CN220886890U - Portal type lifting mechanism and transfer robot - Google Patents

Abstract

The embodiment of the utility model provides a portal lifting mechanism and a transfer robot, wherein the portal lifting mechanism comprises: the device comprises a driving assembly, a portal frame, two guide wheel assemblies, two steel belts and a carrying mechanism; the portal frame comprises two portal column main bodies which are oppositely arranged; the two guide wheel assemblies are respectively arranged on the two door post main bodies; each guide wheel assembly comprises a bottom guide wheel and a top guide wheel set, wherein the bottom guide wheel is arranged at the bottom of the door post main body, and the top guide wheel set is arranged at the top of the door post main body; the driving assembly comprises a motor and two driving belt wheels, and the positions of the two driving belt wheels respectively correspond to the positions of the bottom guide wheels of the two guide wheel assemblies; the first ends of the two steel belts are respectively fixed on the two driving belt wheels, and the second ends of the two steel belts are sequentially wound around the bottom guide wheels and the top guide wheel groups to be connected with the carrying mechanism so as to drive the carrying mechanism to move along the up-down direction of the door post main body under the driving of the motor.

Description

Portal type lifting mechanism and transfer robot

Technical Field

The utility model relates to the technical field of lifting, in particular to a portal lifting mechanism and a transfer robot.

Background

The transfer robot is an industrial robot capable of performing automated transfer work. Transfer robots typically include lifting mechanisms to lift the cargo to different heights. In the related art, a lifting mechanism of a transfer robot generally comprises a traction rope for lifting a heavy object, the traction rope runs around a guide wheel, and the traction rope is repeatedly bent on the guide wheel for a long time to easily cause strand breakage of the traction rope, so that the service life of the lifting mechanism is low, and the traction rope must be replaced entirely if strand breakage occurs, so that the maintenance cost of the lifting mechanism is high.

Disclosure of utility model

The embodiment of the utility model aims to provide a portal lifting mechanism and a transfer robot, which prolong the service life of the lifting mechanism and reduce the maintenance cost. The specific technical scheme is as follows:

An embodiment of a first aspect of the present application proposes a gantry lifting mechanism comprising: the device comprises a driving assembly, a portal frame, two guide wheel assemblies, two steel belts and a carrying mechanism; the portal comprises: two door post bodies arranged oppositely; the two guide wheel assemblies are respectively arranged on the two door post main bodies; each of the guide wheel assemblies includes: the bottom guide wheel and the top guide wheel set are arranged at the bottom of the door post main body, and the top guide wheel set is arranged at the top of the door post main body; the drive assembly includes: the positions of the two driving belt wheels respectively correspond to the positions of the bottom guide wheels of the two guide wheel assemblies; the first ends of the two steel belts are respectively fixed on the two driving belt wheels, and the second ends of the two steel belts sequentially bypass the bottom guide wheels and the top guide wheel groups to be connected with the carrying mechanism so as to drive the carrying mechanism to move along the up-down direction of the door post main body under the driving of the motor.

In some embodiments of the application, the gantry comprises: an inner gantry and an outer gantry; the inner door frame comprises two inner door posts which are oppositely arranged; the outer door frame comprises two outer door posts which are oppositely arranged; the two inner door posts are respectively nested in the two outer door posts and are respectively connected with the outer door posts nested with the two inner door posts in a rolling way in the up-down direction to form two door post main bodies; each of the guide wheel assemblies further comprises: an inner guide wheel mounted at the lower part of the inner door post and positioned between the inner door post and the outer door post; the top guide wheel set includes: a first top guide wheel mounted at the top end of the outer door post, and a second top guide wheel mounted at the top end of the inner door post; the axial directions of the bottom guide wheel, the first top guide wheel, the inner guide wheel and the second top guide wheel are consistent; the second end of each steel belt sequentially bypasses the bottom guide wheel, the first top guide wheel, the inner guide wheel and the second top guide wheel and is connected with the carrying mechanism.

In some embodiments of the application, the outer gantry further comprises: a first top plate; the first top plate is arranged at the tops of the two outer door posts; the first top guide wheel is fixed at one end of the first top plate through a first top guide wheel mounting seat; the first top leading wheel mount pad includes: the first bottom plate, two oppositely arranged first mounting side plates and a first mounting shaft; the first bottom plate is fixedly connected with the first top plate; the first top guide wheel is arranged between the two first installation side plates, and the first installation shaft penetrates through the two first installation side plates and the first top guide wheel so that the first top guide wheel rotates around the first installation shaft.

In some embodiments of the application, the outer gantry further comprises: an encoder; the encoder is arranged on one side of the first top guide wheel, which is close to the middle of the first top plate, and is fixedly connected with the first top plate through an encoder mounting seat; the encoder is coaxially connected with the first mounting shaft through a coupler.

In some embodiments of the present application, a through hole is formed in the bottom of the outer portal, the bottom guide wheel is fixed on the outer side surface of the bottom of the outer portal through a bottom guide wheel mounting seat, and is located at the position of the through hole, so that the steel belt bypasses the bottom of the bottom guide wheel and stretches into the outer portal; the bottom leading wheel mount pad includes: the bottom mounting side plates are fixedly connected with the outer portal; the bottom guide wheel is arranged between the two bottom installation side plates, and the bottom installation shaft penetrates through the bottom installation side plates and the bottom guide wheel so that the bottom guide wheel rotates around the bottom installation shaft.

In some embodiments of the application, the inner gantry further comprises: a second top plate; the second top plate is arranged at the tops of the two inner door posts; the number of the second top guide wheels is two, and the two second top guide wheels are fixed at one end of the second top plate side by side through the second top guide wheel mounting seat; the second top guide wheel mounting seat comprises a second bottom plate, two second mounting side plates and two second mounting shafts, the second bottom plate is fixedly connected with the second top plate, the two second top guide wheels are arranged between the two second mounting side plates side by side, and the two second mounting shafts respectively penetrate through the two second mounting side plates and the two second top guide wheels; so that the second top guide wheel rotates about the second mounting axis.

In some embodiments of the application, each of the outer door posts comprises: a first mounting surface and two second mounting surfaces; the first mounting surface is arranged on the inner side of the outer door post and opposite to the inner door post, and the second mounting surface is arranged on the inner side of the outer door post and perpendicular to the first mounting surface.

Each of the outer door posts further comprises: a first rolling wheel set; the first rolling wheel set is arranged below the second top guide wheel and fixed on the inner side of the outer door post and is positioned between the inner door post and the outer door post, so that the inner door post and the outer door post are in rolling connection.

In some embodiments of the application, each of the inner door posts comprises: a first plane proximate to and parallel to the first mounting surface; the first plane is provided with a convex rib which is perpendicular to the first mounting surface and protrudes towards the first mounting surface; the first rolling wheel set comprises: the device comprises two first transverse rolling wheels, two first longitudinal rolling wheels and a first side roller; the two first transverse rolling wheels are arranged above the two first longitudinal rolling wheels, and the axial directions of the first transverse rolling wheels are perpendicular to the first mounting surface and are used for rolling contact with the convex ribs of the inner door frame; the axial direction of the first longitudinal rolling wheel is parallel to the first mounting surface and is used for rolling contact with a first plane of the inner door frame; the first side roller is arranged on the second mounting surface, and the axial direction of the first side roller is parallel to the axial direction of the longitudinal rolling wheel and is used for rolling contact with the inner door frame.

