Mobile transfer robot

Abstract

According to the technical scheme, the mobile carrying robot is characterized by comprising a chassis, Mecanum wheel sets arranged on the periphery of the chassis, a six-axis mechanical arm arranged at the upper end of the chassis and a power supply mechanism; an adsorption mechanism is arranged at the movable end of the six-axis mechanical arm; lifting and forward-extending mechanisms are symmetrically arranged on the chassis and located on the two sides of the six-axis mechanical arm. The power supply mechanism is electrically connected with the Mecanum wheel set, the six-axis mechanical arm and the lifting and forward stretching mechanism. Through the movable chassis design and the mechanical arm tail end adsorption design, the robot can be suitable for different working scenes and has the advantage that the diversified requirements of material carrying can be met.

Description

Technical Field

[0001] This application relates to the field of logistics handling equipment technology, and more particularly to a mobile handling robot. Background Technology

[0002] With the rapid development of my country's logistics and express delivery industry, the number of unmanned logistics intelligent vehicles has increased accordingly. However, after the unmanned intelligent vehicles arrive at the logistics station, a large number of logistics packages still need to be transferred by manpower. The six-axis robotic arm has strong continuous operation capability and can accurately and quickly perform a large number of repetitive tasks such as handling, sorting and data entry. Therefore, the application of the six-axis robotic arm in logistics handling can effectively improve handling efficiency.

[0003] However, existing six-axis robotic arms are generally used directly in fixed positions on the production line and do not have the function of movement. Therefore, a single six-axis robotic arm cannot be used in different work scenarios and cannot meet the diverse needs of material handling. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this application provides a mobile handling robot to solve the problems existing in related technologies. The technical solution is as follows:

[0005] This application provides a mobile handling robot, including a chassis, a Mecanum wheel assembly disposed around the chassis, a six-axis robotic arm disposed on the upper end of the chassis, and a power supply mechanism; an adsorption mechanism is disposed at the movable end of the six-axis robotic arm; lifting and extension mechanisms are symmetrically disposed on the chassis and on both sides of the six-axis robotic arm; the power supply mechanism is electrically connected to the Mecanum wheel assembly, the six-axis robotic arm, and the lifting and extension mechanisms respectively.

[0006] In one embodiment, the Mecanum wheel assembly includes: a shock-absorbing assembly, a Mecanum wheel, and a first drive motor adapted to the Mecanum wheel; the first drive motor is electrically connected to the power supply mechanism; the shock-absorbing assembly is disposed on the chassis; the Mecanum wheel is rotatably disposed on the shock-absorbing assembly; the first drive motor is disposed on the shock-absorbing assembly, and the output shaft of the first drive motor is connected to the Mecanum wheel.

[0007] In one embodiment, the shock absorption assembly includes: a shock absorption frame and at least one shock absorber; the shock absorber is disposed on the chassis; one end of the shock absorption frame is rotatably disposed on the chassis, and the other end of the shock absorption frame is connected to the shock absorber; the Mecanum wheel is rotatably disposed on the shock absorption frame; and the first drive motor is disposed on one side of the shock absorption frame.

[0008] In one embodiment, the lifting and extending mechanism includes: a lifting component and a telescopic component; a suction cup is provided on the movable end of the telescopic component; the lifting component is disposed on the chassis and is located on one side of the six-axis robotic arm; the telescopic component is movably disposed on the lifting component.

[0009] In one embodiment, the lifting assembly includes: a first support frame and a first guide rail slider assembly; a first rack is vertically arranged on the first support frame; the first support frame is disposed on the chassis and is located on one side of the six-axis robotic arm; the first guide rail slider assembly is disposed on the first support frame; the telescopic assembly is disposed on the movable end of the first guide rail slider assembly and is connected to the first rack via a transmission.

[0010] In one embodiment, the telescopic component includes: a second support frame disposed on the movable end of the first guide rail slider assembly; a second drive motor disposed on the second support frame; a first gear corresponding to and adapted to the first rack disposed on the output end of the second drive motor; and the second drive motor being electrically connected to the power supply mechanism.

[0011] In one embodiment, the telescopic assembly further includes: a third drive motor and a second guide rail slider assembly horizontally disposed on the second support frame; a second rack and a connecting rod are disposed on the movable end of the second guide rail slider assembly; the third drive motor is disposed on the second support frame; a second gear corresponding to and adapted to the second rack is disposed on the output end of the third drive motor; the suction cup is disposed on the connecting rod; and the third drive motor is electrically connected to the power supply mechanism.

