WO2023010824A1

WO2023010824A1 - Lifting apparatus and transfer robot

Info

Publication number: WO2023010824A1
Application number: PCT/CN2022/076098
Authority: WO
Inventors: 王启铭
Original assignee: 北京极智嘉科技股份有限公司
Priority date: 2021-08-04
Filing date: 2022-02-11
Publication date: 2023-02-09
Also published as: TW202306866A; CN216071615U

Abstract

A lifting apparatus and a transfer robot, the lifting apparatus comprising: a first gantry (30), and a second gantry (40) which can move along the height direction of the first gantry. The lifting apparatus further comprises a first lifting mechanism (50). The first lifting mechanism is used to drive the second gantry to move relative to the first gantry. The lifting apparatus further comprises a telescopic fork pickup mechanism (70) that may move up and down along the height direction of the second gantry, and a second lifting mechanism (60) that is used to drive the telescopic fork pickup mechanism to move. The second gantry moves up along the height direction of the first gantry, thereby increasing the cargo access height of the telescopic fork pickup mechanism; and the second lifting mechanism drives the telescopic fork pickup mechanism to move up and down, which is convenient for accessing goods of different heights.

Description

Lifting device and handling robot

Cross References to Related Applications

This application is based on a Chinese patent application with application number 202121811928.X and a filing date of August 4, 2021, and claims the priority of this Chinese patent application. The entire content of this Chinese patent application is hereby incorporated by reference into this application.

technical field

The present application relates to the technical field of warehousing and logistics, in particular to a lifting device and a handling robot.

Background technique

At present, the height of the warehouse is very high, and the height of the warehouse is generally 6-9 meters. As shown in Figure 1, the height of the shelf 1 is generally about 4 meters. In order to make better use of the space with a height of 5-9 meters and increase the storage capacity of the warehouse, the shelves 1 are stacked to form a warehouse that can utilize the space with a height of 5-9 meters. High shelf 10.

At present, the height of the box-to-person robot (sometimes referred to as a handling robot in this article) is generally around 4.5 meters, and it is difficult to break through 5 meters, because the stability of the robot at a height of 5 meters is poor. For this reason, a container-to-human robot with better moving stability is needed to fully pick and place the containers on the upper shelf 10 .

In addition, although the existing multi-level lift box-to-person robot has a high pick-up box height, the assembly cost is high, the lifting strength is low, and the timing belt is easy to age and deform; Lifting will generate a lot of noise, which is not conducive to widespread use in warehousing and logistics.

Contents of the invention

In view of this, the present application provides a lifting device and a handling robot. By using lower-cost chains, the multi-level lifting mechanism can be easily assembled, the lifting strength is high, aging and deformation are not easy, and the noise generated during the lifting process is reduced. And during the moving process of the robot, the multi-level descent lowers the center of gravity of the robot, thereby moving stably.

In a first aspect, the present application provides a lifting device, the lifting device includes: a first door frame, and a second door frame that can move along the height direction of the first door frame; the lifting device also includes a first A lifting mechanism, the first lifting mechanism is used to drive the second door frame to move relative to the first door frame; the lifting device also includes a telescopic fork that can move up and down along the height direction of the second door frame picking mechanism; and a second lifting mechanism for driving the telescopic fork picking mechanism to move. In the present application, by making the second mast rise along the height direction of the first mast, thereby increasing the picking height of the telescopic fork picking mechanism; driving the telescopic fork picking mechanism (also called the access mechanism) ) up and down for easy access to goods of different heights.

In some embodiments, the first lifting mechanism is a chain-type lifting mechanism; the first lifting mechanism includes a driving sprocket and a driven sprocket arranged along the height direction of the first mast, and the The closed-loop chain of the driving sprocket and the driven sprocket, the closed-loop chain is fixedly connected with the second mast; the first lifting mechanism also includes a driving device, and the driving device is used to drive the The drive sprocket turns. The chain drive mode is adopted, the assembly is convenient, the lifting strength is high, and it is not easy to be aged and deformed, and the noise generated during the lifting process is reduced. A closed-loop chain is used to form a fixed pulley mechanism between the driving sprocket and the driven sprocket, the assembly process is simple, and the transmission and lifting performance is stable.