In some embodiments of the present application, a mounting through hole is formed in the outer door post at a position corresponding to the first rolling wheel set, the first rolling wheel set is fixed in the mounting through hole, a rolling wheel set baffle is arranged at the outer side of the mounting through hole, and the rolling wheel set baffle comprises two transverse rolling wheel baffles and a transverse rolling wheel baffle; the baffle plate of the longitudinal rolling wheel is provided with two cross-shaped through holes, and the two first longitudinal rolling wheels are respectively exposed at the two cross-shaped through holes.

In some embodiments of the application, each of the inner door posts further comprises: the second rolling wheel set; the second rolling wheel set is arranged below the inner guide wheel and fixed on the outer side of the inner door post, and is positioned between the inner door post and the outer door post, so that the inner door post and the outer door post are in rolling connection.

In some embodiments of the application, the outer gantry further comprises: a chute side plate matched with the second rolling wheel group; the chute side plate is arranged inside the outer door post and is perpendicular to the first mounting surface; the second rolling wheel set comprises: the two second transverse rolling wheels are arranged below the two second longitudinal rolling wheels; the axial direction of the second transverse rolling wheel is perpendicular to the first plane and is used for rolling contact with a chute side plate of the outer portal; the axial direction of the second longitudinal rolling wheel is parallel to the first plane; for rolling contact with the first mounting surface; the second side roller is fixedly connected with one end of the first plane through a second side roller mounting seat and is mutually perpendicular to the direction of the second rolling wheel set, and the axial direction of the second side roller is parallel to the first plane and is used for rolling contact with the outer portal frame.

In some embodiments of the present application, the carrying mechanism includes two side plates disposed opposite to each other, a carrying frame connected to the two side plates, and two steel strip fixing members; the side plates are in rolling connection with the inner door post; the steel belt fixing piece comprises a connecting structure and a locking structure connected with the connecting structure; the steel belt fixing piece is arranged at a position, far away from the outer door post, of the side plate through a connecting structure, and is kept at a distance from the outer door post; the second end of the steel belt is arranged in the locking structure and used for fixedly connecting the second end of the steel belt with the carrying mechanism.

In some embodiments of the application, the connection structure comprises: a first connector and a second connector; the locking structure includes: the steel strip penetrates from the front end inlet of the wedge-shaped shell, bypasses the fixed shaft after passing through the plane side of the wedge-shaped block, passes through the inclined plane side of the wedge-shaped block and finally penetrates out from the front end inlet of the wedge-shaped shell; one side of the first connecting piece is fixedly connected with the side plate, and the other side of the first connecting piece is fixedly connected with the second connecting piece; the second connecting piece comprises a connecting shaft which is matched and connected with the fixed shaft of the wedge-shaped shell, and a connecting plate which is fixedly connected with the first connecting piece, and the connecting plate is fixedly connected with the connecting shaft.

In some embodiments of the application, the inner door post comprises: a guide groove; the guide groove is arranged on one side, far away from the first plane, of the inner door post, and the opening of the guide groove faces to the inner side of the inner door post; the side plate of the object carrying mechanism is in rolling connection with the inner door post through a third rolling wheel set; the third rolling wheel set is arranged on a side plate of the carrying mechanism and is nested in the guide groove, so that the carrying mechanism is in rolling connection with the inner door frame.

In some embodiments of the application, the inner guide wheel is fixed to the inner door post by an inner guide wheel mount fixedly connected to an outer wall of one side of the guide slot, the inner guide wheel being located between the first plane and the guide slot.

In some embodiments of the application, the drive assembly further comprises: the motor comprises a motor base, a transmission shaft, a first gear, a second gear and a speed reducer; the motor is fixedly connected with the speed reducer, and the speed reducer comprises a speed reducer output shaft; the transmission shaft and the output shaft of the speed reducer are arranged in parallel based on the motor base, and two ends of the transmission shaft are fixedly connected with the two driving belt wheels respectively; the first gear is sleeved on the output shaft of the speed reducer, the second gear is sleeved on the transmission shaft, the first gear is meshed with the second gear, the motor drives the output shaft of the speed reducer to rotate, and the transmission shaft is driven to rotate through the first gear and the second gear so as to drive the two driving pulleys to rotate.

In some embodiments of the present application, the motor base includes a third base plate, and a first riser and a second riser vertically disposed on the third base plate, the first riser and the second riser are disposed opposite to each other, the motor and the speed reducer are disposed between the first riser and the second riser, and an end of the speed reducer away from the motor is fixedly connected with the first riser; the speed reducer output shaft passes through the first vertical plate, and the transmission shaft passes through the first vertical plate and the second vertical plate; the first gear and the second gear are arranged on one side, away from the motor, of the first vertical plate.

In some embodiments of the application, the drive assembly further comprises: briquetting; the steel belt is wound on the driving belt wheel in a multi-layer superposition mode, and the pressing block presses the first end of the steel belt on the driving belt wheel and is fixedly connected with the driving belt wheel.

In some embodiments of the application, the steel strip comprises a plurality of groups of steel strands, each group of steel strands comprising a plurality of steel wires, each group of steel strands being arranged side by side, the outer wrapping being of a plastics material.

An embodiment of the second aspect of the present application provides a transfer robot including: a chassis and a portal lifting mechanism as in any of the embodiments of the first aspect, said portal lifting mechanism being mounted on said chassis.

The embodiment of the application has the beneficial effects that:

the portal frame type lifting mechanism and the carrying robot provided by the embodiment of the application have the advantages that the driving assembly is connected with the carrying mechanism through the steel belt, and compared with the scheme of lifting the weight by adopting the traction rope in the related technology, the service life of the lifting mechanism can be prolonged, and the maintenance cost is reduced.

Of course, it is not necessary for any one product to practice the utility model to achieve all of the advantages set forth above at the same time.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to these drawings for a person having ordinary skill in the art.

Fig. 1 is a schematic structural view of a first angle of a gantry lifting mechanism according to an embodiment of the present application;

FIG. 2 is a schematic view of a second angle of the portal lifting mechanism of FIG. 1;

FIG. 3 is a schematic view of a third angle of the portal lifting mechanism of FIG. 1;

FIG. 4 is a schematic view of the nesting of the inner and outer door posts in the portal lifting mechanism of FIG. 1;

FIG. 5 is a schematic view of the portal lifting mechanism of FIG. 1 with one side of the outer portal removed (retaining a first roller set);

FIG. 6 is a schematic illustration of the connection between the motor and the steel belt and the respective guide wheels in the portal lifting mechanism of FIG. 1;

FIG. 7 is a schematic view of the structure of the bottom guide wheel;

FIG. 8 is a schematic view of the structure of the first top guide wheel;

FIG. 9 is a schematic view of a second top guide wheel;

FIG. 10 is a schematic view of the structure of the inner guide wheel;

FIG. 11 is a schematic view of the structure of an outer mast of the mast lift mechanism of FIG. 1;

FIG. 12 is a schematic view of the structure of an inner mast of the mast lift mechanism of FIG. 1;