[0012] In one embodiment, the adsorption mechanism includes: an adsorber, a pressure valve, and a vacuum pump; the adsorber is disposed on the movable end of the six-axis robotic arm; the vacuum pump is disposed on the chassis; an air pipe is disposed at the output end of the vacuum pump; the air pipe is connected to the adsorber; and the pressure valve is disposed on the air pipe.

[0013] In one embodiment, the power supply mechanism includes: a battery rack and a battery mounted on the battery rack; the battery rack is disposed on the chassis; the battery is electrically connected to the Mecanum wheel assembly, the six-axis robotic arm and the lifting extension mechanism, respectively.

[0014] In one embodiment, a site interaction device is also provided on the chassis; a locator and a master control receiver are provided on the lifting and extending mechanism.

[0015] The advantages or beneficial effects of the above technical solutions include at least the following:

[0016] The mobile handling robot of this application can achieve omnidirectional movement and spin motion of the chassis on the ground through independently driven Mecanum wheel sets, making it highly flexible in movement. The chassis is equipped with a six-axis robotic arm, and the end effector of the robotic arm adopts an adsorption design instead of the existing gripper design, making the robotic arm applicable to more different working scenarios and significantly improving work efficiency. The lifting and extension mechanism is located on both sides of the six-axis robotic arm, which can work in conjunction with the adsorption mechanism on the robotic arm to transport or grip materials, further improving work efficiency and thus meeting the diverse needs of material handling.

[0017] The above overview is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of this application will become readily apparent from the accompanying drawings and the following detailed description. Attached Figure Description

[0018] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the various drawings denote the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings depict only some embodiments disclosed in this application and should not be construed as limiting the scope of this application.

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 This is a schematic diagram of the first structure of the chassis in this invention (with a hidden six-axis robotic arm);

[0021] Figure 3 This is a partial schematic diagram of the Mecanum wheel assembly in this invention;

[0022] Figure 4 This is a schematic diagram of the second structure of the chassis in this invention (hiding the six-axis robotic arm);

[0023] Figure 5 yes Figure 4 A magnified view of a portion of the image;

[0024] Figure 6 This is a schematic diagram of the six-axis robotic arm in this invention.

[0025] In the diagram: 101, chassis; 102, Mecanum wheel assembly; 103, six-axis robotic arm; 104, power supply mechanism; 105, lifting and extension mechanism; 201, shock absorption assembly; 202, Mecanum wheel; 203, first drive motor; 211, shock absorber frame; 212, shock absorber; 301, lifting assembly; 302, telescopic assembly; 303, suction cup; 311, first support frame; 312, first guide rail slider assembly; 313, first rack; 321, second support frame; 322, second drive motor; 323, first gear; 324, third drive motor; 325, second guide rail slider assembly; 326, second rack; 327, connecting rod; 328, second gear; 401, robotic arm body; 402, suction device; 403, vision sensor; 501, positioner; 502, main control receiver. Detailed Implementation

[0026] In the following description, only certain exemplary embodiments are briefly described to make the objects, features, and advantages of the present invention more apparent. As will be appreciated by those skilled in the art, the described embodiments can be modified in various ways without departing from the spirit or scope of this application. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.

[0027] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0028] like Figures 1 to 6 As shown, the present invention provides a mobile handling robot, comprising a chassis 101, Mecanum wheel sets 102 disposed around the chassis 101, a six-axis robotic arm 103 disposed on the upper end of the chassis 101, and a power supply mechanism 104; an adsorption mechanism is provided at the movable end of the six-axis robotic arm 103; lifting and extension mechanisms 105 are symmetrically disposed on the chassis 101 and on both sides of the six-axis robotic arm 103; the power supply mechanism 104 is electrically connected to the Mecanum wheel sets 102, the six-axis robotic arm 103, and the lifting and extension mechanisms 105 respectively.

[0029] In this embodiment, four sets of Mecanum wheel assemblies 102 are provided, and the four sets of Mecanum wheel assemblies 102 are respectively arranged around the chassis 101. Each set of Mecanum wheel assemblies 102 is equipped with a motor, so each set of Mecanum wheel assemblies 102 can be driven and operated independently. When the Mecanum wheel assemblies 102 are working, they adopt a two-wheel differential drive steering mode. By independently controlling the rotation speed and steering of the Mecanum wheels 202 on both sides of the coaxial axis, the robot's omnidirectional movement, spin and precise alignment can be realized, thereby making the robot's movement more flexible and convenient.

