. The handling equipment according to claim 10, characterized in that, The motion chassis (100a) further includes a first gear (813), a second gear (814), and a sensor. The first gear (813) and the second gear (814) mesh and rotate on the bearing body (50). The connecting member is pivotally connected to the first gear (813). The differential rotation of the drive wheel (81) drives the connecting member to rotate. The rotation of the connecting member drives the first gear (813) to rotate. The second gear (814) is connected to the sensor.

12. The handling equipment according to claim 9, characterized in that, The motion chassis (100a) travels along a first direction, and the drive wheel set (801) is disposed at the first end of the bearing body (50) in the first direction and at the middle position of the first end in a second direction, the second direction being perpendicular to the first direction.

13. The handling equipment according to claim 12, characterized in that, The motion chassis (100a) travels along a first direction, and two driven wheels (82) are disposed at the second end of the bearing body (50) in the first direction, and the two driven wheels (82) are disposed at intervals on both sides below the bearing body (50) along the second direction.

14. The handling equipment according to claim 9, characterized in that, The motion chassis (100a) also includes: An auxiliary support (100h) is disposed within the bearing body (50) and can selectively extend out of the lower surface of the bearing body (50).

15. The handling equipment according to claim 14, characterized in that, The auxiliary support (100h) is provided in two sets, and the two sets of auxiliary support (100h) are respectively provided on both sides of the drive wheel assembly (801) in the direction perpendicular to the walking direction of the bearing body (50).

16. The handling equipment according to claim 14, characterized in that, The auxiliary support (100h) includes: A landing component (501) is used to extend out of the lower surface of the supporting body (50); A lifting drive component (502) is provided with its fixed end disposed on the bearing body (50), and the driving end of the bearing body (50) is connected to the landing component (501) to drive the landing component (501) to extend out of the lower surface of the bearing body (50) or retract into the bearing body (50).

17. The handling equipment according to claim 16, characterized in that, The auxiliary support (100h) also includes: A pressure sensor is disposed on the floor member (501). The pressure sensor is configured to sense the pressure value of the floor member (501) on the walking surface of the moving chassis (100a) so as to stop the driving action of the lifting drive member (502) when the pressure value reaches a preset value.

18. The handling equipment according to claim 4, characterized in that, The supporting body (50) has symmetrically arranged counterweights (52) at both ends in the second direction. The counterweights (52) are relatively close to the second end of the supporting body (50) in the first direction. The second direction is perpendicular to the first direction and the height direction. The counterweights (52) are configured to carry counterweights (521).

19. The handling equipment according to claim 4, characterized in that, The conveying equipment also includes: Guide units (100e) are disposed at both ends on the support body (50) in a second direction, the second direction being perpendicular to the first direction and the height direction; The guide unit (100e) includes at least one guide wheel (91), which is rotatably disposed on the support body (50), and part or all of the guide wheel (91) protrudes from the side of the support body (50) in the second direction, and the rotation plane of the guide wheel (91) is parallel to the plane defined by the first direction and the second direction.

20. The handling equipment according to claim 4, characterized in that, The attachment (100c) also includes a fork carriage (32), which is directly or indirectly connected to the second mast (20). The forks (31) are rotatably connected to the fork carriage (32), and the rotation axis of the forks (31) is parallel to the height direction.

21. The handling equipment according to claim 4, characterized in that, The attachment (100c) further includes a fork carriage (32), the fork carriage (32) comprising: The sliding part (321) extends along the height direction and is indirectly or directly connected to the first gantry (10); Mounting part (322) extends along the first direction, and the forks (31) are fixed to the mounting part (322).

22. The handling equipment according to claim 21, characterized in that, The attachment (100c) further includes a translation mechanism (33) configured to move the forks (31) along a second direction perpendicular to the first direction and the height direction, the translation mechanism (33) comprising: A carriage (331) extends along the second direction, is disposed on the side of the second gantry (20), and is movable along the height direction. The forks (31) are slidably mounted on the carriage (331) and are capable of moving in the second direction.

23. The handling equipment according to claim 22, characterized in that, The attachment (100c) further includes an identification unit (34) capable of identifying the specific location and distance of the pallet during pickup or placement, the identification unit (34) comprising: A telescopic rod (341) is fixed to the bottom end of the forks (31) and is capable of extending and retracting along the height direction; and The identification element (342) is fixed to the telescopic end of the telescopic rod (341) and is located between the two fork units in the fork (31).