FIG. 13 is a schematic cross-sectional view of the inner door post of FIG. 12;

FIG. 14 is a cross-sectional view A-A of a portal of the portal lifting mechanism of FIG. 1;

FIG. 15 is a schematic view of a first roller set of the portal lifting mechanism of FIG. 1;

FIG. 16 is a schematic view of a roller set blind of the portal lifting mechanism of FIG. 1;

FIG. 17 is a C-C cross-sectional view of a mast of the mast lift mechanism of FIG. 1;

FIG. 18 is a schematic diagram of a second roller set;

FIG. 19 is a B-B cross-sectional view of a mast of the mast lift mechanism shown in FIG. 1;

FIG. 20 is a schematic view of the connection of the carrying mechanism to the steel strip;

FIG. 21 is an exploded view of the connection of the load mechanism to the steel strip;

FIG. 22 is a schematic view of the internal structure of the locking mechanism;

FIG. 23 is a schematic cross-sectional view of a steel strip;

FIG. 24 is a schematic view of the connection of the load mechanism to the inner mast;

FIG. 25 is a schematic view of a drive assembly;

Fig. 26 is a schematic view of the drive pulley;

FIG. 27 is a schematic view of the load mechanism raised to the top of the inner mast;

FIG. 28 is a schematic view of the structure of the inner mast lift;

Fig. 29 is a schematic perspective view of a transfer robot to which the portal lifting mechanism shown in fig. 1 is attached.

Reference numerals illustrate:

A portal lifting mechanism 100;

A drive assembly 11; a motor 111; a drive pulley 112; a motor base 113; a third base plate 1131; a first riser 1132; a second riser 1133; a drive shaft 114; a first gear 115; a second gear 116; a briquette 117; a speed reducer 118; a speed reducer output shaft 1181;

A gantry 12; a door post body 120; an inner door frame 121; an inner door post 1210; a first plane 1211; a bead 1212; a guide groove 1213; an outer gantry 122; an outer door post 1220; a first mounting surface 1221; a second mounting surface 1222; a chute side plate 1223; a first top plate 123; an encoder 124; encoder mount 1241; a coupling 1242; a second top plate 125; a first set of rolling wheels 126; a first lateral scroll wheel 1261; a first longitudinal scroll wheel 1262; a first side roller 1263; a roller set shutter 127; a lateral rolling wheel shield 1271; a longitudinal rolling wheel baffle 1272; a cross-shaped through hole 1273; a second set of rolling wheels 128; a second lateral roller 1281; a second longitudinal roller 1282; a second side roller 1283; a second side roller mount 1284; a third set of rolling wheels 129; a first scroll wheel 1291; a second scroll wheel 1292;

A guide wheel assembly 13; a bottom guide wheel 131; a bottom guide wheel mount 1311; a bottom mounting side plate 1312; a bottom mounting shaft 1313; a top guide wheel set 132; a first top guide wheel 1321; a second top guide wheel 1322; an inner guide wheel 133; an inner guide wheel mount 1331; a first top guide wheel mount 134; a first bottom plate 1341; a first mounting side plate 1342; a first mounting shaft 1343; a second top guide wheel mount 135; a second bottom plate 1351; a second mounting side plate 1352; a second mounting shaft 1353;

A steel strip 14; a first end 141 of the steel strip; a second end 142 of the steel strip; a wire bundle 143; steel wire 1431; a plastic material 144;

A loading mechanism 15; a side plate 151; a carrier frame 152; a steel strip fixing member 153; a connection structure 154; a first connector 1541; a second connector 1542; a connection shaft 1543; a connection plate 1544; a locking structure 155; wedge 1551; wedge housing 1552; a fixed shaft 1553; front inlet 1554 of the wedge housing;

A chassis 200; road wheels 210.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by the person skilled in the art based on the present utility model are included in the scope of protection of the present utility model.

As described in the background art, in the related art, the traction rope of the lifting mechanism runs around the guide wheel, and the traction rope is repeatedly bent on the guide wheel for a long time to easily cause breakage of the traction rope, so that the service life of the lifting mechanism is low, and the traction rope must be replaced entirely if breakage occurs, so that the maintenance cost of the lifting mechanism is high.

In view of this, embodiments of the first aspect of the present application provide a portal lifting mechanism. Referring to fig. 1 to 3, fig. 1 is a schematic structural view of a first angle of a gantry lifting mechanism according to an embodiment of the present application; fig. 2 is a schematic structural diagram of a second angle of a gantry lifting mechanism according to an embodiment of the present application; fig. 3 is a schematic structural diagram of a third angle of the gantry lifting mechanism according to an embodiment of the present application.

As shown in fig. 1 to 3, an embodiment of a first aspect of the present application provides a gantry lifting mechanism, including: the device comprises a driving assembly 11, a portal 12, two guide wheel assemblies 13, two steel belts 14 and a carrying mechanism 15; the gantry 12 includes: two door post bodies 120 disposed opposite to each other; the two guide wheel assemblies 13 are mounted on the two door post bodies 120, respectively; each guide wheel assembly 13 comprises: the bottom guide wheels 131 and the top guide wheel sets 132 are arranged at the bottom of the door post main body 120, and the top guide wheel sets 132 are arranged at the top of the door post main body 120; a drive assembly 11 comprising: the motor 111 and the two driving pulleys 112, the positions of the two driving pulleys 112 respectively correspond to the positions of the bottom guide wheels 131 of the two guide wheel assemblies 13; the first ends 141 of the two steel belts are respectively fixed on the two driving pulleys 112, and the second ends 142 of the two steel belts sequentially bypass the bottom guide wheel 131 and the top guide wheel set 132 to be connected with the carrying mechanism 15, so that the carrying mechanism 15 is driven by the motor 111 to move along the up-down direction of the door post main body 120.

Specifically, the operating principle of the lifting mechanism is as follows: the motor 111 drives the driving pulley 112 to rotate around the X-direction axis, and drives the carrying mechanism 15 to move up and down along the Y-direction axis through the steel belt 14 provided on the driving pulley 112; for example: when the motor 111 rotates forward, the driving belt wheel 112 rotates forward and winds the steel belt 14 on the driving belt wheel 112, so that the second end 142 of the steel belt drives the carrying mechanism 15 to lift, and when the motor 111 rotates reversely, the driving belt wheel 112 rotates reversely, so that the steel belt 14 wound on the driving belt wheel 112 is released, and the carrying mechanism 15 drives the second end 142 of the steel belt to descend under the action of gravity.

The portal lifting mechanism provided by the embodiment of the application has the advantages that the driving belt wheel 112, the guide wheel assembly 13 and the carrying mechanism 15 are connected through the steel belt 14, and compared with the scheme of lifting a heavy object by adopting a traction rope in the related technology, the portal lifting mechanism can prolong the service life of the lifting mechanism and reduce the maintenance cost.

In some embodiments of the present application, referring to fig. 4 and 5, fig. 4 is a schematic diagram illustrating a nesting structure of an inner door post 1210 and an outer door post 1220 in the portal lifting mechanism shown in fig. 1; fig. 5 is a schematic view of the portal lifting mechanism of fig. 1 with one side of the outer portal 122 removed (leaving the first roller set 126).

