Pallet rack and pallet transport robot

Abstract

The present invention provides a shelf rack of a plate delivery and transportation robot and a plate delivery and transportation robot. The shelf rack of the plate delivery and transportation robot comprises a frame body and two plate holding mechanisms arranged opposite to each other, the two plate holding mechanisms are both mounted on the frame body, and a plate placement space is formed between the two plate holding mechanisms; in a first horizontal direction, opposite ends of the frame body respectively form an entrance and an exit of the plate placement space; a connecting port connected to the plate placement space is formed at the bottom of the frame body, and the connecting port extends between the entrance and the exit; in a second horizontal direction, the spacing between the two plate holding mechanisms is adjustable, and the second horizontal direction is perpendicular to the first horizontal direction. The plate delivery and transportation robot comprises a body and a shelf rack detachably mounted on the body. The shelf rack and the plate delivery and transportation robot of the present invention have the characteristics of a plate delivery and transportation robot for plate transportation, reducing costs and improving transportation effects.

Description

Technical Field

[0001] The present invention relates to the technical field of material transport equipment, and in particular to a shelf rack of a plate transport robot and the plate transport robot. Background Art

[0002] There is an AGV robot (automatic navigation transport robot) for transporting plates, which includes a body, a driving wheel group and a transport device. The body includes a bottom and sides extending upward from opposite sides of the bottom. The driving wheel group is arranged at the bottom. A transport space that runs through the front and back is formed between the two sides. Multiple transport devices are arranged in the transport space from top to bottom. The transport device is a conveyor belt device or a conveyor roller device. Each transport device is used to introduce, support and push out a plate such as a PCB board.

[0003] The problem with the existing AGV robots of this type is that each plate requires a separate transport device, the robot is expensive, and the transport device takes up a large space. Under the condition of a certain volume, the AGV robot cannot transport more plates at the same time; although the plates are placed on the transport device and are effectively supported, they are not positioned in other ways, which affects the position accuracy of the plates during transportation and delivery, affects subsequent transportation, and may damage the plates. Summary of the invention

[0004] The first object of the present invention is to provide a shelf rack for a plate transport robot that reduces costs and improves transport effects for plate transport.

[0005] The second object of the present invention is to provide a plate transport robot which can reduce the cost and improve the transport effect for plate transport.

[0006] The first purpose of the present invention provides a shelf rack of a plate transport robot, which includes a frame and two plate holding mechanisms arranged opposite to each other, wherein the two plate holding mechanisms are installed on the frame, and a plate placement space is formed between the two plate holding mechanisms; in the first horizontal direction, the opposite ends of the frame respectively form an entrance and an exit of the plate placement space; the bottom of the frame forms a connecting port connected to the plate placement space, and the connecting port extends between the entrance and the exit; in the second horizontal direction, the spacing between the two plate holding mechanisms is adjustable, and the second horizontal direction is perpendicular to the first horizontal direction.

[0007] It can be seen from the above scheme that the shelf rack is suitable for use with a plate-feeding and transporting robot. First, since the spacing between the two plate-holding mechanisms is adjustable, the shelf rack is suitable for transporting a variety of plates of different sizes. In addition, multiple plates can be held between the two plate-holding mechanisms at the same time. After the shelf rack is placed on the body of the plate-feeding and transporting robot, the plate-feeding and transporting robot has a pusher that can move along a straight line. The connecting port formed at the bottom of the rack body is used for the pusher to move and pass through, so that the pusher can push out multiple plates held between the two plate-holding mechanisms on the shelf rack, thereby improving the transport efficiency. And since the pushing of all plates can be completed by only one pusher, it has the characteristic of low cost.

[0008] A further solution is that the shelf rack also includes a connecting plate and a bottom adjustment device; the bottom adjustment device includes a bottom rail and a bottom slider, the bottom rail is arranged at the bottom of the rack body along the second horizontal direction, and the bottom slider is arranged on the bottom rail; the connecting plate is fixedly connected to the bottom slider and to the plate holding mechanism.

[0009] As can be seen from the above, this arrangement enables horizontal movement of the plate holding mechanism on one side, thereby achieving adjustable spacing between the two plate holding mechanisms.

[0010] A further solution is that the shelf rack also includes a top adjustment device; the top adjustment device includes a top rail and a top slider, the top rail is arranged at the top of the rack body along the second horizontal direction, and the top slider is arranged on the top rail; the connecting plate is fixedly connected to the top slider.