24. A handling device, characterized in that, include: Sport chassis (100a); A gantry (100b) has a height direction. The gantry (100b) includes a plurality of sub-gantry, which are a first gantry (10), a second gantry (20) and at least one third gantry (30). The first gantry (10) is mounted on the motion chassis (100a). At least one third gantry and the second gantry (20) are sequentially movably connected along the height direction and can move along the height direction respectively. At least two attachments (100c), at least one of the attachments (100c) is mounted on the first gantry (10), at least one of the attachments (100c) is mounted on the second gantry (20), and at least two of the attachments (100c) are movable along the sub-gantry to which they are located in the height direction.

25. The handling equipment according to claim 24, characterized in that, The attachment (100c) mounted on the first gantry (10) and the attachment (100c) mounted on the second gantry (20) are respectively located at both ends of the gantry (100b) in a first direction, which is the traveling direction of the motion chassis (100a).

26. The handling equipment according to claim 24, characterized in that, The third gantry (30) is provided, and the conveying equipment further includes a linkage mechanism (100d), the linkage mechanism (100d) comprising: The linkage sprocket (71) is rotatably mounted on the corresponding third gantry (30) at the top position in the height direction; and A linkage chain (72) is wound around the linkage sprocket (71). One end of the linkage chain (72) is fixed to the first gantry (10), and the other end is fixed to the bottom position of the second gantry (20).

27. The handling equipment according to claim 25, characterized in that, The attachments (100c) include ground attachments (130) and aerial attachments (140), and each attachment (100c) includes forks; The ground attachment (130) is directly or indirectly slidably connected to the first mast (10). The forks of the ground attachment (130) can move downward along the height direction to a first preset position. When in the first preset position, the forks are in contact with the walking surface or below the walking surface of the moving chassis (100a). The aerial attachment (140) is slidably connected to the second mast (20). The forks of the aerial attachment (140) can move downward along the height direction to a second preset position. When in the second preset position, the forks are in contact with or a distance away from the upper surface of the moving chassis (100a).

28. The handling equipment according to claim 27, characterized in that, The gantry (100b) also includes a connecting frame (13), which is detachably connected to the side of the first gantry (10) facing the ground attachment (130), and the ground attachment (130) is slidably connected to the connecting frame (13).

29. The handling equipment according to claim 27, characterized in that, The motion chassis (100a) includes a support body (50), on which an installation area (51) is provided. The first gantry (10) is installed in the installation area (51). The installation area (51) is eccentrically positioned relative to the centerline of the support body (50) in the first direction and is relatively close to the first end of the support body (50) located in the first direction.

30. The handling equipment according to claim 29, characterized in that, Relative to the first gantry (10) on both sides in the first direction, the ground attachment (130) and the first end of the bearing body (50) in the first direction are on the same side, and the aerial attachment (140) and the second end of the bearing body (50) in the first direction are on the same side.

31. The handling equipment according to claim 30, characterized in that, One of the two movable portal frames is provided with a portal frame mounting space (101), and the other portal frame is installed within the portal frame mounting space (101). The sub-gantry with the gantry installation space (101) includes a enclosure part (11) and a connecting part (12), and the gantry installation space (101) is enclosed by the enclosure part (11) and the connecting part (12).

32. The handling equipment according to claim 31, characterized in that, There are two enclosure parts (11). The enclosure parts (11) extend along the first direction. The two enclosure parts (11) are spaced apart along a second direction perpendicular to the height direction. The second direction is perpendicular to the first direction. The connecting part (12) is disposed between the two enclosure parts (11). The opposite ends of the connecting part (12) are respectively fixed to the two enclosure parts (11). The other gate frame is slidably disposed on the inner wall of the two enclosure parts (11).

33. The handling equipment according to claim 29, characterized in that, The motion chassis (100a) further includes a motion mechanism (80), which includes: A drive wheel (81) is rotatably mounted on the support body (50) and relatively close to a first end of the support body (50) located in the first direction; and Driven wheel (82) is disposed on the bearing body (50) and relatively close to the second end of the bearing body (50) located in the first direction; The drive wheels (81) include two sets spaced apart along a second direction, which is perpendicular to the first direction and the height direction. When the two sets of drive wheels (81) rotate in opposite directions and at the same speed, the motion chassis (100a) turns, and at this time the center of rotation is located between the two sets of drive wheels (81).