As shown in fig. 4 and 5, the gantry includes: an inner gantry 121 and an outer gantry 122; the inner door frame 121 includes two inner door posts 1210 disposed opposite each other; the outer door 122 includes two outer door posts 1220 disposed opposite each other; the two inner door posts 1210 are respectively nested inside the two outer door posts 1220, and are respectively connected with the outer door posts 1220 nested therewith in a rolling manner in the up-down direction, so as to form two door post bodies 120; each guide wheel assembly 13 further comprises: an inner guide wheel 133 installed at a lower portion of the inner door post 1210 between the inner door post 1210 and the outer door post 1220; top guide wheel set 132, comprising: a first top guide wheel 1321 mounted at the top end of the outer door post 1220, and a second top guide wheel 1322 mounted at the top end of the inner door post 1210; the axial directions of the bottom guide wheel 131, the first top guide wheel 1321, the inner guide wheel 133 and the second top guide wheel 1322 are consistent; the second end 142 of each steel strap is connected to load mechanism 15, in turn, around bottom guide wheel 131, first top guide wheel 1321, inner guide wheel 133, and second top guide wheel 1322.

Wherein the number of second top guide wheels 1322 may be 2. Referring to fig. 6, fig. 6 is a schematic diagram showing the connection between the motor 111 and the steel belt 14 and the respective guide wheels in the portal lifting mechanism shown in fig. 1 (only the guide wheel set of one side door post is shown in the figure).

As shown in fig. 6, the guide wheel assembly 13 in the embodiment of the present application includes: bottom guide wheel 131, first top guide wheel 1321, inner guide wheel 133, and second top guide wheel 1322. The bottom guide wheel 131 is arranged at the bottom of the outer portal 122, and the height of the bottom guide wheel corresponds to the driving belt wheel 112; the first top guide wheel 1321 is disposed at the top end of the outer gantry 122; the inner guide wheels 133 are provided at the lower part of the inner door post 1210; two second top guide wheels 1322 are provided at the top of the inner gantry 121; when the driving pulley 112 starts to rotate, the steel belt 14 passes through the bottom guide wheel 131, the first top guide wheel 1321, the inner guide wheel 133, and the second top guide wheel 1322 in order, and drives the loading mechanism 15 connected to the steel belt 14 to move up and down.

Referring to fig. 3, 5 and 7, fig. 7 is a schematic structural view of the bottom guide wheel 131. In some embodiments of the present application, as shown in fig. 3, 5 and 7, a through hole is formed at the bottom of the outer gantry 122, and the bottom guide wheel 131 is fixed to the outer side surface of the bottom of the outer gantry 122 through a bottom guide wheel mounting seat 1311, and is located at a position of the through hole, so that the steel strip 14 bypasses the bottom of the bottom guide wheel 131 and extends into the outer gantry 122; bottom guide wheel mount 1311, comprising: two oppositely disposed bottom mounting side plates 1312 and bottom mounting shafts 1313, the bottom mounting side plates 1312 being fixedly connected with the outer gantry 122; the bottom guide wheel 131 is disposed between the two bottom mounting side plates 1312, and a bottom mounting shaft 1313 passes through the bottom mounting side plates 1312 and the bottom guide wheel 131 to rotate the bottom guide wheel 131 around the bottom mounting shaft 1313.

Specifically, a through hole is formed at the bottom of the outer gantry 122, a bottom guide wheel 131 is disposed at the through hole, the axial direction of the bottom guide wheel 131 is parallel to the axial direction of the driving pulley 112, the second end 142 of the steel belt on the driving pulley 112 bypasses the bottom of the bottom guide wheel 131 and stretches into the outer gantry 122, and the steel belt 14 winds around the first top guide wheel 1321, the inner guide wheel 133 and the second top guide wheel 1322 inside the gantry 12 by applying the embodiment of the present application, so that the external structure of the lifting mechanism is more concise.

As shown in fig. 3, the outer gantry 122 further includes: a first top plate 123; the first top plate 123 is disposed on top of the two outer door posts 1220; the inner gantry 121 further includes: a second top plate 125; the second top plate 125 is disposed on top of the two inner door posts 1210.

Referring to fig. 3 and 8, fig. 8 is a schematic structural view of a first top guide wheel 1321. In some embodiments of the present application, as shown in fig. 3 and 8, a first top guide wheel 1321 is fixed to one end of the first top plate 123 by a first top guide wheel mount 134; first top guide wheel mount 134, comprising: a first bottom plate 1341, two oppositely disposed first mounting side plates 1342, and a first mounting shaft 1343; the first bottom plate 1341 is fixedly connected with the first top plate 123; the first top guide wheel 1321 is disposed between the two first mounting side plates 1342, and the first mounting axle 1343 passes through the two first mounting side plates 1342 and the first top guide wheel 1321 to rotate the first top guide wheel 1321 around the first mounting axle 1343.

The outer gantry 122 further includes: an encoder 124; the encoder 124 is disposed on a side of the first top guide wheel 1321 near the middle of the first top plate 123, and is fixedly connected with the first top plate 123 through an encoder mounting seat 1241; the encoder 124 is coaxially coupled to the first mounting shaft 1343 via a coupling 1242.

Specifically, a first top plate 123 is disposed on the top of the outer gantry 122, a first top guide wheel 1321 and an encoder 124 coaxially connected to the first top guide wheel 1321 are disposed on the first top plate 123, and the encoder 124 rotates synchronously with the first top guide wheel 1321, so that the outer gantry 122 mechanism is more stable in the process of lifting the carrying mechanism 15 by using the embodiment of the present application; the accuracy of lifting the load mechanism 15 by the lifting mechanism can be controlled by the encoder 124 recording the number of turns of the first top guide wheel 1321 and thus the height of lifting of the load mechanism 15.

Referring to fig. 3 and 9, fig. 9 is a schematic structural view of a second top guide wheel. In some embodiments of the present application, as shown in fig. 3 and 9, two second top guide wheels 1322 are secured side-by-side to one end of the second top plate 125 by second top guide wheel mounts 135; the second top guide wheel mounting seat 135 comprises a second bottom plate 1351, two second mounting side plates 1352 and two second mounting shafts 1353 which are oppositely arranged, the second bottom plate 1351 is fixedly connected with the second top plate 125, the two second top guide wheels 1322 are arranged between the two second mounting side plates 1352 side by side, and the two second mounting shafts 1353 respectively penetrate through the two second mounting side plates 1352 and the two second top guide wheels 1322; so that the second top guide wheel 1322 rotates about the second mounting shaft 1353.

Specifically, the first top plate 123 and the second top plate 125 are disposed side by side on top of the gantry 12; the first top guide wheel 1321, the first top plate 123 are fixedly connected with the outer gantry 122 and are stationary relative to the ground; the second top guide wheel 1322 and the second top plate 125 are fixedly connected with the inner gantry 121, and can move up and down along the vertical direction relative to the outer gantry 122. By applying the embodiment of the application, the second top plate 125 is arranged, so that the inner door frame 121 mechanism is more stable in the process of lifting the carrying mechanism 15; two second top guide wheels 1322 are arranged side by side, so that the stability of steel belt transmission and lifting of the carrying mechanism can be improved.