[0030] Joint motors are used as drive ends at each joint of the six-axis robotic arm 103. The joint motors can achieve a speed stability of ±0.1% and a torque control accuracy of ±0.2 N·m through high-resolution encoders and closed-loop feedback systems, so as to complete the work more accurately and efficiently. They also have the advantages of large torque output and high modular integration.

[0031] The six-axis robotic arm 103 is rotatably mounted on the upper end of the chassis 101. The end effector of the robotic arm adopts an adsorption design instead of the existing gripper design. During operation, it grasps materials by adsorption, making the robotic arm applicable to more different working scenarios and significantly improving work efficiency.

[0032] There are two sets of lifting and extending mechanisms 105. The two sets of lifting and extending mechanisms 105 are symmetrically arranged on both sides of the six-axis robotic arm 103. The structures of the two lifting and extending mechanisms 105 are exactly the same. They can work with the six-axis robotic arm 103 to transport or grip materials, or assist in transporting materials, thereby improving the robot's transport efficiency and enabling the robot to meet more different work scenarios.

[0033] The chassis 101 is also equipped with a power supply mechanism 104, which is electrically connected to the Mecanum wheel assembly 102, the six-axis robotic arm 103 and the lifting and extending mechanism 105 respectively. As an independent power source, the power supply mechanism 104 can supply power to the Mecanum wheel assembly 102, the six-axis robotic arm 103 and the lifting and extending mechanism 105 respectively, thereby ensuring that the robot can work independently without an external power source.

[0034] Further, the Mecanum wheel assembly 102 includes: a shock-absorbing component 201, a Mecanum wheel 202, and a first drive motor 203 adapted to the Mecanum wheel 202; the first drive motor 203 is electrically connected to the power supply mechanism 104; the shock-absorbing component 201 is disposed on the chassis 101; the Mecanum wheel 202 is rotatably disposed on the shock-absorbing component 201; the first drive motor 203 is disposed on the shock-absorbing component 201, and the output shaft of the first drive motor 203 is connected to the Mecanum wheel 202.

[0035] In this embodiment, the shock-absorbing component 201 is mounted on the chassis 101, and the Mecanum wheel 202 is rotatably mounted on the shock-absorbing component 201 instead of being directly mounted on the chassis 101. The shock-absorbing component 201 has a small range of motion on the chassis 101, allowing the Mecanum wheel 202 to generate small vibrations on the chassis 101. This makes the connection between the Mecanum wheel 202 and the chassis 101 an elastic connection. When the robot works on uneven surfaces, the above connection method can reduce the impact of impact forces on other mechanisms on the chassis 101, thereby extending the service life of the robot.

[0036] Furthermore, such as Figure 3 As shown, the shock absorption assembly 201 includes: a shock absorption frame 211 and at least one shock absorber 212; the shock absorber 212 is mounted on the chassis 101; one end of the shock absorption frame 211 is rotatably mounted on the chassis 101, and the other end of the shock absorption frame 211 is connected to the shock absorber 212; the Mecanum wheel 202 is rotatably mounted on the shock absorption frame 211; and the first drive motor 203 is mounted on one side of the shock absorption frame 211.

[0037] In this embodiment, the shock absorption assembly 201 includes a shock absorption frame 211 and two shock absorbers 212, wherein the shock absorbers 212 are spring shock absorbers 212. The shock absorption frame 211 is rotatably mounted on the chassis 101, and the Mecanum wheel 202 is rotatably mounted on the shock absorption frame 211. The two ends of the spring shock absorber 212 are respectively connected to the shock absorption frame 211 and the chassis 101. When the Mecanum wheel 202 travels on an uneven road surface, the shock absorption frame 211 rotates slightly on the chassis 101. The spring shock absorber 212 can reduce the rotation amplitude and impact force of the shock absorption frame 211, thereby achieving a buffering and shock absorption effect on the shock absorption frame 211.

[0038] Furthermore, the lifting and extending mechanism 105 includes: a lifting component 301 and a telescopic component 302; a suction cup 303 is provided on the movable end of the telescopic component 302; the lifting component 301 is disposed on the chassis 101 and is located on one side of the six-axis robotic arm 103; the telescopic component 302 is movably disposed on the lifting component 301.

