CN218808204U - Objective table, liftable portal and transfer robot - Google Patents

Abstract

The utility model discloses an objective table, liftable portal and transfer robot, objective table include mainboard, curb plate and butt joint portion. The side plate is arranged around the main plate and forms a placing space for bearing articles together with the main plate, and the side plate is provided with an opening for the articles to pass in and out of the placing space. The butt joint part is used for butt joint with an external structure and is arranged on one side, away from the placing space, of the main board, and a preset distance is reserved between the butt joint part and the opening. The main board is provided with a guide slope surface at the opening for guiding articles to enter and exit the placing space. The utility model discloses in, have the distance of predetermineeing between butt joint portion and the opening, compare in and directly locate the mainboard opening part with butt joint portion, the utility model discloses improve the bearing capacity of mainboard and whole objective table to a certain extent. So, under the unanimous condition of article weight, the time that the objective table can bear the weight is longer and more stable, can increase handling robot to a certain extent and get the stroke scope when putting article, makes handling robot can transport article to higher height.

Description

Objective table, liftable portal and transfer robot

Technical Field

The utility model relates to a storage logistics robot technical field indicates an objective table, liftable portal and transfer robot especially.

Background

The heights of warehouses related to the warehouse logistics neighborhood are high at present, in order to better utilize warehouse space, the height of a newly-built partial stereoscopic warehouse can reach 10 meters or even higher generally, and the storage capacity of the warehouse is improved by stacking the shelves to form a high-rise shelf. In order to obtain goods and a material box on a high-rise goods shelf, a multi-level lifting carrying robot is widely adopted at present, and goods with different heights are taken and placed by lifting the height of a fork.

At present multistage lift transfer robot when realizing higher height of getting goods, faces to promoting back overall structure intensity lower, the relatively poor scheduling problem of stability. The object carrying table in the existing lifting portal frame is often fixed at the end part on the portal frame, so that the part where the object carrying table and the portal frame are connected is easy to be stressed and damaged, and particularly refer to patent document CN215709082U, at the moment, in order to reduce the safety risk and property risk possibly occurring in the transportation process due to the breakage of the object carrying table, the applicable height and the object carrying weight of the object carrying table can be limited in the use process, so that the lifting portal frame is difficult to stably transport objects to a higher height.

Therefore, how to improve the technical defects in the prior art is always an urgent problem to be solved by those skilled in the art.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing an objective table, liftable portal and transfer robot, wherein, the structural stability of objective table is higher and bearing capacity is strong, has increased transfer robot and has realized that article get the highest height of putting, and getting of article is more convenient.

The utility model provides a technical scheme as follows:

an object table comprising:

a main plate, a side plate and a butt joint part;

the side plates are arranged around the main plate and form a placing space for bearing articles together with the main plate; and

the side plate is provided with an opening for articles to pass in and out of the placing space;

the butt joint part is used for butt joint with an external structure and is arranged on one side of the main board, which is far away from the placing space, and a preset distance is reserved between the butt joint part and the opening;

the main board is positioned at the opening and is provided with a guide slope surface for guiding articles to enter and exit the placing space.

In some embodiments, the side plate is provided with a guide plate corresponding to the opening edge;

one end of the guide plate, which is far away from the side plate, extends towards the placing space to guide articles to enter and exit the placing space.

In some embodiments, a first reinforcing rib is arranged at a connecting position of the guide plate and the side plate on a side away from the placing space, so as to reinforce the connecting strength of the guide plate and the side plate.

In some embodiments, the stage further comprises:

the first support frame is arranged on one side of the mainboard, which is far away from the placing space, and is fixed on one side of the butt joint part, which is far away from the opening; and

the first support frame comprises at least two first support plates which are arranged in parallel and used for strengthening the connection strength of the main board and the butt joint part.

In some embodiments, the number of the first support plates is two, and the first support frame further comprises a first connection plate for connecting the two first support plates;

a second reinforcing rib plate is arranged on one side, away from the butt joint part, of the first connecting plate and used for reinforcing the connection strength of the main plate and the first connecting plate;

the second reinforcing rib is parallel to the two first support plates, and the second reinforcing rib is located in the middle of the two first support plates.