[0011] It can be seen from the above that this setting can improve the stability and smoothness of the horizontal movement of the plate holding mechanism.

[0012] A further solution is that the shelf rack also includes a bottom wall and a top wall, the bottom wall is fixed to the bottom of the frame body, and the top wall is fixed to the top of the frame body; the bottom wall is provided with a bottom elongated hole, the bottom elongated hole extends into an elongated shape along a second horizontal direction, and the top wall is provided with a top elongated hole, the top elongated hole extends into an elongated shape along the second horizontal direction; a bottom buckling column extends from the bottom slider, the bottom buckling column has a bottom buckling section and a bottom limiting section arranged in sequence, the outer diameter of the bottom limiting section is larger than the outer diameter of the bottom buckling section, the bottom buckling section is located in the bottom elongated hole, and the bottom limiting section cooperates with the bottom wall limit; a top buckling column extends from the top slider, the top buckling column has a top buckling section and a top limiting section arranged in sequence, the outer diameter of the top limiting section is larger than the outer diameter of the top buckling section, the top buckling section is located in the top elongated hole, and the top limiting section cooperates with the top wall limit.

[0013] As can be seen from the above, taking the bottom wall and the bottom slider as an example, the bottom buckling column and the bottom wall can be buckled to prevent the bottom wall and the bottom slider from loosening, and can maintain the relative sliding freedom between the two.

[0014] A further solution is that, in the second horizontal direction, the extended end of the bottom elongated hole has a bottom release position, and the inner diameter of the bottom release position is larger than the outer diameter of the bottom limiting section; in the second horizontal direction, the extended end of the top elongated hole has a top release position, and the inner diameter of the top release position is larger than the outer diameter of the top limiting section.

[0015] As can be seen from the above, taking the bottom wall and the bottom slider as an example, when the bottom buckling column moves to the bottom disengaging position at the extreme position, the bottom buckling column can be disengaged from the bottom elongated hole, thereby realizing the disassembly between the bottom wall and the bottom slider.

[0016] A further solution is that the shelf frame further includes a connecting rod, and the connecting rod is connected between the bottom slider and the top slider.

[0017] As can be seen from the above, this setting can achieve synchronous movement of the bottom slider and the top slider, further improving the stability and smoothness of the horizontal movement of the plate holding mechanism.

[0018] A further solution is that the plate holding mechanism is provided with a plate placement groove recessed along the second horizontal direction, and the plate placement groove is a through groove extending along the first horizontal direction.

[0019] As can be seen from the above, the plate placement groove is used for inserting and clamping the plate from the horizontal direction. This arrangement can stably place the plate, and the plate has the freedom to move horizontally, so it can be pushed out in the horizontal direction by the pushing member.

[0020] A further solution is that the plate holding mechanism has a supporting surface facing upward and toward the plate placement slot, and in the first horizontal direction, both ends of the extension of the supporting surface are provided with guiding inclined portions.

[0021] As can be seen from the above, the provision of the guiding inclined portion can increase the height of the entrance of the plate placement slot, thereby making it easier for the plate to enter or be sent out of the plate placement slot.

[0022] A further solution is that the plate holding mechanism is detachably mounted on the frame.

[0023] As can be seen from the above, in actual use, the appropriate plate holding mechanism can be replaced according to the length, height and number of plates to be transported, thereby improving the applicability of the plate delivery and transport robot.

[0024] The second object of the present invention provides a pallet transport robot comprising a body having a carrying platform thereon; the pallet transport robot further comprises a shelf rack as described above, which is detachably arranged on the carrying platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural diagram of an embodiment of a plate-delivering and transporting robot of the present invention.

[0026] Figure 2This is a structural diagram of a hidden shelf rack in an embodiment of a pallet transport robot according to the present invention.

[0027] Figure 3 This is a structural diagram of a plate-delivering and transporting robot embodiment of the present invention with a partially hidden body shell.

[0028] Figure 4 for Figure 2 A partial enlarged view of point A in the middle.

[0029] Figure 5 This is a structural diagram of the shelf rack from the first perspective in an embodiment of the plate delivery and transportation robot of the present invention.

[0030] Figure 6 This is a structural diagram of the shelf rack from a second perspective in an embodiment of the plate delivery and transportation robot of the present invention.

[0031] Figure 7 This is a structural diagram of the shelf rack from a third perspective in an embodiment of the plate delivery and transportation robot of the present invention.