Referring to fig. 5 and 10, fig. 10 is a schematic structural view of the inner guide wheel 133. In some embodiments of the present application, as shown in fig. 10, the inner guide wheels 133 are used to maintain the tension state of the steel belt 14 during the transmission process, so as to improve the efficiency of the steel belt transmission and the loading mechanism.

Referring to fig. 11 and 14, fig. 11 is a schematic structural view of an outer mast 122 of the gantry lift mechanism of fig. 1, and fig. 14 is a cross-sectional view A-A of the mast of the gantry lift mechanism of fig. 1. As shown in fig. 11 and 14, in some embodiments of the application, each outer door post 1220 includes: a first mounting surface 1221 and two second mounting surfaces 1222; the first mounting surface 1221 is disposed inside the outer door post 1220, opposite the inner door post 1210, and the second mounting surface 1222 is disposed inside the outer door post 1220, perpendicular to the first mounting surface 1221.

Referring to fig. 12 and 13, fig. 12 is a schematic structural view of an inner door frame 121 of the door frame type lifting mechanism shown in fig. 1, and fig. 13 is a schematic sectional structural view of an inner door post 1210 shown in fig. 12. As shown in fig. 12 and 13, in some embodiments of the application, each inner door post 1210 includes: a first plane 1211 adjacent to and parallel to the first mounting surface 1221; the first plane 1211 is provided with a bead 1212 perpendicular to the first mounting surface 1221 and protruding toward the first mounting surface 1221.

Referring to fig. 11, 14 and 15, fig. 15 is a schematic structural view of a first roller set 126 of the portal lifting mechanism shown in fig. 1. As shown in fig. 11, 14 and 15, in some embodiments of the application, each outer door post 1220 further comprises: a first set of rolling wheels 126; the first rolling wheel set 126 is disposed below the second top guide wheel 1322 and is fixed inside the outer door post 1220 and between the inner door post 1210 and the outer door post 1220, so that the inner door post 1210 is connected with the outer door post 1220 in a rolling manner. A first set of rolling wheels 126, comprising: two first lateral scroll wheels 1261, two first longitudinal scroll wheels 1262, and a first side scroll wheel 1263; the two first transverse rolling wheels 1261 are arranged above the two first longitudinal rolling wheels 1262, and the axial direction of the first transverse rolling wheels 1261 is perpendicular to the first mounting surface 1221 and is used for rolling contact with the convex ribs 1212 of the inner door frame 121; the first longitudinal roller 1262 has an axial direction parallel to the first mounting surface 1221 for rolling contact with the first plane 1211 of the inner mast 121; the first side roller 1263 is disposed on the second mounting surface 1222, and an axial direction of the first side roller 1263 is parallel to an axial direction of the first longitudinal roller 1262 for rolling contact with the inner door frame 121.

Specifically, two first transverse rolling wheels 1261 are disposed on the first mounting surface 1221 of the outer gantry 122, the axial direction is along the X-direction axis direction, and two first longitudinal rolling wheels 1262 are disposed below the two transverse rolling wheels, the axial direction is along the Y-direction axis direction; the first lateral roller 1261 rolls along the convex bar 1212 and the first longitudinal roller 1262 rolls along the first plane 1211 of the inner gantry 121; the first side roller 1263 is disposed on the second mounting surface 1222 of the outer door frame 122 and rolls along the first plane 1211 of the inner door frame 121.

By applying the embodiment of the application, the first rolling wheel set 126 is arranged on the outer door frame 122, so that the sliding friction between the inner door frame 121 and the outer door frame 122 is converted into rolling friction, the noise generated when the carrying mechanism 15 is lifted can be reduced, and the stability when the carrying mechanism 15 is lifted can be improved.

Referring to fig. 11 and 16, fig. 16 is a schematic structural view of a roller set shutter 127 of the portal lifting mechanism shown in fig. 1. As shown in fig. 11 and 16, in some embodiments of the present application, an installation through hole is formed at a position of the outer door post 1220 corresponding to the first rolling wheel set 126, the first rolling wheel set 126 is fixed in the installation through hole, a rolling wheel set baffle 127 is disposed at an outer side of the installation through hole, and the rolling wheel set baffle 127 includes two transverse rolling wheel baffles 1271 and a longitudinal rolling wheel baffle 1272; the longitudinal rolling wheel baffle 1272 is provided with two cross-shaped through holes 1273, and the two first longitudinal rolling wheels 1262 are respectively exposed at the two cross-shaped through holes 1273.

By applying the embodiment of the application, the rolling wheel set baffle 127 arranged on the outer door post 1220 can cover the first rolling wheel set 126, and the longitudinal rolling wheel baffle 1272 is provided with two cross-shaped through holes 1273, so that the first longitudinal rolling wheel 1262 can flexibly rotate in the through holes.

Referring to fig. 12, 17 and 18, fig. 17 is a C-C cross-sectional view of the portal lifting mechanism of fig. 1, and fig. 18 is a schematic structural view of the second roller set 128. As shown in fig. 12, 17 and 18, in some embodiments of the present application, each inner door post 1210 further comprises: a second set of rolling wheels 128; the second rolling wheel set 128 is disposed below the inner guide wheel 133 and is fixed outside the inner door post 1210 and between the inner door post 1210 and the outer door post 1220, so that the inner door post 1210 is connected with the outer door post 1220 in a rolling manner.

As shown in fig. 11 and 17, the outer gantry 122 further includes: a chute side plate 1223 cooperating with the second roller set 128; the chute side plate 1223 is disposed inside the outer door post 1220 and perpendicular to the first mounting surface 1221; as shown in fig. 17 and 18, the second roller set 128 includes: the two second transverse rolling wheels 1281, the two second longitudinal rolling wheels 1282 and the second side roller 1283, wherein the two second transverse rolling wheels 1281 are arranged below the two second longitudinal rolling wheels 1282; the second transverse rolling wheel 1281 has an axial direction perpendicular to the first plane 1211 for rolling contact with the chute side plate 1223 of the outer door frame 122; the axial direction of the second longitudinal rolling wheel 1282 is parallel to the first plane 1211; for rolling contact with the first mounting surface 1221; the second side roller 1283 is fixedly connected to one end of the first plane 1211 through a second side roller mounting seat 1284, and is oriented perpendicular to the second rolling wheel set 128, and an axial direction of the second side roller 1283 is parallel to the first plane 1211 and is used for rolling contact with the outer gantry 122.

Specifically, two second horizontal rolling wheels 1281 are disposed on the first plane 1211 of the inner gantry 121, the axial direction is along the X-direction axis direction, and two second longitudinal rolling wheels 1282 are disposed above the two horizontal rolling wheels, the axial direction is along the Y-direction axis direction; the second lateral roller 1281 rolls along the chute side panels 1223 of the outer door frame 122 and the second longitudinal roller 1282 rolls along the first mounting surface 1221 of the outer door frame 122; the second side roller 1283 is disposed at one end of the first plane 1211 and rolls along the outer gantry 122.

By applying the embodiment of the application, the second rolling wheel set 128 is arranged on the inner door frame 121, so that the sliding friction between the inner door frame 121 and the outer door frame 122 is converted into rolling friction, the noise generated when the carrying mechanism 15 is lifted can be further reduced, and the stability when the carrying mechanism is lifted can be improved.

