The invention provides a gantry type transfer robot and a cargo loading control method thereof.The gantry type transfer robot comprises a mobile robot and a loading device, the loading device is borne on the top of the mobile robot, and the loading device comprises a three-axis portal frame, a pallet fork and a plurality of cargo carrying frames; wherein the pallet fork is connected with the movable end of a hanging bracket of the three-axis portal frame; supporting legs of each cargo carrying frame are connected with a carrying platform of the three-axis portal frame, a pair of supporting arms extend out of the top of each cargo carrying frame and are suspended on the carrying platform, the suspension height is larger than the thickness of a pallet fork, meanwhile, the supporting arms are arranged at intervals, and the interval distance is larger than the face width of the pallet fork. The pallet forks are driven by the three-axis portal frame to move between the interval areas and the suspension areas of the supporting arms in a space staggered mode. Therefore, temporary storage of the goods is supported, and the goods hand changing function is achieved.
本发明提供了一种龙门式搬运机器人及其货物载装控制方法,其中该龙门式搬运机器人包括:移动机器人,载装装置,所述移动机器人顶部承载载装装置,其中所述载装装置包括:三轴龙门架,货叉,复数载货架,其中所述货叉与三轴龙门架的吊架移动端连接;各所述载货架的撑脚与三轴龙门架的运载台连接,各所述载货架的顶部延伸出一对支撑臂并悬空于运载台上,且该悬空高度大于货叉的厚度,同时每条支撑臂间隔设置,且间隔距离大于所述货叉的面宽,所述货叉经三轴龙门架带动在支撑臂的间隔区域及悬空区域之间进行空间交错移动。籍此以支持货物暂存,并实现货物换手功能。
Gantry type transfer robot and cargo loading control method thereof
一种龙门式搬运机器人及其货物载装控制方法
2022-12-30
Patent
Electronic Resource
Chinese
IPC: | B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last |
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