[0032] Figure 8 Schematic diagram of the matching relationship between the top wall and the top slider in the embodiment of the plate transport robot of the present invention. DETAILED DESCRIPTION

[0033] See also Figure 1 and Figure 2 , Figure 1 This is a structural diagram of an embodiment of a pallet transport robot according to the present invention. Figure 2 The structural diagram of the shelf rack hidden in the embodiment of the plate delivery and transportation robot of the present invention. A unified rectangular space coordinate system is established in each of the drawings, wherein the x-axis direction refers to the first horizontal direction, the x-axis direction refers to the second horizontal direction, and the z-axis direction refers to the height direction. The plate delivery and transportation robot includes a body 1, a driving wheel group 19, a limiting structure 2, a limiting structure 3, a pushing device 5 and a shelf rack 6. The driving wheel group 19 is fixedly installed at the bottom of the body 1, and the top of the body 1 has a bearing platform 10. Two limiting structures 2 and two limiting structures 3 are fastened to the bearing platform 10 by bolts, and the surrounding area between the two limiting structures 2 and the two limiting structures 3 forms a shelf rack placement position 100. The pushing device 5 includes a driving unit 51 ( Figure 4 ), a telescopic mechanism 52 and a pusher 53, the driving unit 51 and the telescopic mechanism 52 are both mounted on the machine body 1 and are located below the carrying platform 10, the pusher 53 extends from bottom to top into the partition placement position 100, and the pusher 53 can move along the first horizontal direction between the opposite ends of the shelf placement position 100. The shelf 6 is detachably placed on the carrying platform 10 and is limited by the limiting structures 2 and 3.

[0034] Combination Figures 1 to 3 , Figure 3This is a structural diagram of a part of the housing of the robot for transporting pallets according to an embodiment of the present invention. The body 1 has an installation space 110 recessed in the carrying platform 10. The installation space 110 extends in a first horizontal direction into an elongated shape. The telescopic mechanism 52 is disposed in the installation space 110. In the height direction, the installation space 110 is separated from the interior of the body 1 by a bottom plate 13, and the drive unit 51 is fixed below the bottom plate 13.

[0035] The body 1 has an outer shell 12 and a horizontal plate 14 fixed on the inner wall surface of the outer shell 12, and the two horizontal plates 14 are respectively arranged at the front and rear ends in the first horizontal direction; a transverse movement device 15 is arranged on the horizontal plate 14, and the transverse movement device 15 includes a third slide rail 151 and a third slider 152. The two third slide rails 151 are respectively fixed on a horizontal plate 14 along the second horizontal direction, and the two third sliders 152 are both fixed on the bottom of the base plate 13. The third slider 152 is slidably installed on the third slide rail 151 along the second horizontal direction.

[0036] The telescopic mechanism 52 includes a first slide rail 521, a first slider 522, a second slide rail 524, a second slider 525, an extension plate 523 and a belt transmission assembly, wherein the belt transmission assembly includes a first transmission wheel 541, a second transmission wheel 542 and a transmission belt 543, wherein the transmission belt 543 is arranged between the first transmission wheel 541 and the second transmission wheel 542. The first slide rail 521 is fixed on the bottom plate 13 and arranged along the first horizontal direction, the first slider 522 is slidably mounted on the first slide rail 521, and the extension plate 523 is fixedly connected to the first slider 522; the second slide rail 524 is fixed on the extension plate 523 and arranged along the first horizontal direction, the second slider 525 is slidably mounted on the second slide rail 524, and the pusher 53 is fixedly connected to the second slider 525; the first transmission wheel 541 and the second transmission wheel 542 are both arranged on the extension plate 523, and the extension plate 523 is fixedly connected to the transmission belt 543.

[0037] The driving unit 51 includes a linear cylinder 511 and a connecting member 512; the base plate 13 has an avoidance through hole 131 penetrating in the vertical direction, and the avoidance through hole 131 extends into a long shape along the first horizontal direction; the linear cylinder 511 is fixed to the lower side of the base plate 13, and the lower part of the connecting member 512 is fixedly connected to the piston rod of the linear cylinder 511, and the connecting member 512 passes through the avoidance through hole 131 from bottom to top, and the upper part of the connecting member 512 is fixedly connected to the extension plate 523.