Referring to fig. 12 and 19, fig. 19 is a B-B cross-sectional view of the mast 12 of the mast lift mechanism of fig. 1. As shown in fig. 12 and 19, in some embodiments of the present application, the inner guide wheel 133 is fixed to the inner door post 1210 by an inner guide wheel mount 1331, the inner guide wheel mount 1331 is fixedly connected to one side outer wall of the guide groove 1213, and the inner guide wheel 133 is located between the first plane 1211 and the guide groove 1213. By applying the embodiment of the application, the structure of the inner door post 1210 is simplified.

Referring to fig. 20 to 22, fig. 20 is a schematic structural view of the connection between the carrying mechanism 15 and the steel strip 14, fig. 21 is an exploded schematic view of the connection between the carrying mechanism 15 and the steel strip 14, and fig. 22 is a schematic structural view of the inside of the locking structure 155.

As shown in fig. 20 to 22, in some embodiments of the present application, the carrying mechanism 15 includes two side plates 151 disposed opposite to each other, a carrying frame 152 connected to the two side plates 151, and two steel belt fixtures 153; the side plate 151 is connected with the inner door post 1210 in a rolling way; the steel belt fixing member 153 includes a connecting structure 154 and a locking structure 155 connected thereto; the steel band fixing member 153 is installed at a position of the side plate 151 away from the outer door post 1220 through the connection structure 154 to be spaced apart from the outer door post 1220; the second end 142 of the steel belt is disposed in the locking structure 155 for fixedly connecting the second end 142 of the steel belt to the carrying mechanism 15.

As shown in fig. 20 to 22, the connection structure 154 includes: a first connector 1541 and a second connector 1542; the locking structure 155 includes: the steel strip 14 penetrates from a front end inlet 1554 of the wedge-shaped shell 1552, bypasses the fixed shaft 1553 after passing through the plane side of the wedge-shaped block 1551, passes through the inclined plane side of the wedge-shaped block 1551 and finally penetrates out from the front end inlet 1554 of the wedge-shaped shell 1552; one side of the first connecting member 1541 is fixedly connected with the side plate 151, and the other side is fixedly connected with the second connecting member 1542; the second connection member 1542 includes a connection shaft 1543 coupled to the fixed shaft 1553 of the wedge housing 1552 in a mating manner, and a connection plate 1544 fixedly coupled to the first connection member 1541, the connection plate 1544 being fixedly coupled to the connection shaft 1543.

By applying the embodiment of the application, the side plate 151 of the carrying mechanism 15 is in threaded connection with the locking mechanism 155 through the first connecting piece 1541 and the second connecting piece 1542, and the locking mechanism 155 is self-locked through the wedge-shaped block 1551, so that the locking mechanism is in fastening connection with the steel belt 14.

Referring to fig. 23, fig. 23 is a schematic cross-sectional structure of the steel strip 14. In some embodiments of the application, as shown in fig. 23, the steel strip 14 comprises a plurality of sets of steel strands 143, each set comprising a plurality of steel strands 1431, each set of steel strands 143 being disposed side-by-side, with an outer wrap of plastic material 144.

Specifically, as shown in fig. 23, which is a cross-sectional view of steel strip 14, a plurality of sets of steel wires 1431 are disposed side by side, and the outer plastic material 144 may be synthetic rubber or thermoplastic polyurethane, which is not limited in this regard. Compared with the scheme adopting the traction rope in the related art, the embodiment of the application has the advantages that under the condition that the diameters of the guide wheel assemblies 13 are the same, the diameters of the steel wires 1431 of the steel belts 14 are smaller, and the ratio of the diameters of the guide wheel assemblies 13 to the diameters of the steel wires 1431 is larger than the ratio of the diameters of the guide wheels to the diameters of the traction rope in the scheme adopting the traction rope, so that the bearable bending times of the steel belts 14 when the lifting mechanism repeatedly operates are improved, the service life of the lifting mechanism is prolonged, and the maintenance cost is reduced.

Referring to fig. 12, 13 and 24, fig. 24 is a schematic structural view of the connection between the carrying mechanism and the inner door frame. As shown in fig. 12, 13 and 24, in some embodiments of the present application, the inner door post 1210 includes a guide groove 1213; the guide groove 1213 is disposed at a side of the inner door post 1210 away from the first plane 1211, and the guide groove 1213 is opened toward an inner side of the inner door post 1210; the side plate 151 of the carrying mechanism 15 is in rolling connection with the inner door post 1210 through a third rolling wheel set 129; the third rolling wheel set 129 is mounted on the side plate 151 of the carrying mechanism 15 and is nested in the guiding groove 1213, so that the carrying mechanism 15 is connected with the inner door frame 121 in a rolling manner.

Specifically, as shown in fig. 24, the third rolling wheel set 129 includes two upper and lower first rolling wheels 1291, and four second rolling wheels 1292 disposed between the two first rolling wheels 1291, wherein the axial directions of the two first rolling wheels 1291 are along the X-direction axial direction, are nested in the guide groove 1213, and roll along the z-direction; the second rolling wheels 1292 are arranged in parallel in two rows, and the axial direction is along the Y-direction axial direction, and the second rolling wheels 1292 roll along the outer door post. By applying the embodiment of the application, the sliding friction between the carrying mechanism 15 and the inner door frame is converted into rolling friction, so that the noise generated when the carrying mechanism is lifted can be reduced, and the stability when the carrying mechanism is lifted can be improved.

Referring to fig. 25, fig. 25 is a schematic structural view of the driving assembly. As shown in fig. 25, in some embodiments of the present application, the driving assembly 11 includes, in addition to the motor 111, the driving pulley 112: motor mount 113, drive shaft 114, first gear 115, second gear 116, and speed reducer 118; the motor 111 is fixedly connected with a speed reducer 118, and the speed reducer 118 comprises a speed reducer output shaft 1181; the transmission shaft 114 and the speed reducer output shaft 1181 are arranged in parallel based on the motor base 113, and two ends of the transmission shaft 114 are fixedly connected with the driving belt pulley 112 respectively; the first gear 115 is sleeved on the speed reducer output shaft 1181, the second gear 116 is sleeved on the transmission shaft 114, the first gear 115 is meshed with the second gear 116, the motor 111 drives the speed reducer output shaft 1181 to rotate, and the first gear 115 and the second gear 116 drive the transmission shaft to rotate so as to drive the two driving pulleys 112 to rotate. Specifically, the motor 111 may be a servo motor, etc., and the motor 111 is connected to the speed reducer 118 through a coupling, and the motor 111 is connected to the casing of the speed reducer 118 through threads.

The motor base 113 comprises a third bottom plate 1131, a first vertical plate 1132 and a second vertical plate 1133 which are vertically arranged on the third bottom plate 1131, the first vertical plate 1132 and the second vertical plate 1133 are oppositely arranged, the motor 111 and the speed reducer 118 are arranged between the first vertical plate 1132 and the second vertical plate 1133, and one end, far away from the motor 111, of the speed reducer 118 is fixedly connected with the first vertical plate 1132; speed reducer output shaft 1181 passes through first riser 1132, and drive shaft 114 passes through first riser 1132 and second riser 1133; the first gear 115 and the second gear 116 are disposed at a side of the first vertical 1132 plate away from the motor 111. By applying the embodiment of the application, the fixing and driving of the motor 111 and the driving shaft 114 can be simpler and lighter.