In some embodiments, the second door frame is provided with a first lifting plate slidingly matched with the first door frame, and the first lifting plate is connected with the closed-loop chain through a fixing member. During the rotation process of the closed-loop chain, it drives the second door frame to move up and down stably along the first door frame.

In some embodiments, the first lifting plate is rotatably connected with a first guide follower wheel for press-fitting with the first door frame and for guiding the moving direction of the second door frame. Guided by the first guide follower wheel, the stable lifting effect of the second mast is enhanced.

In some embodiments, a plurality of first guide follower wheels are arranged symmetrically, and the plurality of first guide follower wheels are in pressure contact with two opposite inner walls of the vertical beam of the first mast.

In some embodiments, the second lifting mechanism includes a chain arranged along the height direction of the second door frame, and the two ends of the chain are respectively fixedly connected to the second door frame; in some embodiments, The second lifting mechanism also includes a gear that is rotatably connected to the telescopic fork picking mechanism. In some embodiments, the second lifting mechanism further includes a motor for driving the gear to rotate. In some embodiments, the gear meshes with the chain. Lifting along the chain is adopted, the manufacturing cost is low, and less noise is generated during the lifting process.

In some embodiments, the telescopic fork picking mechanism is connected with a second lifting plate; the second lifting plate is provided with a driven gear for guiding the chain to mesh with the gear. The stability of lifting and lowering along the chain is enhanced by driven gears.

In some embodiments, the number of the driven gears is two, and the two driven gears are arranged on both sides of the chain; and the two driven gears are set alternately with the gears . When the gear moves up and down along the chain, it drives two driven gears to rotate and mesh with the chain, which further enhances the stability during the lifting process.

In some embodiments, the second lifting plate is also provided with a clip and a positioning block for guiding the chain to mesh with the driven gear. The clamp and the positioning block limit the chain during the lifting process, so that the meshing performance of the two driven gears with the chain is stable.

In some embodiments, the second lifting plate is rotatably connected with a second guide follower wheel for press-fitting with the second door frame and for guiding the sliding direction of the second door frame. Guided by the second guide follower wheel, the second lifting plate stably drives the telescopic fork picking mechanism to lift along the second mast.

In some embodiments, a plurality of second guide follower wheels are arranged symmetrically, and the plurality of second guide follower wheels are in pressure contact with two opposite inner walls of the vertical beam of the second mast.

In some embodiments, the second lifting plate is provided with a lifting frame connected to the telescopic fork picking mechanism, and the lifting frame is provided with a turning mechanism for driving the telescopic fork picking mechanism to rotate along the lifting frame. mechanism.

In some embodiments, multiple temporary storage units are stacked on the first door frame. Increased shipping volume for a single fetch crate.

In some embodiments, the number of the first elevating mechanisms is two, and the two first elevating mechanisms are arranged on the two vertical beams of the first mast in one-to-one correspondence.

In a second aspect, the present application provides a handling robot, which includes: a mobile chassis, and the lifting device assembled on the mobile chassis. When the handling robot needs to move, the second gantry descends along the height direction of the first gantry, so that the center of gravity of the handling robot is lowered, so that the moving performance is stable.