34. The handling equipment according to claim 29, characterized in that, The motion chassis (100a) also includes: A drive wheel assembly (801) is disposed on the bearing body (50). The drive wheel assembly (801) includes two drive wheels (81). Each drive wheel (81) is equipped with a drive motor (811). The drive motor (811) is used to drive the corresponding drive wheel (81) to rotate so that the bearing body (50) can switch between straight and turning. At least two driven wheels (82), the at least two driven wheels (82) and the drive wheel assembly (801) are used to support the load-bearing body (50).

35. The handling equipment according to claim 34, characterized in that, The two drive wheels (81) of the drive wheel assembly (801) are connected by a connector so that the rotation axes of the two drive wheels (81) are on a straight line. The connector is pivotally connected to the bearing body (50) so that the rotation axes of the two drive wheels (81) can be adjusted to be parallel to the running surface or form an angle with the running surface.

36. The handling equipment according to claim 35, characterized in that, The motion chassis (100a) further includes a first gear (813), a second gear (814), and a sensor. The first gear (813) and the second gear (814) mesh and rotate on the bearing body (50). The connecting member is pivotally connected to the first gear (813). The differential rotation of the drive wheel (81) drives the connecting member to rotate. The rotation of the connecting member drives the first gear (813) to rotate. The second gear (814) is connected to the sensor.

37. The handling equipment according to claim 34, characterized in that, The motion chassis (100a) travels along a first direction, and the drive wheel set (801) is disposed at the first end of the bearing body (50) in the first direction and at the middle position of the first end in a second direction, the second direction being perpendicular to the first direction.

38. The handling equipment according to claim 37, characterized in that, The motion chassis (100a) travels along a first direction, and two driven wheels (82) are disposed at the second end of the bearing body (50) in the first direction, and the two driven wheels (82) are disposed at intervals on both sides below the bearing body (50) along the second direction.

39. The handling equipment according to claim 34, characterized in that, The motion chassis (100a) also includes: An auxiliary support (100h) is disposed within the bearing body (50) and can selectively extend out of the lower surface of the bearing body (50).

40. The handling equipment according to claim 39, characterized in that, The auxiliary support (100h) is provided in two sets, and the two sets of auxiliary support (100h) are respectively provided on both sides of the drive wheel assembly (801) in the direction perpendicular to the walking direction of the bearing body (50).

41. The handling equipment according to claim 39, characterized in that, The auxiliary support (100h) includes: A landing component (501) is used to extend out of the lower surface of the supporting body (50); A lifting drive component (502) is provided with its fixed end disposed on the bearing body (50), and the driving end of the bearing body (50) is connected to the landing component (501) to drive the landing component (501) to extend out of the lower surface of the bearing body (50) or retract into the bearing body (50).

42. The handling equipment according to claim 41, characterized in that, The auxiliary support (100h) also includes: A pressure sensor is disposed on the floor member (501). The pressure sensor is configured to sense the pressure value of the floor member (501) on the walking surface of the moving chassis (100a) so as to stop the driving action of the lifting drive member (502) when the pressure value reaches a preset value.

43. The handling equipment according to claim 29, characterized in that, The supporting body (50) has symmetrically arranged counterweights (52) at both ends in the second direction. The counterweights (52) are relatively close to the second end of the supporting body (50) in the first direction. The second direction is perpendicular to the first direction and the height direction. The counterweight bin (52) is configured to carry the counterweight (521).

44. The handling equipment according to claim 29, characterized in that, The conveying equipment also includes: Guide units (100e) are disposed at both ends on the support body (50) in a second direction, the second direction being perpendicular to the first direction and the height direction; The guide unit (100e) includes at least one guide wheel (91), which is rotatably mounted on the support body (50), and part or all of the guide wheel (91) protrudes from the side of the support body (50) in the second direction. The rotation plane of the guide wheel (91) is parallel to the plane defined by the first direction and the second direction.