[0038] The pusher 53 is a long plate member. When driven by the linear cylinder 511, the pusher 53 can move along the first horizontal direction, and the transverse movement device 15 can realize the movement of the entire pusher device 5 along the second horizontal direction. Figure 2The body 1 has two side retaining walls 111 located on opposite sides of the installation space 110; the pushing device 5 also includes a protection frame 50, the protection frame 50 is installed on the bottom plate 13, the telescopic mechanism 52 is located in the protection frame 50, and the protection frame 50 cooperates with the side retaining wall 111 in the second horizontal direction.

[0039] Combination Figure 2 and Figure 4 , Figure 4 for Figure 2 A partial enlarged view of the position A in the middle. The limiting structure 2 includes a first limiting member 21 and a second limiting member 22 which are independent of each other. The first limiting member 21 has a first limiting surface 210, and the second limiting member 22 has a second limiting surface 220. The first limiting member 21 is provided with a first elongated mounting hole 211, and the first elongated mounting hole 211 extends into an elongated shape in the first horizontal direction. The second limiting member 22 is provided with a second elongated mounting hole 221, and the second elongated mounting hole 221 extends into an elongated shape perpendicular to the first horizontal direction. The plate delivery transport robot also includes a first bolt and a second bolt (not shown in the figure), the first bolt passes through the first elongated mounting hole 211 and is fixedly connected to the body 1; the second bolt passes through the second elongated mounting hole and is fixedly connected to the body 1. At this time, the normal direction of the first limiting surface 210 is the first horizontal direction, and the first limiting surface 210 and the second limiting surface 220 are perpendicular to each other, and the first limiting surface 210 and the second limiting surface 220 are both oriented in the horizontal direction.

[0040] Unlike the limiting structure 2, the limiting structure 3 is an integrated part, and also has a first limiting surface and a second limiting surface that are perpendicular to each other, and the limiting structure 3 is only provided with a third elongated mounting hole 31 extending along the second horizontal direction, and the bolt passes through the third elongated mounting hole 31 to be fixedly connected to the body 1. Since the limiting structure 2 can realize the position adjustment in the first horizontal direction, the limiting structure 3 does not need the position adjustment function in the first horizontal direction, but in the second horizontal direction, the limiting structure 2 and the limiting structure 3 need to be adjusted synchronously, so the limiting structure 3 needs to have the adjustment capability in the second horizontal direction. Combined with Figure 1 The shelf rack 6 is detachably placed in the shelf rack placement position 100, and the two limiting structures 2 and the two limiting structures 3 limit the shelf rack 6 from the first horizontal direction and the second horizontal direction from four corners.

[0041] See also Figures 5 to 7 , Figure 5 , Figure 6 and Figure 7The structural diagrams of the shelf rack in the first, second and third perspectives of the plate delivery and transportation robot embodiment of the present invention are respectively shown. The shelf rack includes a frame 61, two plate holding mechanisms 62 arranged opposite to each other, a connecting plate 63, a bottom wall 64, a top wall 65, a bottom adjustment device 71, a top adjustment device 72 and a connecting rod 73. In the first horizontal direction, the frame 61 has a "door" shape, one plate holding mechanism 62 is fixed to one side of the frame 61 by bolts, and the other plate holding mechanism 62 is movably mounted on the frame 61 along the second horizontal direction through the connecting plate 63, the bottom wall 64, the top wall 65, the bottom adjustment device 71, the top adjustment device 72 and the connecting rod 73.

[0042] First, the plate holding mechanism 62 is a plate holding plate, and the plate holding mechanism 62 is provided with a plurality of plate placement grooves 620 that are recessed along the second horizontal direction. The plate placement grooves 620 are through grooves that extend along the first horizontal direction. The plurality of plate placement grooves 620 are arranged from top to bottom. The plate holding mechanism 62 has a support surface 621 that faces upward and toward the plate placement grooves 620. In the first horizontal direction, both ends of the extension of the support surface 621 are provided with guide inclined portions 622. Figure 1 A plate placement space 600 is formed between the two relatively arranged plate holding mechanisms 62. When the plate 9 needs to be transported, since the plate placement groove 620 is a through groove, the plate 9 can be inserted into the plate placement groove 620 along the first horizontal direction. The two sides of the plate 9 are respectively located in the plate placement groove 620 and supported on the supporting surface 621.

[0043] The bottom wall 64 is fixed to the bottom of the frame 61, and two bottom adjustment devices 71 are arranged on the bottom wall 64. The bottom adjustment device 71 includes a bottom rail 711 and a bottom slider 712. The bottom rail 711 is arranged on the bottom wall 64 along the second horizontal direction, and the bottom slider 712 is arranged on the bottom rail 711.