Description of drawings

Fig. 1 is the structural representation of shelf in the existing warehouse;

Fig. 2 is a schematic diagram of the first state of the handling robot provided by the embodiment of the present application;

Fig. 3 is an enlarged schematic diagram of A in Fig. 2 provided by the embodiment of the present application;

Fig. 4 is a schematic structural view of the first lifting mechanism provided by the embodiment of the present application;

Fig. 5 is a schematic structural diagram of a second lifting mechanism provided by an embodiment of the present application;

Fig. 6 is a schematic structural diagram of a second door frame provided by an embodiment of the present application;

Fig. 7 is an enlarged schematic diagram of B in Fig. 6 provided by the embodiment of the present application;

Fig. 8 is a schematic diagram of the second state of the handling robot provided by the embodiment of the present application;

Fig. 9 is a three-dimensional structural schematic view of the working state of the handling robot provided by the embodiment of the present application;

Fig. 10 is a schematic plan view of the working state of the handling robot provided by the embodiment of the present application.

Detailed ways

In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.

The handling robot provided by the embodiment of the present application will be described below with reference to the accompanying drawings.

Firstly, the application scenario of the handling robot provided by the embodiment of the present application will be described, referring to Fig. 1 together. Fig. 1 is a schematic structural diagram of a shelf in an existing warehouse; the height of the current warehouse is very high, and the height of the warehouse is generally 6-9 meters. But shelf 1 is generally about 4 meters in height, in order to make better use of the 5-9 meter height space and increase the storage capacity of the warehouse, the shelves 1 are stacked to form high-rise shelves 10 that can utilize the 5-9 meter height space. However, at present, the height of the box-to-person robot (sometimes also called "handling robot") is generally around 4.5 meters, and it is difficult to break through 5 meters, because the stability of the robot at a height of 5 meters is very poor. For this reason, a container-to-person robot with better moving stability is needed to fully pick and place the goods or boxes on the high-level shelf 10 . For this reason, in the embodiment of the present application, the handling robot adopts a multi-level lifting method to access the container on the high-rise shelf, and during the moving process of the handling robot, the center of gravity of the handling robot is lowered to make it move stably. It will be described below in conjunction with specific drawings.

Referring to FIG. 2 , FIG. 2 is a schematic diagram of a handling robot provided in an embodiment of the present application in a first state. The first state is the state in which the handling robot lifts up and retrieves the container on the high-level shelf 10 . The highest box picking height of the handling robot is about 9 meters. The handling robot includes a mobile chassis 20 , which is used to receive an instruction to retrieve and return a container, and move to the area for retrieving and returning a container corresponding to the high-level shelf 10 . And on mobile chassis 20, be provided with the hoisting device that is used to take back the goods on high-level shelf 10.

As shown in FIG. 3 , driving wheels 21 are symmetrically arranged at the middle of the bottom of the mobile chassis 20 , and casters (not shown) are symmetrically arranged at the front and rear ends of the mobile chassis 20 . Thus, the mobile chassis 20 drives the lifting device and the picking device to move in the lane in the high-rise shelf 10, and transports the container on the high-rise shelf 10 that receives the instruction position.

The lifting device includes a first door frame 30 disposed on the mobile chassis 20 and a second door frame 40 movable along the height direction of the first door frame 30 .

The first door frame 30 is assembled on the mobile chassis 20 with a fixed vertical state, and the first door frame 30 includes two vertical beams facing each other, and a crossbeam connecting the two vertical beams to form a door frame structure. It should be understood that the above-mentioned beams may be used for fixing the temporary storage unit 80 , or separately provided for fixing the two vertical beams, which are not limited here.

When the second door frame 40 moves relative to the height direction of the first door frame 30 , the second door frame 40 can be slidably assembled on the first door frame 30 . As shown in Figure 2, when the second door frame 40 moves along the height direction of the first door frame 30, it can be extended from the top of the first door frame 30, so that the highest point of the second door frame 40 is in line with the height of the high-rise shelf 10. corresponding to the highest point.