In some embodiments, the first supporting plate is provided with a plurality of lightening holes, and a reinforcing rib is formed between every two adjacent lightening holes to reinforce the structural strength of the first supporting plate.

In some embodiments, the stage further comprises:

the second supporting frame is arranged on one side, close to the opening, of the main board and is far away from the placing space; and

the second support frame comprises at least two second support plates arranged in parallel and a second connecting plate used for connecting one end, far away from the butt joint part, of the second support plate, so that the structural strength of the main plate is enhanced.

In some embodiments, the butt joint portion includes two oppositely disposed outer frame plates and a cross beam disposed between the two outer frame plates;

the two outer frame plates are provided with a flange at one side close to each other and at two ends in the width direction of the outer frame plates, and the flange and the outer frame plates jointly form an assembly space for fixing the cross beam; and

the number of the cross beams is at least two, and the cross beams are uniformly distributed in the assembly space at intervals.

In some embodiments, a sensor is disposed within the placement space to detect a position of an item within the placement space.

The utility model also provides a liftable portal, include:

the object stage comprises a first portal, a second portal and a plurality of object stages provided by any one of the above parts;

the second portal frame can move along the height direction of the second portal frame relative to the first portal frame, and the plurality of object stages are uniformly distributed at intervals along the movement direction of the first portal frame;

the butt joint part is used for butt joint the first portal so as to fix the objective table on the second portal.

The utility model also provides a transfer robot, include:

the article taking and placing device and the lifting door frame are provided;

the article taking and placing device is arranged on the second door frame, is positioned on one side, close to the opening of the object stage, of the second door frame and is suitable for taking and placing articles between the object stage and the vertical type goods shelf.

The technical effects of the utility model reside in that:

1. in this patent, have the distance of predetermineeing between butt joint portion and the opening, compare in directly locating the mainboard opening part with butt joint portion, butt joint portion is higher with exterior structure's joint strength for the position that mainboard and butt joint portion are connected is more difficult to the atress fracture, has improved the bearing capacity of mainboard and whole objective table to a certain extent. So, under the unanimous condition of article weight, the time that the objective table that this patent provided can the bearing is longer and more stable, if what place on the objective table is to wait to transport the article on the goods shelves, at this moment, stronger bearing capacity makes the transit time that this article can wait lengthen, can increase the travel range when transfer robot gets the article of putting to a certain extent, and then make transfer robot can be steadily with article transportation to higher height, the practicality is strong, long service life and application scope are wide. In addition, in this patent, the mainboard is located the opening part and is equipped with direction slope for article get into more easily and place the space in, relatively, when the user need take off article, article also can leave along direction slope and place the space, and the transport is convenient more and laborsaving.

2. In this patent, through setting up first reinforcing floor, strengthened the joint strength of deflector and curb plate, effectively avoided the deflector because of taking place with the cracked condition of article collision, further improved the structural strength and the life of objective table.

3. In this patent, through setting up first support frame, improved the joint strength of mainboard and butt joint portion, reduced the connecting portion of mainboard and butt joint portion because of the too big cracked possibility of bearing, further improved the bearing capacity of mainboard and whole objective table for transfer robot can transport article to higher height steadily.

4. In this patent, set up the second support frame through being close to the opening part at the mainboard, improved the bearing capacity of objective table at the opening part, made its difficult fracture, avoided article when business turn over objective table, damaged the atress position of mainboard, improved the life of objective table and liftable portal.

5. In this patent, can detect the sensor of article position in placing the space through the setting for the user can confirm article fast and place in place, has improved handling efficiency. Meanwhile, the condition that articles fall off from the objective table due to improper placement can be avoided, and the safety performance of the transfer robot is greatly improved.

Drawings

The invention will be described in further detail with reference to the following drawings and embodiments:

fig. 1 is a schematic view of a three-dimensional structure of a liftable door frame provided by the present invention in one state;

FIG. 2 is an enlarged schematic view of the three-dimensional structure shown at A in FIG. 1;

fig. 3 is a schematic perspective view of the liftable door frame provided by the present invention in another state;

FIG. 4 is an enlarged schematic view of the three-dimensional structure shown at B in FIG. 3;

fig. 5 is a schematic perspective view of the objective table provided by the present invention in one state;

fig. 6 is a schematic perspective view of the objective table provided by the present invention in another state;

fig. 7 is a schematic perspective view of the objective table provided by the present invention in another state;

FIG. 8 is an enlarged schematic view of the three-dimensional structure shown in FIG. 7 at C;

fig. 9 is a schematic perspective view of the transfer robot provided by the present invention in one state;

fig. 10 is a schematic perspective view of the transfer robot according to another embodiment of the present invention.