[0039] In this embodiment, the lifting component 301 is mounted on the chassis 101 and located on one side of the six-axis robotic arm 103. The telescopic component 302 is disposed on the movable end of the lifting component 301, and the lifting component 301 can drive the telescopic component 302 to reciprocate in the vertical direction. The suction cup 303 is disposed on the movable end of the telescopic component 302, and the telescopic component 302 can drive the suction cup 303 to reciprocate in the horizontal direction. Under the synergistic effect of the lifting component 301 and the telescopic component 302, the suction cup 303 can simultaneously achieve longitudinal and horizontal movement on the chassis 101, making the working mode more flexible and assisting the six-axis robotic arm 103 in handling or gripping materials, thereby enabling the robot to meet more different working scenarios.

[0040] Furthermore, such as Figure 4 and Figure 5The lifting assembly 301 includes: a first support frame 311 and a first guide rail slider assembly 312; a first rack 313 is vertically arranged on the first support frame 311; the first support frame 311 is arranged on the chassis 101 and is located on one side of the six-axis robotic arm 103; the first guide rail slider assembly 312 is arranged on the first support frame 311; the telescopic assembly 302 is arranged on the movable end of the first guide rail slider assembly 312 and is drively connected to the first rack 313.

[0041] In this embodiment, two first guide rail slider groups 312 are provided, and the two first guide rail slider groups 312 are symmetrically arranged on the first support frame 311. The two first guide rail slider groups 312 are parallel to each other and both are perpendicular to the chassis 101. The first guide rail slider group 312 includes a first guide rail and a first slider. The telescopic component 302 is installed on the first slider of the two first guide rail slider groups 312 (the ends of the two first sliders are located on the same horizontal plane). The first slider can guide the telescopic component 302 to move longitudinally back and forth along the first guide rail, thereby achieving the guiding effect of vertical movement of the telescopic component 302 on the first support frame 311. A first rack 313 is installed on the first guide rail of one of the first guide rail slider groups 312, and the telescopic component 302 is connected to the first rack 313 in a transmission connection.

[0042] Furthermore, the telescopic component 302 includes: a second support frame 321 disposed on the movable end of the first guide rail slider group 312; a second drive motor 322 disposed on the second support frame 321; a first gear 323 corresponding to and adapted to the first rack 313 disposed on the output end of the second drive motor 322; and the second drive motor 322 being electrically connected to the power supply mechanism 104.

[0043] In this embodiment, the second support frame 321 is mounted on the two first sliders of the lifting assembly 301, and the second drive motor 322 is mounted on the second support frame 321. The output end of the second drive motor 322 is provided with a first gear 323, and the first gear 323 is meshed with the first rack 313. When the second drive motor 322 is working, it drives the first gear 323 to rotate. The rotation of the first gear 323 can be converted into the motor driving force through its meshing connection with the first rack 313, thereby achieving the driving effect of the telescopic assembly 302 moving vertically on the first support frame 311. For example, when the first gear 323 rotates clockwise, the second support frame 321 moves upward, and vice versa, thereby achieving the driving effect of the telescopic assembly 302 moving vertically on the first support frame 311.

[0044] Furthermore, the telescopic assembly 302 also includes: a third drive motor 324 and a second guide rail slider assembly 325 horizontally arranged on the second support frame 321; a second rack 326 and a connecting rod 327 are provided on the movable end of the second guide rail slider assembly 325; the third drive motor 324 is arranged on the second support frame 321; a second gear 328 corresponding to and adapted to the second rack 326 is provided on the output end of the third drive motor 324; the suction cup 303 is arranged on the connecting rod 327; the third drive motor 324 is electrically connected to the power supply mechanism 104.

[0045] In this embodiment, the second guide rail slider assembly 325 includes a second guide rail and a second slider. The second guide rail is horizontally mounted on the second support frame 321. The second rack 326 and the connecting rod 327 are mounted on the second slider. The suction cup 303 is mounted on the connecting rod 327. The second rack 326 and the connecting rod 327 can move laterally back and forth along the second guide rail on the second support frame 321. The third drive motor 324 is mounted on the second support frame 321. The output end of the third drive motor 324 is provided with a second gear 328, and the second gear 328 is meshed with the second rack 326. When the third drive motor 324 is working, it drives the second gear 328 to rotate. The rotation of the second gear 328 can be converted into the horizontal movement of the second slider on the second guide rail through its meshing connection with the second rack 326, thereby achieving the effect of the connecting rod 327 moving laterally on the telescopic assembly 302.