45. The handling equipment according to claim 29, characterized in that, The forks of the ground attachment (130) are ground forks (131), and the ground attachment (130) also includes a ground fork carriage (132), which is directly or indirectly connected to the first mast (10). The ground forks (131) are rotatably connected to the ground fork carriage (132), and the rotation axis of the ground forks (131) is parallel to the height direction; and / or, The forks of the aerial attachment (140) are aerial forks (141), and the aerial attachment (140) also includes an aerial fork carriage (142). The aerial fork carriage (142) is connected to the second mast (20), and the aerial forks (141) are rotatably connected to the aerial fork carriage (142). The rotation axis of the aerial forks (141) is parallel to the height direction.

46. ​​The handling equipment according to claim 29, characterized in that, The forks of the ground attachment (130) are ground forks (131), and the ground attachment (130) further includes a ground fork carriage (132), which includes: The sliding part (321) extends along the height direction and is indirectly or directly connected to the first gantry (10); Mounting part (322) extends along the first direction, and the ground fork (131) is fixed to the mounting part (322).

47. The handling equipment according to claim 46, characterized in that, The forks of the aerial attachment (140) are aerial forks (141), and the aerial attachment (140) also includes an aerial fork carriage (142); Both the ground attachment (130) and the aerial attachment (140) further include a translation mechanism (33), which is configured to move the ground fork (131) or the aerial fork (141) along a second direction perpendicular to the first direction and the height direction. The translation mechanism (33) includes: A carriage (331) extends along the second direction, is disposed on the side of the corresponding second gantry (20), and is movable along the height direction. The ground fork carriage (132) or the overhead fork carriage (142) is slidably mounted on the carriage (331) and is capable of moving along the second direction.

48. The handling equipment according to claim 47, characterized in that, Both the ground attachment (130) and the aerial attachment (140) further include an identification unit (34) capable of identifying the specific location and distance of the pallet during pickup or placement, the identification unit (34) comprising: A telescopic rod (341) is fixed to the bottom end of the ground forklift (132) or the overhead forklift (142) and is capable of extending and retracting along the height direction; and The identification element (342) is fixed to the telescopic end of the telescopic rod (341) and is located between two fork units of the ground fork (131) or the air fork (141).

49. A handling device, characterized in that, include: Sport chassis (100a); A gantry (100b) has a height direction and includes a first gantry (10) mounted on the motion chassis (100a) and at least two second gantry (20), the at least two second gantry (20) being movably mounted on the first gantry (10) and capable of moving along the height direction respectively; as well as At least two attachments (100c) are respectively mounted on the at least two second masts (20) and are respectively movable along the height direction.

50. The handling equipment according to claim 49, characterized in that, The attachments (100c) include ground attachments (30) and aerial attachments (40), and each attachment (100c) includes forks; The forks of the ground attachment (30) can move downward along the height direction to a first preset position. When in the first preset position, the forks are in contact with the walking surface or below the walking surface of the moving chassis (100a). The forks of the aerial attachment (40) can move downward along the height direction to a second preset position. When in the second preset position, the forks are in contact with or a distance away from the upper surface of the moving chassis (100a).

51. The handling equipment according to claim 50, characterized in that, There are two second gantry frames (20), located on both sides of the first gantry frame (10) in a first direction perpendicular to the height direction. The motion chassis (100a) includes a load-bearing body (50), on which an installation area (51) is provided, and the first gantry (10) is installed in the installation area (51). The mounting area (51) is eccentrically positioned relative to the centerline of the support body (50) in the first direction and is relatively close to the first end of the support body (50) located in the first direction.

52. The handling equipment according to claim 51, characterized in that, Relative to the first gantry (10) on both sides in the first direction, the ground attachment (30) and the first end of the bearing body (50) in the first direction are on the same side, and the aerial attachment (40) and the second end of the bearing body (50) in the first direction are on the same side.

53. The handling equipment according to claim 51, characterized in that, The first gantry (10) has a gantry mounting space (101) on each of its two sides in the first direction, and each second gantry (20) is installed in one of the gantry mounting spaces (101). The first gantry (10) includes a enclosure (11) and a connecting part (12), and the two gantry installation spaces (101) are enclosed by the enclosure (11) and the connecting part (12).