The reference numbers illustrate:

100. an object stage; 110. a main board; 111. guiding the slope surface; 120. a side plate; 121. an opening; 122. a support plate; 123. a guide plate; 130. a butt joint part; 131. an outer frame plate; 132. a cross beam; 133. blocking edges; 134. an assembly space; 140. a placement space; 150. a first reinforcing rib; 160. a first support frame; 161. a first support plate; 1611. lightening holes; 1612. reinforcing ribs; 162. a first connecting plate; 163. a second reinforcing rib; 170. a second support frame; 171. a second support plate; 172. a second connecting plate; 180. a sensor;

200. a first gantry;

300. a second portal;

400. an article taking and placing device.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

In order to more clearly illustrate embodiments of the present invention or technical solutions in the prior art, specific embodiments of the present invention will be described below with reference to the accompanying drawings. It is obvious that the drawings in the following description are only examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be obtained from these drawings without inventive effort.

For the sake of simplicity, only the parts related to the utility model are schematically shown in the drawings, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "one" means not only "only one" but also a case of "more than one".

It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

In this context, it is to be understood that, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the embodiments shown in the drawings, the directions such as up, down, left, right, front, and rear are used to explain the structure and movement of the various components of the present invention not absolutely, but relatively. These illustrations are appropriate when these components are in the positions shown in the figures. If the description of the positions of these components changes, the indication of these directions changes accordingly.

In addition, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not intended to indicate or imply relative importance.

According to the present invention, referring to fig. 1 to 10, an object stage 100, a liftable door frame and a transfer robot are provided. The object stage 100 may specifically include a main plate 110, a side plate 120 and a docking portion 130, wherein the side plate 120 is disposed around the main plate 110, and forms a placing space 140 for carrying an object together with the main plate 110, and the side plate 120 has an opening 121 for the object to enter and exit the placing space 140. The docking portion 130 is used for docking an external structure, and is disposed on a side of the main board 110 away from the placing space 140, and a predetermined distance is formed between the docking portion 130 and the opening 121. In addition, the main plate 110 is provided with a guide slope 111 at the opening 121 for guiding the articles into and out of the placing space 140.

In this embodiment, the preset distance is provided between the abutting portion 130 and the opening 121, and compared with the case that the abutting portion 130 is directly disposed at the opening 121 of the main board 110, the abutting portion 130 has higher connection strength with the external structure, so that the connection portion between the main board 110 and the abutting portion 130 is less prone to stress fracture, and the bearing capacity of the main board 110 and the entire stage 100 is improved to a certain extent. So, under the unanimous condition of article weight, the time that the objective table 100 that this embodiment provided can the bearing is longer and more stable, if what place on objective table 100 is to wait to transport the article on the goods shelves, at this moment, stronger bearing capacity makes the transit time that this article can wait for lengthen, can increase the travel range when transfer robot gets to put article to a certain extent, and then make transfer robot can transport article to higher height steadily, therefore the practicality is strong, long service life and application scope are wide.

In addition, in this embodiment, the main plate 110 is provided with a guide slope 111 at the opening 121, so that the articles can enter the placing space 140 more easily. In contrast, when the user needs to take down the articles, the guide slope 111 can guide the articles away from the placing space 140, so that the whole carrying process is more convenient and labor-saving.

In actual production, still can set up the domatic 111 of direction into the cambered surface of evagination or the cambered surface of indent etc. can guide article business turn over place space 140 can, but this embodiment only lists some implementable schemes, does not do the restriction here, all is in the utility model discloses an within the protection scope.

Specifically, referring to fig. 2 and 4 to 8, the main plate 110 is rectangular, and the side plate 120 includes three sequentially connected support plates 122 respectively disposed on three sequentially connected side walls of the main plate 110. At this time, a side wall of the main plate 110 not provided with the support plate 122 is the aforementioned opening 121 of the side plate 120.