[0046] In addition, limit blocks (not shown in the figure) are provided on both sides of the second guide rail to limit the second slider. The limit blocks can prevent the second slider from exceeding the set stroke when moving horizontally on the second guide rail, making the telescopic assembly 302 safer and more reliable when working.

[0047] Furthermore, such as Figure 6 As shown, the adsorption mechanism includes: an adsorber 402, a pressure valve, and a vacuum pump; the adsorber 402 is disposed on the movable end of the six-axis robotic arm 103; the vacuum pump is disposed on the chassis 101; an air pipe is disposed at the output end of the vacuum pump; the air pipe is connected to the adsorber 402; and the pressure valve is disposed on the air pipe.

[0048] In this embodiment, a vision sensor 403 is also provided on the robotic arm body 401 of the six-axis robotic arm 103 to assist the adsorption mechanism in identifying materials. The vision sensor 403 faces the position of the adsorber 402. The adsorption mechanism adopts an air circuit system consisting of the adsorber 402, a pressure valve, and a vacuum pump. The vacuum pump generates negative pressure in the adsorber 402 through an air pipe. The pressure valve can adjust the magnitude of the negative pressure value, thereby controlling the start and stop effect of the adsorber 402 through the vacuum pump and controlling the suction force of the adsorber 402 through the pressure valve. This allows the adsorber 402 to generate an adsorption force for the material to be picked up when it is working, and it can be adapted to materials of various sizes and weights. As the end effector of the robotic arm, the adsorption design is more flexible and convenient than the existing gripper design, and can be applied to more different working scenarios, thereby significantly improving work efficiency.

[0049] Furthermore, the power supply mechanism 104 includes: a battery rack and a battery mounted on the battery rack; the battery rack is disposed on the chassis 101; the battery is electrically connected to the Mecanum wheel assembly 102, the six-axis robotic arm 103 and the lifting extension mechanism 105 respectively.

[0050] In this embodiment, the battery rack can be set at any position on the chassis 101, the battery can be detachably set on the battery rack, and the battery is electrically connected to the first drive motor 203, the second drive motor 322, the third drive motor 324 and the six-axis robotic arm 103 respectively, so as to achieve independent power supply for the above-mentioned mechanisms; this application uses vehicle-mounted batteries to provide independent power supply for each mechanism, which can ensure the continuous operation of the robot.

[0051] Furthermore, a site interaction device is also provided on the chassis 101; a locator 501 and a main control receiver 502 are provided on the lifting and extending mechanism 105.

[0052] In this embodiment, the site interaction device is mounted on the chassis 101, and the locator 501 and the main control receiver 502 are respectively mounted on the lifting and extending mechanisms 105 on both sides. The site interaction device can interact with the site interaction card of the logistics station site or the mobile handling robot to realize the mutual recognition and cooperation function of multiple mobile handling robots and improve work efficiency. The locator 501 can obtain the current specific location information of the robot to help the relevant control personnel track the mobile handling robot in real time and accurately pick up logistics materials in the station. The main control receiver 502 is the core control unit of the mobile handling robot. It can monitor the operating status of the entire system and integrate functions such as human-machine interaction, wireless communication, and status display to help the controller better control the movement of the entire robot (the site interaction device, locator, and main control receiver 502 are common technical means used by those skilled in the art and will not be described in detail here).

[0053] The mobile handling robot of the present invention provides a solution for the functions of each module in each device of the embodiment, which can be referred to the corresponding description in the above method. Through the design of the mobile chassis and the adsorption design at the end of the robotic arm, the robot can be applied to different working scenarios and has the advantage of meeting the diverse needs of material handling.

[0054] In the description of this specification, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances. The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature.

[0055] In this invention, unless otherwise expressly specified and limited, "above" or "below" a second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of a second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" of a second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature. The terms "vertical," "horizontal," "left," "right," "above," "below," and similar expressions are for illustrative purposes only and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed or operated in a specific orientation, and therefore should not be construed as limiting the invention.