54. The handling equipment according to claim 53, characterized in that, There are two enclosure sections (11), which are spaced apart along a second direction perpendicular to the height direction. The second direction is perpendicular to the first direction. The connecting part (12) is disposed between the two enclosure parts (11), and its opposite ends are respectively fixed to the two enclosure parts (11). The enclosure portion (11) extends along the first direction, and the two extended ends protrude a certain distance relative to the two ends of the connecting portion (12) located in the first direction. The area between the two enclosure portions (11) and located on one side of the connecting portion (12) constitutes a gantry mounting space (101). The second gantry (20) is slidably disposed on the inner wall of the two enclosure portions (11).

55. The handling equipment according to claim 54, characterized in that, The connecting part (12) includes: Multiple first connecting plates (121) are spaced apart along the height direction. The first connecting plates (121) extend along the second direction, and the two extension ends are respectively fixed to the two enclosure parts (11).

56. The handling equipment according to claim 55, characterized in that, Each of the second gantry (20) includes: Two limiting portions (21), having a height direction, are spaced apart along the second direction, and the outer walls of the two limiting portions (21) are slidably connected to the inner walls of the two enclosure portions (11); and, Multiple second connecting plates (22) are spaced apart along the height direction. The second connecting plates (22) extend along the second direction, and the two extension ends are respectively fixed to the two limiting parts (21).

57. The handling equipment according to claim 56, characterized in that, The gantry (100b) is also provided with a reinforcing member (60), which has four connecting ends and is disposed between two adjacent first connecting plates (121) on the first gantry (10), or between two adjacent second connecting plates (22) on the second gantry (20). Two of the connecting ends are fixed to one of the two adjacent first connecting plates (121) or one of the two adjacent second connecting plates (22), and the other two connecting ends are fixed to the other of the two adjacent first connecting plates (121) or the other of the two adjacent second connecting plates (22).

58. The handling equipment according to claim 49, characterized in that, The handling equipment further includes a linkage mechanism (100d), which corresponds to the at least two attachments (100c) and includes: A linkage sprocket (71) is rotatably mounted on the second gantry (20) at the top position in the said height direction; and A linkage chain (72) is wound around the linkage sprocket (71). One end of the linkage chain (72) is fixed to the first gantry (10), and the other end is fixed to the corresponding attachment (100c).

59. The handling equipment according to claim 51, characterized in that, The motion chassis (100a) further includes a motion mechanism (80), which includes: A drive wheel (81) is rotatably mounted on the support body (50) and relatively close to a first end of the support body (50) located in the first direction; part or all of the drive wheel (81) protrudes from the lower surface of the support body (50); and A driven wheel (82) is disposed on the support body (50) and relatively close to the second end of the support body (50) in the first direction, and part or all of the driven wheel (82) protrudes from the lower surface of the support body (50).

60. The handling equipment according to claim 59, characterized in that, The drive wheels (81) include two sets spaced apart along the second direction. When the two sets of drive wheels (81) rotate in opposite directions and at the same speed, the motion chassis (100a) turns, and at this time the center of rotation is located between the two sets of drive wheels (81).

61. The handling equipment according to claim 54, characterized in that, The supporting body (50) has symmetrically arranged counterweights (52) at both ends in the second direction, and the counterweights (52) are relatively close to the second end of the supporting body (50) in the first direction. The counterweight bin (52) is configured to carry the counterweight (521).

62. The handling equipment according to claim 61, characterized in that, The counterweight (521) includes a plurality of counterweight plates (521a), which are stacked in the counterweight chamber (52) along the first direction.

63. The handling equipment according to claim 54, characterized in that, Also includes: Guide units (100e) are disposed at both ends of the support body (50) in the second direction. The guide unit (100e) includes at least one guide wheel (91), which is rotatably mounted on the support body (50), and part or all of the guide wheel (91) protrudes from the side of the support body (50) in the second direction. The rotation plane of the guide wheel (91) is parallel to the plane defined by the first direction and the second direction.

64. The handling equipment according to claim 51, characterized in that, The forks of the ground attachment (30) are ground forks (31), and the ground attachment (30) further includes a ground fork carriage (32), which includes: The sliding part (321) extends along the height direction and is indirectly or directly connected to the second gantry (20); A mounting portion (322) extends along a first direction perpendicular to the height direction, and the ground forks (31) are fixed to the mounting portion (322); and The extension (323) connects the sliding part (321) and the mounting part (322) into one unit, and extends downward at an angle from the lower end of the sliding part (321) toward the side away from the bearing body (50), so that the ground fork (31) can move downward along the height direction to the first preset position.