Preferably, referring to fig. 2 and 5 to 8, a guide plate 123 is disposed at an edge of the side plate 120 corresponding to the opening 121, and an end of the guide plate 123 far away from the side plate 120 extends toward the placing space 140 to guide the articles into and out of the placing space 140. That is, one end of each of the two non-adjacent support plates 122, which is far away from the adjacent support plate 122, is provided with a guide plate 123, and the two guide plates 123 are arranged in an inclined manner in the direction of being far away from each other.

In this embodiment, through setting up deflector 123, more be favorable to article business turn over to place space 140, make things convenient for the article transport to reduce user's physical demands. Certainly, the one side that two deflectors 123 are used for the direction can be the cambered surface of inclined plane, evagination or the cambered surface of indent etc. and it is not repeated here, all be in the utility model discloses a within the protection scope.

Generally, when an article enters or exits the storage space 140, the article inevitably collides with the guide plate 123, so that the guide plate 123 is worn and its usability is affected. In this regard, referring to fig. 6 to 8, in a preferred embodiment, a first reinforcement rib 150 is provided at a connection portion of the guide plate 123 and the side plate 120 at a side facing away from the placing space 140 to reinforce a connection strength of the guide plate 123 and the side plate 120.

In the embodiment, the first reinforcing rib 150 is arranged, so that the connection strength between the guide plate 123 and the side plate 120 is enhanced, the situation that the guide plate 123 is broken due to collision with an object is effectively avoided, and the structural strength and the service life of the object stage 100 are further improved.

Further, referring to fig. 4, 5 and 7, the object stage 100 further includes a first supporting frame 160, the first supporting frame 160 is disposed on a side of the main board 110 away from the placing space 140 and fixed to a side of the abutting portion 130 away from the opening 121. The first support frame 160 includes at least two first support plates 161 disposed in parallel for enhancing the connection strength between the main board 110 and the butt-joint part 130. Thus, the possibility of breakage of the connection portion between the main plate 110 and the docking portion 130 due to excessive load bearing can be reduced, and the load bearing capability of the main plate 110 and the entire stage 100 can be further improved, so that the transfer robot can stably transport an article to a higher height.

Specifically, referring to fig. 4, 5 and 7, the first supporting plate 161 is trapezoidal and extends to the end of the main plate 110, so as to improve the connection strength between the main plate 110 and the abutting portion 130 to the maximum extent, ensure the light-weight production of the object stage 100 as much as possible, and have a reasonable structure and strong practicability.

Specifically, referring to fig. 4 and 7, the number of the first support plates 161 is two, and the first support frame 160 further includes a first connection plate 162 for connecting the two first support plates 161. At this time, the first connecting plate 162 can prevent the two first supporting plates 161 from deforming due to the lateral acting force to a certain extent, so as to ensure the structural strength of the supporting frame and the supporting function of the main board 110, and avoid the object placed in the placing space 140 from crushing the object stage 100.

In the present embodiment, referring to fig. 4 and 7, the number of the first connection plates 162 is one, and the first connection plates are fixed to the docking portion 130 for docking the first support plate 161 and the docking portion 130. Of course, in actual production, the quantity of first connecting plate 162 can be a plurality ofly, also can locate the middle section of first backup pad 161 or keep away from the one end of butt joint portion 130, does not describe here again, all is in the utility model discloses a within the protection scope.

Preferably, referring to fig. 4 and 7, a second reinforcing rib 163 is disposed on a side of the first connecting plate 162 away from the abutting portion 130 to reinforce the connection strength between the main plate 110 and the first connecting plate 162. The second reinforcing rib 163 is parallel to the two first support plates 161, and the second reinforcing rib 163 is located at the middle of the two first support plates 161.

Further, referring to fig. 4, 5 and 7, the first support plate 161 is provided with a plurality of lightening holes 1611, and a reinforcing rib 1612 is formed between each two adjacent lightening holes 1611 to reinforce the structural strength of the first support plate 161. So, both realized the lightweight production of objective table 100, reduction in production cost can guarantee the structural strength of first backup pad 161 again furthest to improve objective table 100's bearing capacity, thereby improve getting of liftable portal and put height and life, overall structure has obtained the optimization, and the practicality is strong.