Referring to FIG. 3 and FIG. 4 , the lifting device further includes a first lifting mechanism 50 for driving the second door frame 40 to move up and down along the height direction of the first door frame 30 . In order to improve the stability when the loaded cargo box is lifted, the number of the first lifting mechanism 50 is two, and the two first lifting mechanisms 50 are arranged on the two vertical beams of the first door frame 30 in one-to-one correspondence, and the two The first elevating mechanism 50 synchronously lifts and lowers the second door frame 40, so that the rising or falling heights of the two vertical beams of the second door frame 40 are always consistent. The first lifting mechanism 50 adopts a chain-type lifting mechanism with low manufacturing cost, simple assembly process, and not easy to aging and deformation. In the following, only a set of first lifting mechanisms 50 connected to any side of the first door frame 30 will be described in detail.

The first lifting mechanism 50 includes a driving sprocket 54 and a driven sprocket 57 arranged along the height direction of the first door frame 30 . And a closed-loop chain 53 is connected between the driving sprocket 54 and the driven sprocket 57; The driving device 55 adopts a driving motor to connect the speed reducer, and the speed reducer drives and rotates the two drive sprockets 54 of the two groups of first lifting mechanisms 50 synchronously.

The driven sprocket 57 is rotatably connected to the first door frame 30 , so that the driven sprocket 57 is driven to rotate during the rotation of the driving sprocket 54 . The driving sprocket 54 and the driven sprocket 57 are distributed along the height direction of the first door frame 30 . In some embodiments, the driving device 55 and the driving sprocket 54 are disposed at the bottom of the first door frame 30 , and the driven sprocket 57 is rotatably connected to the top of the first door frame 30 . In other embodiments, the driving device 55 and the driving sprocket 54 are arranged on the top of the first door frame 30 , and the driven sprocket 57 is rotatably connected to the bottom of the first door frame 30 . In this embodiment, the above-mentioned distribution manner of the driving sprocket 54 and the driving device 55 disposed on the bottom of the first door frame 30 is described as an example.

Continuing to refer to FIG. 4 , the second door frame 40 is provided with a first lifting plate 51 . The first lifting plate 51 is fixedly connected to the second door frame 40 , and in order to increase the raised position of the second door frame 40 , the first lifting plate 51 is connected to the bottom of the second door frame 40 . The first lifting plate 51 is equipped with a fixing piece 56 fixedly connected with the closed-loop chain 53 . During the rotation of the closed-loop chain 53 , the fixing member 56 drives the first lifting plate 51 to move along the height direction of the first door frame 30 , and then the second door frame 40 is raised and lowered.

In order to ensure that the first lifting plate 51 is slidably assembled on the first door frame 30 and moves stably in the first door frame 30 , the first lifting plate 51 is rotatably connected with a first guide follower that guides the sliding direction of the second door frame 40 . Moving wheel 52. A plurality of first guide follower wheels 52 are arranged symmetrically, and the plurality of first guide follower wheels 52 are in pressure contact with two opposite inner walls of the vertical beam of the first door frame 30 . Therefore, during the lifting and moving process of the first lifting plate 51 along the first door frame 30 , a plurality of first guide follower wheels 52 are attached to the two inner walls of the vertical beam of the first door frame 30 to rotate, so as to realize the purpose of guiding and steady lifting.

In the above structure, the closed-loop chain 53 is used to form a set of fixed pulley mechanisms between the driving sprocket 54 and the driven sprocket 57, and the second door frame 40 is driven up and down during the rotation of the closed-loop chain 53, and the assembly process is simple. And transmission lifting performance is stable.

Referring to Fig. 2 and Fig. 5, the lifting device in this embodiment also includes a telescopic fork picking mechanism 70, and the telescopic fork picking mechanism 70 is at least a three-stage telescopic picking mechanism. The telescopic fork picking mechanism 70 can move relative to the height direction of the second door frame 40. In some embodiments, the telescopic fork picking mechanism 70 is slidably connected with the second door frame 40, and the second door frame 40 is provided with a The telescopic fork pick-up mechanism 70 is the second lifting mechanism 60 that slides along the height direction of the second mast 40 .