65. The handling equipment according to claim 64, characterized in that, The forks of the aerial attachment (40) are aerial forks (41), and the aerial attachment (40) also includes an aerial fork carriage (42). Both the ground attachment (30) and the aerial attachment (40) further include a translation mechanism (33), which is configured to move the ground fork (31) or the aerial fork (41) in a second direction, including: A carriage (331) extends along the second direction, is disposed on the side of the corresponding second gantry (20), and is movable along the height direction. The ground fork carriage (32) or the overhead fork carriage (42) is slidably mounted on the carriage (331) and is capable of moving along the second direction.

66. The handling equipment according to claim 65, characterized in that, Both the ground attachment (30) and the aerial attachment (40) further include an identification unit (34) capable of identifying the specific location and distance of the pallet during pickup or placement, the identification unit (34) comprising: A telescopic rod (341) is fixed to the bottom end of the ground forklift (32) or the overhead forklift (42) and is capable of extending and retracting along the height direction; and The identification element (342) is fixed to the telescopic end of the telescopic rod (341) and is located between two fork units of the ground fork (31) or the air fork (41).

67. A gantry for carrying and driving attachments, characterized in that, include: A first gantry (10) has a height direction, and gantry mounting spaces (101) are respectively provided on both sides of a first direction perpendicular to the height direction; and Two second masts (20) are movably installed in the two mast installation spaces (101) respectively and are movable along the height direction respectively, each of the second masts (20) being configured to carry the attachment.

68. The gantry according to claim 67, characterized in that, The first gantry (10) includes: Two first enclosure portions (11) are spaced apart along a second direction perpendicular to the height direction, the second direction being perpendicular to the first direction; and The first connecting part (12) is disposed between the two first enclosure parts (11), and its opposite ends are respectively fixed to the two first enclosure parts (11). The first enclosure portion (11) extends along the first direction, and the two extended ends protrude a certain distance relative to the two ends of the first connecting portion (12) located in the first direction. The area between the two first enclosure portions (11) and located on one side of the first connecting portion (12) constitutes a gantry mounting space (101). The two opposite ends of the second gantry (20) are slidably connected to the inner walls of the two first enclosure parts (11).

69. The gantry according to claim 68, characterized in that, The second gantry (20) is equipped with a first limiting guide mechanism (230). The first limiting guide mechanism (230) includes: A first guide rail (231) is disposed on the first connecting portion (12) and extends along the height direction; and Multiple first rolling units (232) are disposed on one end of the second gantry (20) facing the first connecting portion (12) and are spaced apart along the height direction. Each of the first rolling units (232) includes: The first roller mounting base (2321) is fixed to the second gantry (20); and At least two first rollers (2322) are rotatably mounted on the first roller mounting base (2321) and spaced apart along the second direction. The circumferential surfaces of the two first rollers (2322) respectively abut against two opposite surfaces on the first guide rail (231).

70. The gantry according to claim 68, characterized in that, The first connecting part (12) includes: A plurality of first connecting plates (121) are spaced apart along the height direction, and the two extended ends of the first connecting plates (121) are respectively fixed to two first enclosure portions (11); and At least one first reinforcing plate (61), each first reinforcing plate (61) being disposed between two adjacent first connecting plates (121) and having four connecting ends, Two of the connecting ends are fixed to one of the two adjacent first connecting plates (121), and the other two connecting ends are fixed to the other of the two adjacent first connecting plates (121).

71. The gantry according to any one of claims 68-70, characterized in that, Each of the second gantry (20) includes: Two second enclosure portions (21) are provided at intervals along the second direction; and The second connecting part (22) is disposed between the two second enclosure parts (21), and its opposite ends are respectively fixed to the two second enclosure parts (21). The two second enclosure portions (21) are slidably disposed on the inner walls of the two first enclosure portions (11).

72. The gantry according to claim 71, characterized in that, The second connecting part (22) includes: A plurality of second connecting plates (302) are spaced apart along the height direction, the second connecting plates (302) extending along the second direction, and two of the extending ends are respectively fixed to two second enclosure portions (21); and At least one second reinforcing plate (62), each second reinforcing plate (62) being disposed between two adjacent second connecting plates (302) and having four connecting ends, Two of the connecting ends are fixed to one of the two adjacent second connecting plates (302), and the other two connecting ends are fixed to the other of the two adjacent second connecting plates (302).