Referring to fig. 26, fig. 26 is a schematic structural view of the drive pulley 112. As shown in fig. 26, in some embodiments of the present application, the driving assembly 11 further includes: a briquette 117; the steel belt 14 is wound around the driving pulley 112 in a multi-layered manner, and the press block 117 presses the first end of the steel belt 14 against the driving pulley 112 and is fixedly connected to the driving pulley 112.

By applying the embodiment of the application, the steel belt 14 adopts a multilayer superposition winding mode, so that the width of the driving belt wheel 112 can be reduced, the lifting mechanism is simpler and lighter, the steel belt is not easy to tie, the steel belt transmission is smoother, and the lifting mechanism is more stable.

Referring to fig. 27 and 28, fig. 27 is a schematic structural view of the lifting of the carrying mechanism to the top end of the inner door frame, and fig. 28 is a schematic structural view of the lifting of the inner door frame. The process of lifting the carrying mechanism 15 is divided into two steps, firstly, the motor 111 drives the driving belt pulley 112 to rotate, so that the steel belt 14 pulls the carrying mechanism to lift along the inner door post 1210, and after the carrying mechanism 15 is lifted to the top of the inner door post 1210, the steel belt drives the inner door post and the carrying mechanism to lift along the outer door post.

Specifically, as shown in fig. 27, the second end of the steel strip drives the carrying mechanism 15 to rise, the carrying mechanism 15 moves upward along the inner door frame, and after the carrying mechanism 15 moves to the top end of the inner door frame 121, as shown in fig. 28, the carrying mechanism 15 and the inner door frame 121 move upward along the outer door frame 122. By applying the embodiment of the application, the door frame is divided into the inner door frame and the outer door frame which are mutually nested, the inner door frame can roll up and down relative to the outer door frame in the z-axis direction, and the lifting height of the carrying mechanism is increased under the condition that the volume of the lifting mechanism is not changed.

An embodiment of the second aspect of the present application provides a transfer robot, as shown in fig. 29, including: the chassis 200 and the portal lifting mechanism 100 of any of the embodiments of the first aspect, the portal lifting mechanism 100 being mounted on the chassis 200.

The carrying robot of the embodiment of the application comprises the portal lifting mechanism of any embodiment of the first aspect, and the portal lifting mechanism is provided, and the service life of the lifting mechanism can be prolonged and the maintenance cost can be reduced by connecting the driving assembly 11 with the carrying mechanism through the steel belt.

As shown in fig. 29, the chassis 200 is provided with a plurality of traveling wheels 210, and the transfer robot moves by driving the traveling wheels 210 with a motor, and transfers the weight to a predetermined position in cooperation with the portal lifting mechanism 100.

The foregoing description is only of the preferred embodiments of the present utility model and is not intended to limit the scope of the present utility model. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model are included in the protection scope of the present utility model.

Claims (21)

1. A portal lifting mechanism, comprising: the device comprises a driving assembly, a portal frame, two guide wheel assemblies, two steel belts and a carrying mechanism;

the portal comprises: two door post bodies arranged oppositely;

The two guide wheel assemblies are respectively arranged on the two door post main bodies; each of the guide wheel assemblies includes: the bottom guide wheel and the top guide wheel set are arranged at the bottom of the door post main body, and the top guide wheel set is arranged at the top of the door post main body;

The drive assembly includes: the positions of the two driving belt wheels respectively correspond to the positions of the bottom guide wheels of the two guide wheel assemblies;

The first ends of the two steel belts are respectively fixed on the two driving belt wheels, and the second ends of the two steel belts sequentially bypass the bottom guide wheels and the top guide wheel groups to be connected with the carrying mechanism so as to drive the carrying mechanism to move along the up-down direction of the door post main body under the driving of the motor.

2. The gantry lift mechanism of claim 1, wherein the gantry comprises: an inner gantry and an outer gantry;

The inner door frame comprises two inner door posts which are oppositely arranged; the outer door frame comprises two outer door posts which are oppositely arranged;

The two inner door posts are respectively nested in the two outer door posts and are respectively connected with the outer door posts nested with the two inner door posts in a rolling way in the up-down direction to form two door post main bodies;

Each of the guide wheel assemblies further comprises: an inner guide wheel mounted at the lower part of the inner door post and positioned between the inner door post and the outer door post;

The top guide wheel set includes: a first top guide wheel mounted at the top end of the outer door post, and a second top guide wheel mounted at the top end of the inner door post; the axial directions of the bottom guide wheel, the first top guide wheel, the inner guide wheel and the second top guide wheel are consistent;

The second end of each steel belt sequentially bypasses the bottom guide wheel, the first top guide wheel, the inner guide wheel and the second top guide wheel and is connected with the carrying mechanism.

3. The gantry lift mechanism of claim 2, wherein the outer gantry further comprises: a first top plate; the first top plate is arranged at the tops of the two outer door posts;

The first top guide wheel is fixed at one end of the first top plate through a first top guide wheel mounting seat;

The first top leading wheel mount pad includes: the first bottom plate, two oppositely arranged first mounting side plates and a first mounting shaft; the first bottom plate is fixedly connected with the first top plate; the first top guide wheel is arranged between the two first installation side plates, and the first installation shaft penetrates through the two first installation side plates and the first top guide wheel so that the first top guide wheel rotates around the first installation shaft.

4. A gantry lifting mechanism as claimed in claim 3, wherein the outer gantry further comprises: an encoder; the encoder is arranged on one side of the first top guide wheel, which is close to the middle of the first top plate, and is fixedly connected with the first top plate through an encoder mounting seat; the encoder is coaxially connected with the first mounting shaft through a coupler.

5. The portal lifting mechanism according to claim 2, wherein a through hole is formed in the bottom of the outer portal, the bottom guide wheel is fixed on the outer side surface of the bottom of the outer portal through a bottom guide wheel mounting seat, and the bottom guide wheel is located at the position of the through hole, so that the steel belt bypasses the bottom of the bottom guide wheel and stretches into the outer portal;

The bottom leading wheel mount pad includes: the bottom mounting side plates are fixedly connected with the outer portal; the bottom guide wheel is arranged between the two bottom installation side plates, and the bottom installation shaft penetrates through the bottom installation side plates and the bottom guide wheel so that the bottom guide wheel rotates around the bottom installation shaft.

6. The gantry lift mechanism of claim 2, wherein the inner gantry further comprises: a second top plate; the second top plate is arranged at the tops of the two inner door posts;

The number of the second top guide wheels is two, and the two second top guide wheels are fixed at one end of the second top plate side by side through the second top guide wheel mounting seat; the second top guide wheel mounting seat comprises a second bottom plate, two second mounting side plates and two second mounting shafts, the second bottom plate is fixedly connected with the second top plate, the two second top guide wheels are arranged between the two second mounting side plates side by side, and the two second mounting shafts respectively penetrate through the two second mounting side plates and the two second top guide wheels; so that the second top guide wheel rotates about the second mounting axis.