[0056] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope disclosed in this application, and these should all be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A mobile transport robot, characterized in that, It includes a chassis (101), a Mecanum wheel assembly (102) disposed around the chassis (101), a six-axis robotic arm (103) disposed on the upper end of the chassis (101), and a power supply mechanism (104); An adsorption mechanism is provided at the movable end of the six-axis robotic arm (103); a lifting and extension mechanism (105) is symmetrically provided on the chassis (101) and on both sides of the six-axis robotic arm (103); the power supply mechanism (104) is electrically connected to the Mecanum wheel assembly (102), the six-axis robotic arm (103) and the lifting and extension mechanism (105) respectively.

2. The mobile handling robot according to claim 1, characterized in that, The Mecanum wheel assembly (102) includes: a shock-absorbing assembly (201), a Mecanum wheel (202), and a first drive motor (203) adapted to the Mecanum wheel (202); the first drive motor (203) is electrically connected to the power supply mechanism (104); The shock absorber assembly (201) is mounted on the chassis (101); the Mecanum wheel (202) is rotatably mounted on the shock absorber assembly (201); the first drive motor (203) is mounted on the shock absorber assembly (201), and the output shaft of the first drive motor (203) is connected to the Mecanum wheel (202).

3. The mobile handling robot according to claim 2, characterized in that, The shock absorption assembly (201) includes: a shock absorption frame (211) and at least one shock absorber (212); the shock absorber (212) is disposed on the chassis (101); One end of the shock absorber frame (211) is rotatably mounted on the chassis (101), and the other end of the shock absorber frame (211) is connected to the shock absorber (212); the Mecanum wheel (202) is rotatably mounted on the shock absorber frame (211); the first drive motor (203) is mounted on one side of the shock absorber frame (211).

4. The mobile handling robot according to claim 1, characterized in that, The lifting and extending mechanism (105) includes: a lifting component (301) and a telescopic component (302); a suction cup (303) is provided on the movable end of the telescopic component (302); The lifting assembly (301) is mounted on the chassis (101) and is located on one side of the six-axis robotic arm (103); the telescopic assembly (302) is movably mounted on the lifting assembly (301).

5. The mobile handling robot according to claim 4, characterized in that, The lifting assembly (301) includes: a first support frame (311) and a first guide rail slider assembly (312); a first rack (313) is vertically arranged on the first support frame (311); The first support frame (311) is mounted on the chassis (101) and is located on one side of the six-axis robotic arm (103); the first guide rail slider assembly (312) is mounted on the first support frame (311); the telescopic assembly (302) is mounted on the movable end of the first guide rail slider assembly (312) and is connected to the first rack (313) in a transmission manner.

6. The mobile handling robot according to claim 5, characterized in that, The telescopic assembly (302) includes: a second support frame (321) disposed on the movable end of the first guide rail slider group (312); a second drive motor (322) disposed on the second support frame (321); a first gear (323) corresponding to and adapted to the first rack (313) disposed on the output end of the second drive motor (322); and the second drive motor (322) is electrically connected to the power supply mechanism (104).

7. The mobile handling robot according to claim 6, characterized in that, The telescopic assembly (302) further includes: a third drive motor (324) and a second guide rail slider assembly (325) horizontally arranged on the second support frame (321); a second rack (326) and a connecting rod (327) are provided on the movable end of the second guide rail slider assembly (325); The third drive motor (324) is mounted on the second support frame (321); a second gear (328) corresponding to and adapted to the second rack (326) is mounted on the output end of the third drive motor (324); the suction cup (303) is mounted on the connecting rod (327); the third drive motor (324) is electrically connected to the power supply mechanism (104).

8. The mobile handling robot according to claim 1, characterized in that, The adsorption mechanism includes: an adsorber (402), a pressure valve, and a vacuum pump; the adsorber (402) is mounted on the movable end of the six-axis robotic arm (103); the vacuum pump is mounted on the chassis (101); an air pipe is mounted at the output end of the vacuum pump; the air pipe is connected to the adsorber (402); and the pressure valve is mounted on the air pipe.

9. The mobile handling robot according to any one of claims 1-8, characterized in that, The power supply mechanism (104) includes: a battery rack and a battery mounted on the battery rack; the battery rack is mounted on the chassis (101); the battery is electrically connected to the Mecanum wheel assembly (102), the six-axis robotic arm (103) and the lifting extension mechanism (105) respectively.

10. The mobile transport robot according to any one of claims 1-8, characterized in that, A field interaction device is also provided on the chassis (101); a locator (501) and a main control receiver (502) are provided on the lifting and extending mechanism (105).

Images