73. The gantry according to claim 72, characterized in that, Some or all of the second connecting plate (302) is a reinforcing beam, the reinforcing beam comprising: The intermediate connecting plate (221a) arches towards the side closest to the first connecting portion (12); and Two side plates (221b) are fixed to the middle connecting plate (221a) at both ends in the height direction, and the side plates (221b) arch towards the first connecting part (12). The side plate (221b) has a protrusion in the middle that extends toward the first connecting part (12).

74. A handling device, characterized in that, include: The gantry (100b) is the gantry as described in any one of claims 67-73; as well as Two attachments (100c), each attachment (100c) corresponding to one of the second masts (20), The attachment (100c) is movably mounted on the side of the corresponding second gantry (20) facing away from the first gantry (10), and the two attachments (100c) can move along the height direction respectively.

75. The handling equipment according to claim 74, characterized in that, Also includes: Two sets of linkage mechanisms (100d), each linkage mechanism (100d) corresponding to one attachment (100c), each linkage mechanism (100d) comprising: Two sprockets (71) are rotatably mounted on the top positions of the two second masts (20) in the height direction, and the rotation plane of the sprockets (71) is parallel to the first direction; and Two linkage chains (72), each linkage chain (72) is wound around a corresponding linkage sprocket (71). One end of the linkage chain (72) is fixed to the first gantry (10), and the other end is fixed to the corresponding attachment (100c).

76. The handling equipment according to claim 74, characterized in that, Also includes: Two sets of second limiting guide mechanisms (350), each second limiting guide mechanism (350) corresponding to one of the attachments (100c), each second limiting guide mechanism (350) comprising: The second guide rail (351) is fixed to one end of the second gantry (20) facing away from the first connecting part (12) and extends along the height direction; and Multiple second rolling units (352) are disposed on one end of the attachment (100c) facing the second gantry (20) and are spaced apart along the height direction. Each of the second rolling units (352) includes: The second roller mounting base (3521) is fixed to the attachment (100c); and Two second rollers (3522) are rotatably mounted on the second roller mounting base (3521) and spaced apart along the second direction. The circumferential surfaces of the two second rollers (3522) abut against two opposing surfaces on the second guide rail (351).

77. An attachment, mounted on a gantry having a moving chassis, characterized in that, include: The fork carriage (32) is movably mounted on the mast, either directly or indirectly. as well as Forks (31) are fixed to the fork carriage (32). The fork carriage (32) includes: The connecting part (211) extends along the height direction of the gantry and is connected to the gantry indirectly or directly; A mounting portion (322) extends along a first direction perpendicular to the height direction, and the forks (31) are fixed to the mounting portion (322); and The extension (323) connects the connecting part (211) and the mounting part (322) into one unit, and extends downward at an angle from the lower end of the connecting part (211) toward the side away from the mast, so that the forks (31) can move downward along the height direction to a preset position.

78. The attachment according to claim 77, characterized in that, Also includes: Translation mechanism (33), the translation mechanism (33) is disposed between the fork carriage (32) and the mast; The translation mechanism (33) includes: A carriage (331) extends along a second direction perpendicular to the height direction, is disposed on the side of the gantry, and is movable along the height direction. The fork carriage (32) is mounted on the carriage (331) and is movable in the second direction; as well as A drive unit (332) is disposed on the carriage (331) and the fork carriage (32) to drive the fork carriage (32) to move along the second direction.

79. The attachment according to claim 78, characterized in that, The drive unit (332) includes: A drive element (3321) is disposed on the fork carriage (32); An active component (3322) is mounted on the fork carriage (32) and is poweredly connected to the drive element (3321); and A mating part (3323) is disposed on the carriage (331), and the driving part (3322) cooperates with the mating part (3323) so that when the driving element (3321) is activated, it can drive the fork carriage (32) to move along the second direction.

80. The attachment according to claim 79, characterized in that, The driving element (3321) is a drive motor, the driving element (3322) is a gear fixed on the output shaft of the drive motor, and the mating element (3323) is a rack extending along the second direction. The driving element (3322) meshes with the mating element (3323).