In some embodiments, the telescopic fork retrieval mechanism 70 is at the highest retrieval height as shown in FIG. 2 . When the above-mentioned highest picking height is realized, the second door frame 40 synchronously drives the telescopic fork picking mechanism 70 to rise during the process of rising along the first door frame 30 . When the bottom of the second door frame 40 coincides with the top of the first door frame 30, the telescopic fork pick-up mechanism 70 is driven by the second elevating mechanism 60 to move along the height direction of the second door frame 40, so that the highest level of the high-rise rack 10 can be reached. Take and return the container at the cargo floor. It should be specifically stated that when retrieving and returning containers for high-rise shelves 10 of different heights, the second door frame 40 can be lifted to the highest position where the container needs to be picked up, and not necessarily raised to the second door frame 40 It can also be the limit position of the second gantry 40. At this time, the telescopic fork picking mechanism 70 can be synchronously lifted and lowered under the action of the second lifting mechanism 60 during the lifting process of the gantry, or it can be lifted on the second gantry. After the 40 lifting is completed, it is driven by the second elevating mechanism 60 to elevate to the height of the corresponding cargo box, and only the telescopic fork picking mechanism 70 can be lifted by itself, or the telescopic fork picking mechanism 70 can be lifted first, and the second mast 40 and then lift.

Referring to FIG. 6 to FIG. 7 , FIG. 6 is a schematic structural diagram of the second door frame 40 provided in this embodiment. The second door frame 40 is a frame structure matched with the first door frame 30 . The two sides on the second mast 40 are symmetrically provided with second elevating mechanisms 60, and two groups of second elevating mechanisms 60 are respectively connected with both sides of the telescopic fork picking mechanism 70, thereby ensuring that the telescopic fork picking mechanism 70 is carrying goods. Stable lifting of the box. Only the second elevating mechanism 60 on any side of the second door frame 40 will be described in detail below.

The second lifting mechanism 60 includes a chain 64 arranged along the height direction of the second door frame 40 . The chain 64 is a single chain, one end of the chain 64 is fixedly connected to the top end of the second door frame 40 , and the other end is fixedly connected to the bottom end of the second door frame 40 . At the same time, in order to increase the service life of the chain 64, the chain 64 does not have tension inside the second door frame 40, and is in a free vertical state.

Meanwhile, the second lifting mechanism 60 also includes a gear 66 rotatably connected to the telescopic fork picking mechanism 70 . The gear 66 meshes with the chain 64 during rotation, thereby driving the telescopic fork picking mechanism 70 to move up and down along the second door frame 40 .

The gear 66 is driven to rotate by the motor 62 , and the motor 62 drives the gears 66 on both sides to mesh with the corresponding chain 64 synchronously. Lifting along the chain 64 is adopted, the manufacturing cost is lower, and less noise is generated during the lifting process.

As shown in FIG. 5 , the telescopic fork pick-up mechanism 70 is connected with a second lifting plate 61 slidably connected with the second door frame 40 . The motor 62 lifts up and down synchronously with the second lifting plate 61 on both sides, and the gear 66 is rotatably connected to the second lifting plate 61, so that the second lifting plate 61 is driven up and down during the meshing process of the gear 66 and the chain 64.

At the same time, in order to ensure the tight meshing between the gear 66 and the chain 64 , the second lifting plate 61 is provided with a driven gear 67 for guiding the chain 64 to mesh with the gear 66 . There are two driven gears 67, and the two driven gears 67 are arranged on both sides of the chain 64; and the two driven gears 67 and the gear 66 are arranged alternately. When the gear 66 moves up and down along the chain 64, it drives two driven gears 67 to rotate and mesh with the chain 64, thereby guiding the meshing between the gear 66 and the chain 64, ensuring the tight mesh between the gear 66 and the chain 64, and further enhancing the lifting stability in the process.