[0044] The top wall 65 is fixed to the top of the frame 61, and two top adjustment devices 72 are arranged on the top wall 65. The top adjustment device 72 includes a top rail 721 and a top slider 722. The top rail 721 is arranged on the top wall 65 along the second horizontal direction, and the top slider 722 is arranged on the top rail 721. The connecting rod 73 is connected between the bottom slider 712 and the top slider 722, and the connecting rod 73 extends along the height direction. The two bottom sliders 712 and the two top sliders 722 are fixedly connected to the connecting plate 63, and the plate holding mechanism 62 is fixedly installed on the connecting plate 63. This setting realizes that the spacing between the two plate holding mechanisms 62 in the second horizontal direction is adjustable.

[0045] Recombination Figure 8 , Figure 8Schematic diagram of the matching relationship between the top wall and the top slider in the embodiment of the plate delivery transport robot of the present invention. The top wall 65 is provided with a top elongated hole 650, and the top elongated hole 650 extends into an elongated shape along the second horizontal direction. A top buckle column 723 extends from the top slider 722, and the top buckle column 723 has a top buckle section 724 and a top limit section 725 arranged in sequence, and the outer diameter of the top limit section 725 is greater than the outer diameter of the top buckle section 724, and the top buckle section 724 is located in the top elongated hole 650, and the top limit section 725 is limitedly matched with the top wall 65. In the second horizontal direction, the extended end of the top elongated hole 650 has a top release position 651, and the inner diameter d2 of the top release position 651 is greater than the outer diameter d1 of the top limit section 725.

[0046] Similarly, the bottom wall 64 is provided with a bottom elongated hole 640, which extends into an elongated shape along the second horizontal direction, and a bottom buckling column 713 extends from the bottom slider 712. The bottom buckling column 713 has a bottom buckling section and a bottom limiting section arranged in sequence, the outer diameter of the bottom limiting section is larger than the outer diameter of the bottom buckling section, the bottom buckling section is located in the bottom elongated hole 640, and the bottom limiting section is limitedly matched with the bottom wall 64. In the second horizontal direction, the extended end of the bottom elongated hole 640 has a bottom release position 641, and the inner diameter of the bottom release position 641 is larger than the outer diameter of the bottom limiting section.

[0047] Taking the cooperation between the top wall 65 and the top slider 722 as an example, when the top snap-fitting column 723 located in the top elongated hole 650 moves to the top release position 651 at the extreme position, since the inner diameter d2 of the top release position 651 is greater than the outer diameter d1 of the top limiting section 725, the top snap-fitting column 723 can be disengaged from the top elongated hole 650 at this time, thereby realizing the disassembly between the top wall 65 and the top slider 722.

[0048] Combination Figure 1 , Figure 2 and Figure 5 In the first horizontal direction, the two opposite ends of the frame body 61 respectively form an entrance 601 and an exit 602 of the plate placement space 600; the bottom of the frame body 61 forms a connecting port 603 connected to the plate placement space 600, and the connecting port 603 extends between the entrance 601 and the exit 602. When the shelf rack 6 is placed in the shelf rack placement position 100, the connecting port 603 becomes an escape port for the pusher 53 to enter and move in the plate placement space 600. The pusher 53 can enter the plate placement space 600 from the entrance 601 along the first horizontal direction, abut against the ends of all the plates 9, and push all the plates 9 out from the exit 602.

[0049] More plates 9 can be placed on the shelf 6 to improve the transportation efficiency. A pushing member 53 cooperates with all the plates 9 to reduce the production cost of the robot and improve the delivery synchronization rate of the plates 9. The plates 9 are positioned from the left and right sides by the shelf 6. The plates 9 will not be offset to the left and right when being transported and pushed out, thereby ensuring the position accuracy of the plates 9 and improving the transportation effect.

[0050] In addition, since the spacing between the two plate holding mechanisms 62 is adjustable, the shelf rack 6 is suitable for transporting various plates 9 of different sizes. In addition, multiple plates 9 can be held between the two plate holding mechanisms 62 at the same time. After the shelf rack 6 is placed on the body 1 of the plate sending and transporting robot, the plate sending and transporting robot has a pushing member 53 that can move in a straight line. The pushing member 53 can push out multiple plates on the shelf rack that are held between the two plate holding mechanisms 62 together, thereby improving the transportation efficiency. The pushing of all plates 9 can be completed by only one pushing member 53, so it has the characteristic of low cost.