81. The attachment according to any one of claims 78-80, characterized in that, Also includes: A guide mechanism (40) is provided for guiding the fork carriage (32) as it moves along a second direction on the carriage (331); The guiding mechanism (40) includes: The slider (411) is fixed to the fork carriage (32); as well as A guide member (412) is disposed on the carriage (331) and has a guide groove (421) extending along the second direction, wherein the slider (411) is slidably fitted into the guide groove (421).

82. The attachment according to any one of claims 79-80, characterized in that, Also includes: An attachment controller (101c) is provided on the mounting part (322) and is configured to control the operation of the drive element (321).

83. The attachment according to any one of claims 77-80, characterized in that, Also includes: The identification unit (34) is capable of identifying the pallet position when picking up or placing goods, including: The telescopic rod (341) is fixed to the bottom end of the mounting part (322) and can extend and retract along the height direction; as well as The identification element (342) is fixed to the telescopic end of the telescopic rod (341) and is located between the two fork units in the fork (31).

84. The attachment according to claim 83, characterized in that, The identification element (342) is a 3D camera.

85. A handling device, characterized in that, include: Gantry (100b); A motion chassis (100a) is fixed to the bottom end of the gantry (100b); as well as The attachment (100c) is the attachment as described in any one of claims 78-84.

86. The handling equipment according to claim 85, characterized in that, Also includes: A first limiting guide assembly (340) is disposed on the gantry; as well as Roller assembly (440) is provided on the attachment. The roller assembly (440) cooperates with the first limiting guide assembly (340) to enable the attachment to move on the gantry.

87. The handling equipment according to claim 86, characterized in that, The first limiting guide assembly (340) includes a limiting member (70), which is disposed on the side wall of the gantry facing the attachment, and the limiting member (70) is provided with a groove (70a) extending along the height direction; The roller assembly (440) includes a rolling connecting unit (440a) disposed on one end of the carriage (331) facing the gantry. The rolling connecting unit (440a) corresponds to the limiting member (70). The rolling connecting unit (440a) includes: A roller mounting plate (441) is fixed to the carriage (331) and extends along the height direction; and Multiple main rollers (442) are rotatably mounted on the roller mounting plate (441) and spaced apart along the height direction. The rotation plane of the main rollers (442) is perpendicular to the second direction. The circumferential surfaces of the plurality of main rollers (442) abut against the sidewall of the chute (70a).

88. The handling equipment according to claim 87, characterized in that, The rolling connection unit (440a) further includes: At least one side roller (443) is rotatably mounted on the roller mounting plate (441) either indirectly or directly, and the rotation plane of the side roller (443) is parallel to the second direction. The circumferential surface of the at least one side roller (443) abuts against the bottom wall of the chute (70a).

89. The handling equipment according to claim 88, characterized in that, The rolling connection unit (440a) further includes: At least one side roller mounting block (444) is movably disposed on the roller mounting plate (441) and is capable of being adjusted in position along the second direction. The number of side roller mounting blocks (444) is consistent with the number of side rollers (443), and the side rollers (443) are rotatably disposed on the corresponding side roller mounting blocks (444).

90. The handling equipment according to claim 85, characterized in that, Also includes: The second limiting guide assembly (360) includes: The third guide rail (361) is fixed to one end of the gantry facing the slide (331) and extends along the height direction; A third roller mounting base (362) is fixed to one end of the carriage (331) facing the gantry and extends along the height direction; and At least one rolling guide unit (93), each of the rolling guide units (93) comprising: A pair of guide rollers (931) are rotatably mounted on the third roller mounting base (362) either indirectly or directly, and are spaced apart along the second direction. The rotation plane of the guide rollers (931) is parallel to the second direction. The circumferential surfaces of the two guide rollers (931) within the same rolling guide unit (93) abut against the two opposing surfaces on the third guide rail (361).

91. The handling equipment according to claim 90, characterized in that, Each of the rolling guide units (93) further includes: Multiple guide roller mounting blocks (932) are movably mounted on the third roller mounting base (362) and their positions can be adjusted along the second direction. Each of the guide rollers (931) corresponds to a guide roller mounting block (932), and the guide roller (931) is rotatably mounted on the corresponding guide roller mounting block (932).

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