In one embodiment, referring to fig. 4, 5 and 7, the object stage 100 further includes a second supporting frame 170, and the second supporting frame 170 is disposed on a side of the main plate 110 near the opening 121 and facing away from the placing space 140. The second supporting frame 170 includes at least two second supporting plates 171 disposed in parallel, and a second connecting plate 172 for connecting one end of the second supporting plates 171 away from the docking portion 130, so as to enhance the structural strength of the main board 110.

In actual production, when an object just enters the placing space 140 or leaves the placing space 140, a pressure is applied to a portion of the main board 110 close to the opening 121, so that the main board 110 is unbalanced in stress, and the main board 110 is more easily broken by stress close to the opening 121. Therefore, in the embodiment, the second supporting frame 170 is disposed at the position of the main plate 110 close to the opening 121, so that the bearing capacity of the object stage 100 at the position of the opening 121 is improved, the object stage is not easy to break, the object is prevented from damaging the stressed portion of the main plate 110 when the object enters or exits the object stage 100, and the service life of the object stage 100 is prolonged.

Specifically, referring to fig. 4 and fig. 7, in the present embodiment, the number of the second supporting plates 171 is three, and the second supporting plates are distributed at equal intervals, but in actual production, the number of the second supporting plates 171 can also be four, five, or even more, and specifically can be flexibly set according to actual situations, which is not limited herein, and is all within the protection scope of the present invention.

Specifically, referring to fig. 5, the docking portion 130 includes two outer frame plates 131 disposed opposite to each other and a cross beam 132 disposed between the two outer frame plates 131. Wherein, two outer deckle boards 131 are close to one side each other, and are located the ascending both ends of self width direction, all are equipped with a flange 133, and this flange 133 and outer deckle board 131 form the fitting space 134 that is used for fixed crossbeam 132 jointly to and the quantity of crossbeam 132 is two at least, and even interval distribution is in this fitting space 134. Thus, the structural strength of the docking portion 130 can be greatly improved, so that the article can be placed in the placing space 140 for a long time, and the article taking and placing height of the transfer robot and the stability when the article is taken and placed are improved.

It should be noted that, in this embodiment, the transverse cross-section of the cross beam 132 is in an "i" shape, which not only improves the connection strength between the main board 110 and the docking portion 130 to the maximum extent, but also ensures the light-weight production of the object stage 100 as much as possible, and has a reasonable structure and strong practicability.

In a preferred embodiment, referring to fig. 6, a sensor 180 is disposed in the placing space 140 for detecting the position of the object in the placing space 140, so that the user can quickly determine whether the object is placed in place, thereby improving the carrying efficiency. Meanwhile, the phenomenon that articles fall off from the objective table 100 due to the fact that the articles are not placed in place can be avoided, and the safety performance of the lifting gantry and the carrying robot is greatly improved.

Referring to fig. 1 to 4, the present invention further provides a liftable gantry, which comprises a first gantry 200, a second gantry 300 and the objective table 100 provided in any of the above embodiments. Wherein, the second gantry 300 can move along its height direction relative to the first gantry 200, and the plurality of object tables 100 are uniformly distributed at intervals along the moving direction of the first gantry 200. At this time, the external structure of the docking portion 130 is the first gantry 200, so as to stably fix the stage 100 to the first gantry 200. The liftable portal that this embodiment provided has higher article and gets and put height and stronger stability, and the practicality is extremely strong and application scope is wide.

Referring to fig. 9 and 10, the present invention further provides a transfer robot, which includes an article taking and placing device 400 and the lifting gantry provided in the above embodiment. The article taking and placing device is arranged on the second door frame 300, is positioned on one side of the second door frame 300 close to the opening 121 of the object stage 100, and is suitable for taking and placing articles between the object stages 100 and the vertical shelf.

Specifically, the article taking and placing device 400 includes a bracket fixed to the second door frame 300, a telescopic fork adapted to be extended and contracted in a horizontal direction and to fork an article, and a rotating mechanism adapted to drive the telescopic fork to rotate in a horizontal plane with respect to the bracket and the lifting unit.