A clip and a positioning block 68 for engaging the guide chain 64 with the driven gear 67 are also arranged on the second lifting plate 61 . The clip and positioning block 68 limit the position of the chain 64 during the lifting process, so that the two driven gears 67 and the chain 64 can rotate and engage with each other stably.

It can be seen from the above description that in the free vertical state of the chain 64 , there is no tension, so that the chain 64 is not easily damaged during the climbing process of the second lifting plate 61 . Moreover, the climbing method is adopted to effectively reduce the noise generation. The chain 64 is guided by the clip and the positioning block 68 so that the two driven gears 67 mesh with the chain 64, and the two driven gears 67 mesh with the chain 64 so that the meshing degree of the gear 66 and the chain 64 is tight, thereby realizing stable lifting.

Continue to refer to Fig. 5 and Fig. 7, in order to ensure that the second lifting plate 61 is slidably assembled on the second door frame 40 and moves stably in the second door frame 40, the second lifting plate 61 is rotatably connected with the second door frame 40 is press fit, and is used to guide the second guide follower wheel 63 in the sliding direction of the second lifting plate 61 . A plurality of second guide follower wheels 63 are symmetrically arranged, and the plurality of second guide follower wheels 63 are in pressure contact with two opposite inner walls of the vertical beam of the second door frame 40 . Therefore, during the lifting and moving process of the second lifting plate 61 along the second door frame 40 , a plurality of second guide follower wheels 63 are attached to the two inner walls of the vertical beam of the second door frame 40 to rotate, so as to realize the purpose of guiding and steady lifting.

The second lifting plate 61 is provided with a lifting frame 65 connected to the telescopic fork picking mechanism 70, and the lifting frame 65 is provided with a rotary mechanism that drives the telescopic fork picking mechanism 70 to rotate along the lifting frame 65, for adjusting the telescopic fork picking mechanism 70 for the pick-up box direction. 2 and 8, in order to increase the carrying capacity of the transport robot, a plurality of temporary storage units 80 are stacked on the first door frame 30, and the telescopic fork picking mechanism 70 moves the temporary storage units 80 through the rotary mechanism. The cargo boxes on the upper shelf are transported to the high-level shelf 10, or the cargo boxes on the high-rise shelf 10 are transported to the temporary storage unit 80 for storage.

Referring to FIG. 8 , FIG. 8 is a schematic diagram of the second state of the handling robot provided by the embodiment. The second state is the state when the transfer robot is walking. When the handling robot transports the cargo boxes of the high-rise rack 10, its movement performance is unstable. For this reason, in the present embodiment, in the moving process of the handling robot, the second door frame 40 is lowered to a low position along the first door frame 30 under the driving of the first lifting mechanism 50, and the telescopic fork picking mechanism 70 is in the second lifting mechanism. 60 and descends to a lower position along the second door frame 40 under the driving. Thereby, the center of gravity of the handling robot is lowered, and the walking of the handling robot is stabilized. When accessing the container on the lower shelf at the same time, the second door frame 40 is in a low position and the position remains unchanged, and the telescopic fork picking mechanism 70 can lift and lower along the second door frame 40 to complete the taking and returning operation of the lower layer container.

Referring to FIGS. 9 to 10 , FIG. 9 and FIG. 10 show a schematic view of the state of the handling robot in this embodiment taking and returning the container on the high-level shelf 10 . The first door frame 30, the second door frame 40, and the telescopic fork picking mechanism 70 are driven by the moving chassis 20 to move to the side of the high-level shelf 10 to be picked up. At this moment, the first lifting mechanism 50 drives the second door frame 40 to rise along the first door frame 30 , and the second door frame 40 extends from the top of the first door frame 30 . Subsequently, the second elevating mechanism 60 drives the telescopic fork pick-up mechanism 70 to rise to the level level with the layer to be picked up along the second mast 40, and the telescopic fork pick-up mechanism 70 takes out the container on the high-rise shelf 10, the first The lifting mechanism 50 drives the second door frame 40 to descend along the first door frame 30 , and the second lifting mechanism 60 drives the telescopic fork picking mechanism 70 to drop along the second door frame 40 to the corresponding temporary storage unit 80 for storage. When storing the cargo boxes on the temporary storage unit 80 on the upper shelf 10, the operation is reversed.