[0051] Finally, it should be emphasized that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various changes and modifications. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A shelf rack of a plate-feeding and transporting robot comprises a frame body and two plate-holding mechanisms arranged opposite to each other, wherein the two plate-holding mechanisms are both mounted on the frame body, and a plate-placing space is formed between the two plate-holding mechanisms; Features: In the first horizontal direction, opposite ends of the frame respectively form an entrance and an exit of the plate placement space; A communication opening communicating with the plate placement space is formed at the bottom of the frame, and the communication opening extends between the inlet and the outlet; In a second horizontal direction, the distance between the two plate holding mechanisms is adjustable, and the second horizontal direction is perpendicular to the first horizontal direction; The plate holding mechanism is a plate holding plate, and the plate holding mechanism is provided with a plurality of plate placing grooves recessed along the second horizontal direction, and the plate placing grooves are through grooves extending along the first horizontal direction; The plate can be inserted into the plate placement groove along the first horizontal direction, and two sides of the plate are respectively located in the plate placement groove and supported on the support surface; When the shelf rack is placed in the shelf rack placement position, the communication port becomes an escape port for the pusher to enter and move in the plate placement space. The pusher can enter the plate placement space from the entrance along the first horizontal direction, abut against the ends of all the plates and push all the plates out from the outlet; The shelf rack is arranged on the bearing platform on the top of the plate sending and transporting robot body. The plate sending and transporting robot also includes a transverse movement device, and the transverse movement device can move the pushing member along the second horizontal direction.

2. The shelf rack according to claim 1, Features: The shelf rack also includes a connecting plate and a bottom adjustment device; The bottom adjustment device comprises a bottom rail and a bottom slider, wherein the bottom rail is arranged at the bottom of the frame along the second horizontal direction, and the bottom slider is arranged on the bottom rail; The connecting plate is fixedly connected to the bottom sliding block and to the plate holding mechanism.

3. The shelf rack according to claim 2, Features: The shelf rack also includes a top adjustment device; The top adjustment device comprises a top rail and a top slider, wherein the top rail is arranged on the top of the frame along the second horizontal direction, and the top slider is arranged on the top rail; The connecting plate is fixedly connected to the top sliding block.

4. The shelf rack according to claim 3, Features: The shelf rack further comprises a bottom wall and a top wall, wherein the bottom wall is fixed to the bottom of the rack body and the top wall is fixed to the top of the rack body; The bottom wall is provided with a bottom elongated hole, and the bottom elongated hole extends into an elongated shape along the second horizontal direction; the top wall is provided with a top elongated hole, and the top elongated hole extends into an elongated shape along the second horizontal direction; A bottom buckling column extends from the bottom slider, and the bottom buckling column has a bottom buckling section and a bottom limiting section arranged in sequence, the outer diameter of the bottom limiting section is larger than the outer diameter of the bottom buckling section, the bottom buckling section is located in the bottom elongated hole, and the bottom limiting section is limitedly matched with the bottom wall; A top buckling column extends from the top slider, and the top buckling column has a top buckling section and a top limiting section arranged in sequence, the outer diameter of the top limiting section is larger than the outer diameter of the top buckling section, the top buckling section is located in the top elongated hole, and the top limiting section cooperates with the top wall limit.

5. The shelf rack according to claim 4, Features: In the second horizontal direction, the extending end of the bottom elongated hole has a bottom release position, and the inner diameter of the bottom release position is larger than the outer diameter of the bottom limiting section; In the second horizontal direction, the extending end of the top elongated hole has a top tripping position, and the inner diameter of the top tripping position is greater than the outer diameter of the top limiting section.

6. The shelf rack according to claim 3, Features: The shelf frame also includes a connecting rod connected between the bottom slider and the top slider.

7. The shelf rack according to any one of claims 1 to 6, Features: The plate holding mechanism is provided with a plate placing groove recessed along the second horizontal direction, and the plate placing groove is a through groove extending along the first horizontal direction.

8. The shelf rack according to claim 7, Features: The plate holding mechanism has a supporting surface facing upward and toward the plate placement groove, and in the first horizontal direction, both ends of the extension of the supporting surface are provided with guiding inclined surfaces.

9. The shelf rack according to any one of claims 1 to 6, Features: The plate holding mechanism is detachably mounted on the frame.

10. A pallet transport robot, comprising a body, wherein the body has a carrying platform; Features: The plate transport robot further comprises a shelf rack as described in any one of claims 1 to 9 above, and the shelf rack is detachably arranged on the carrying platform.

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