7. The portal lifting mechanism of claim 2, wherein each of the outer door posts comprises: a first mounting surface and two second mounting surfaces; the first mounting surface is arranged on the inner side of the outer door post and opposite to the inner door post, and the second mounting surface is arranged on the inner side of the outer door post and perpendicular to the first mounting surface.

8. The portal lifting mechanism of claim 7, wherein each of the outer door posts further comprises: a first rolling wheel set; the first rolling wheel set is arranged below the second top guide wheel and fixed on the inner side of the outer door post and is positioned between the inner door post and the outer door post, so that the inner door post and the outer door post are in rolling connection.

9. The portal lifting mechanism of claim 8, wherein each of the inner door jambs comprises: a first plane proximate to and parallel to the first mounting surface; the first plane is provided with a convex rib which is perpendicular to the first mounting surface and protrudes towards the first mounting surface;

The first rolling wheel set comprises: the device comprises two first transverse rolling wheels, two first longitudinal rolling wheels and a first side roller; the two first transverse rolling wheels are arranged above the two first longitudinal rolling wheels, and the axial directions of the first transverse rolling wheels are perpendicular to the first mounting surface and are used for rolling contact with the convex ribs of the inner door frame; the axial direction of the first longitudinal rolling wheel is parallel to the first mounting surface and is used for rolling contact with a first plane of the inner door frame; the first side roller is arranged on the second mounting surface, and the axial direction of the first side roller is parallel to the axial direction of the longitudinal rolling wheel and is used for rolling contact with the inner door frame.

10. The portal lifting mechanism according to claim 9, wherein a mounting through hole is formed in the position of the outer door post corresponding to the first rolling wheel set, the first rolling wheel set is fixed in the mounting through hole, a rolling wheel set baffle is arranged on the outer side of the mounting through hole, and the rolling wheel set baffle comprises two transverse rolling wheel baffles and a transverse rolling wheel baffle; the baffle plate of the longitudinal rolling wheel is provided with two cross-shaped through holes, and the two first longitudinal rolling wheels are respectively exposed at the two cross-shaped through holes.

11. Portal lifting mechanism according to claim 9, characterized in that,

Each of the inner door posts further comprises: the second rolling wheel set; the second rolling wheel set is arranged below the inner guide wheel and fixed on the outer side of the inner door post, and is positioned between the inner door post and the outer door post, so that the inner door post and the outer door post are in rolling connection.

12. The gantry lift mechanism of claim 11, wherein the outer gantry further comprises: a chute side plate matched with the second rolling wheel group; the chute side plate is arranged inside the outer door post and is perpendicular to the first mounting surface;

The second rolling wheel set comprises: the two second transverse rolling wheels are arranged below the two second longitudinal rolling wheels; the axial direction of the second transverse rolling wheel is perpendicular to the first plane and is used for rolling contact with a chute side plate of the outer portal; the axial direction of the second longitudinal rolling wheel is parallel to the first plane; for rolling contact with the first mounting surface; the second side roller is fixedly connected with one end of the first plane through a second side roller mounting seat and is mutually perpendicular to the direction of the second rolling wheel set, and the axial direction of the second side roller is parallel to the first plane and is used for rolling contact with the outer portal frame.

13. The portal lifting mechanism according to claim 9, wherein the carrying mechanism comprises two side plates arranged oppositely, a carrying frame body connected with the two side plates and two steel belt fixing pieces; the side plates are in rolling connection with the inner door post;

the steel belt fixing piece comprises a connecting structure and a locking structure connected with the connecting structure;

the steel belt fixing piece is arranged at a position, far away from the outer door post, of the side plate through a connecting structure, and is kept at a distance from the outer door post;

The second end of the steel belt is arranged in the locking structure and used for fixedly connecting the second end of the steel belt with the carrying mechanism.

14. The gantry lift mechanism of claim 13, wherein the connection structure includes: a first connector and a second connector;

The locking structure includes: the steel strip penetrates from the front end inlet of the wedge-shaped shell, bypasses the fixed shaft after passing through the plane side of the wedge-shaped block, passes through the inclined plane side of the wedge-shaped block and finally penetrates out from the front end inlet of the wedge-shaped shell;

One side of the first connecting piece is fixedly connected with the side plate, and the other side of the first connecting piece is fixedly connected with the second connecting piece; the second connecting piece comprises a connecting shaft which is matched and connected with the fixed shaft of the wedge-shaped shell, and a connecting plate which is fixedly connected with the first connecting piece, and the connecting plate is fixedly connected with the connecting shaft.

15. The portal lifting mechanism of claim 13, wherein the inner jamb comprises: a guide groove; the guide groove is arranged on one side, far away from the first plane, of the inner door post, and the opening of the guide groove faces to the inner side of the inner door post;

The side plate of the object carrying mechanism is in rolling connection with the inner door post through a third rolling wheel set;

The third rolling wheel set is arranged on a side plate of the carrying mechanism and is nested in the guide groove, so that the carrying mechanism is in rolling connection with the inner door frame.

16. The portal lifting mechanism of claim 15, wherein the inner guide wheel is secured to the inner door post by an inner guide wheel mount fixedly connected to an outer wall of one side of the guide slot, the inner guide wheel being located between the first plane and the guide slot.

17. The gantry lift mechanism of claim 1, wherein the drive assembly further comprises: the motor comprises a motor base, a transmission shaft, a first gear, a second gear and a speed reducer; the motor is fixedly connected with the speed reducer, and the speed reducer comprises a speed reducer output shaft; the transmission shaft and the output shaft of the speed reducer are arranged in parallel based on the motor base, and two ends of the transmission shaft are fixedly connected with the two driving belt wheels respectively; the first gear is sleeved on the output shaft of the speed reducer, the second gear is sleeved on the transmission shaft, the first gear is meshed with the second gear, the motor drives the output shaft of the speed reducer to rotate, and the transmission shaft is driven to rotate through the first gear and the second gear so as to drive the two driving pulleys to rotate.

18. The portal lifting mechanism of claim 17, wherein the motor mount comprises a third base plate and a first riser and a second riser vertically disposed on the third base plate, the first riser and the second riser are disposed opposite to each other, the motor and the speed reducer are disposed between the first riser and the second riser, and an end of the speed reducer away from the motor is fixedly connected to the first riser; the speed reducer output shaft passes through the first vertical plate, and the transmission shaft passes through the first vertical plate and the second vertical plate; the first gear and the second gear are arranged on one side, away from the motor, of the first vertical plate.

19. The gantry lift mechanism of claim 1, wherein the drive assembly further comprises: briquetting; the steel belt is wound on the driving belt wheel in a multi-layer superposition mode, and the pressing block presses the first end of the steel belt on the driving belt wheel and is fixedly connected with the driving belt wheel.

20. The portal lifting mechanism of claim 1, wherein the steel belt comprises a plurality of groups of steel wire bundles, each group of steel wire bundles comprising a plurality of steel wires, each group of steel wire bundles being disposed side-by-side and externally wrapped with a plastic material.

21. A transfer robot, comprising: a chassis and the portal lifting mechanism as claimed in any one of claims 1 to 20, said portal lifting mechanism being mounted on said chassis.