The above are only preferred embodiments of the application and are not intended to limit the application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the application shall be included within the scope of protection of the application .

Claims

A lifting device, comprising: a first door frame, and a second door frame movable along the height direction of the first door frame;

The lifting device also includes a first lifting mechanism, and the first lifting mechanism is used to drive the second door frame to move relative to the first door frame;

The lifting device also includes a telescopic fork picking mechanism that can move up and down along the height direction of the second mast, and a second lifting mechanism for driving the telescopic fork picking mechanism to move.
The lifting device according to claim 1, wherein the first lifting mechanism is a chain lifting mechanism;

The first lifting mechanism includes a driving sprocket and a driven sprocket arranged along the height direction of the first mast, and a closed-loop chain connecting the driving sprocket and the driven sprocket. The type chain is fixedly connected with the second door frame;

The first lifting mechanism also includes a driving device, and the driving device is used to drive the driving sprocket to rotate.
The lifting device according to claim 2, wherein a first lifting plate is arranged on the second door frame, and the first lifting plate is connected with the closed-loop chain through a fixing piece.
The lifting device according to claim 3, wherein the first lifting plate is rotatably connected with a first guide follower for press fit with the first door frame and for guiding the moving direction of the second door frame. moving wheel.
The lifting device according to claim 4, wherein a plurality of the first guide follower wheels are arranged symmetrically, and the plurality of first guide follower wheels are opposite to the two inner walls of the vertical beam of the first door frame Pressure contact.
The lifting device according to any one of claims 1 to 5, wherein the second lifting mechanism includes a chain arranged along the height direction of the second mast, and the two ends of the chain are respectively connected to the second The door frame is fixedly connected;

The second lifting mechanism also includes a gear that is rotatably connected to the telescopic fork picking mechanism.
The lifting device according to claim 6, wherein the second lifting mechanism further comprises a motor for driving the gear to rotate.
6. The lifting device of claim 6, wherein said gear meshes with said chain.
The lifting device according to claim 6, wherein the telescopic fork picking mechanism is connected with a second lifting plate;

The second lifting plate is provided with a driven gear for guiding the chain to mesh with the gear as the climbing gear.
The lifting device according to claim 9, wherein the number of the driven gears is two, and the two driven gears are arranged on both sides of the chain;

And the two driven gears are arranged in a staggered manner with the gear as the climbing gear.
The lifting device according to claim 10, wherein a clip and a positioning block for guiding the chain to mesh with the driven gear are arranged on the second lifting plate.
The lifting device according to claim 9, wherein, the second lifting plate is rotatably connected with a second guide follower for press-fitting with the second door frame and for guiding the sliding direction of the second door frame. moving wheel.
The lifting device according to claim 12, wherein a plurality of said second guide follower wheels are arranged symmetrically, and the plurality of said second guide follower wheels are opposite to the two inner walls of the vertical beam of the second door frame Pressure contact.
The lifting device according to claim 9, wherein a lifting frame connected to the telescopic fork picking mechanism is arranged on the second lifting plate, and a lifting frame is provided on the lifting frame to drive the telescopic fork picking mechanism along the Describe the slewing mechanism for the lifting frame to rotate.
The lifting device according to any one of claims 1-14, wherein a plurality of temporary storage units are stacked on the first door frame.
The lifting device according to any one of claims 1 to 15, wherein, the number of the first lifting mechanisms is two, and the two first lifting mechanisms are arranged on the sides of the first door frame in one-to-one correspondence. on the two vertical beams.
A handling robot, comprising: a mobile chassis, and the lifting device according to any one of claims 1-16 assembled on the mobile chassis.