When goods need to be taken from the vertical type goods shelf, the carrying robot moves to a proper position near the goods shelf, the article taking and placing device 300 is lifted to a proper height through the lifting door frame in the moving process, the rotating mechanism drives the telescopic forks to a proper direction, and the telescopic forks take the articles from the goods shelf and retract; the transfer robot lowers the article to a proper height and starts to transfer the article, or the rotating mechanism drives the telescopic forks to face the object stage 100, the article is temporarily stored to the object stage 100 with a vacant position after the height of the liftable door frame is adjusted, and then the article is continuously taken and placed or transferred. Similarly, the transfer robot may place the article on the telescopic fork or the articles in the plurality of stages 100 on the shelf.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or recited in detail in a certain embodiment.

It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and decorations can be made without departing from the principle of the present invention, and these improvements and decorations should also be regarded as the protection scope of the present invention.

Claims (11)

1. An object table, comprising:

a main plate, a side plate and a butt joint part;

the side plates are arranged around the main plate and form a placing space for bearing articles together with the main plate; and

the side plate is provided with an opening for articles to pass in and out of the placing space;

the butt joint part is used for butt joint with an external structure and is arranged on one side of the main board, which is far away from the placing space, and a preset distance is reserved between the butt joint part and the opening;

the main board is positioned at the opening and is provided with a guide slope surface used for guiding articles to enter and exit the placing space.

2. The object table of claim 1,

the side plate is provided with a guide plate corresponding to the opening edge;

one end of the guide plate, which is far away from the side plate, extends towards the placing space to guide articles to enter and exit the placing space.

3. The object table of claim 2,

and a first reinforcing rib plate is arranged at the joint of the guide plate and the side plate and on the side departing from the placing space, and is used for reinforcing the connecting strength of the guide plate and the side plate.

4. The object table of any of claims 1-3, further comprising:

the first support frame is arranged on one side of the main board, which is far away from the placing space, and is fixed on one side of the butt joint part, which is far away from the opening; and

the first support frame comprises at least two first support plates which are arranged in parallel and used for strengthening the connection strength of the main board and the butt joint part.

5. The object table of claim 4,

the number of the first supporting plates is two, and the first supporting frame further comprises a first connecting plate for connecting the two first supporting plates;

a second reinforcing rib plate is arranged on one side, away from the butt joint part, of the first connecting plate and used for reinforcing the connection strength of the main plate and the first connecting plate;

the second reinforcing rib is parallel to the two first support plates, and the second reinforcing rib is located in the middle of the two first support plates.

6. The object table of claim 4,

the first supporting plate is provided with a plurality of lightening holes, and a reinforcing rib is formed between every two adjacent lightening holes to reinforce the structural strength of the first supporting plate.

7. The object table of any of claims 1-3, further comprising:

the second supporting frame is arranged on one side, close to the opening, of the main board and is far away from the placing space; and

the second support frame comprises at least two second support plates arranged in parallel and a second connecting plate used for connecting one end, far away from the butt joint part, of the second support plate, so that the structural strength of the main plate is enhanced.

8. The object table of any of claims 1-3,

the butt joint part comprises two outer frame plates which are oppositely arranged and a cross beam which is arranged between the two outer frame plates;

the two outer frame plates are provided with a flange at one side close to each other and at two ends in the width direction of the outer frame plates, and the flange and the outer frame plates jointly form an assembly space for fixing the cross beam; and

the number of the cross beams is at least two, and the cross beams are uniformly distributed in the assembly space at intervals.

9. The object table of any of claims 1-3,

a sensor is arranged in the placing space and used for detecting the position of an article in the placing space.

10. A liftable portal frame is characterized by comprising:

the object stage comprises a first portal, a second portal and a plurality of object stages provided by any one of the above parts;

the second portal frame can move along the height direction of the second portal frame relative to the first portal frame, and the plurality of object stages are uniformly distributed at intervals along the movement direction of the first portal frame;

the butt joint part is used for butt joint the first portal so as to fix the objective table on the second portal.

11. A transfer robot, characterized by comprising:

an article pick-and-place device and the liftable gantry of claim 10;

the article taking and placing device is arranged on the second portal frame, is positioned on one side, close to the opening of the object stage, of the second portal frame and is suitable for taking and placing articles between the object stages and the vertical type goods shelf.

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