Handling robots, robotic equipment, and warehousing systems

Abstract

The present invention discloses a transport robot, robotic equipment, and a warehousing system. The transport robot comprises a first mobile chassis, a first stand, and a first pick-and-place device. The first stand is mounted on the first mobile chassis, and the first pick-and-place device is mounted on the first stand for picking up and placing goods. The first mobile chassis is provided with a passage for passing through the first mobile chassis. The transport robot of the present invention has high transport efficiency.

Description

Technical Field

[0001] The present invention relates to the field of warehousing technology, and in particular to a handling robot, robot equipment and a warehousing system. Background Art

[0002] Smart warehousing is a key component of the logistics process. Its application ensures speed and accuracy across all aspects of warehouse management. Cargo handling is typically performed manually or using simple mechanical equipment. Related technologies use lanes between adjacent shelves for transport robots to navigate. However, the presence of a transport robot in a lane limits the range of other mobile devices, such as robots, moving within the lane, reducing cargo handling efficiency. Summary of the Invention

[0003] The present invention aims to solve one of the technical problems in the related art at least to a certain extent.

[0004] To this end, an embodiment of the present invention provides a transport robot that improves cargo transport efficiency.

[0005] An embodiment of the present invention further provides a robotic device.

[0006] An embodiment of the present invention further provides a warehousing system.

[0007] The transport robot of an embodiment of the present invention includes: a first mobile chassis, a first vertical frame and a first picking and placing device, the first vertical frame is arranged on the first mobile chassis, the first picking and placing device is arranged on the first vertical frame for picking and placing goods, and the first mobile chassis is provided with a passage for passing through the first mobile chassis.

[0008] According to the handling robot of an embodiment of the present invention, since the first mobile chassis is provided with a channel, other devices can pass through the first mobile chassis through the channel, so that the handling robot and other devices can share a driving lane without interfering with each other, thereby improving the handling efficiency of goods and making the storage space utilization rate higher.

[0009] In some embodiments, the first movable chassis includes a chassis body, a first movable part and a second movable part, the first movable part and the second movable part are spaced apart at the lower end of the chassis body, and the channel is provided in the chassis body and extends between the first movable part and the second movable part.

[0010] In some embodiments, the channel is generally inverted U-shaped.

[0011] In some embodiments, the chassis body is generally in an inverted U shape, the first movable portion is disposed at a lower end of a first side wall of the chassis body, and the second movable portion is disposed at a lower end of a second side wall of the chassis body.

[0012] In some embodiments, the projections of the first movable part and the second movable part on the horizontal plane are both runway-shaped, the projection area of ​​the first movable part on the horizontal plane is larger than the area of ​​the lower end surface of the first side wall of the chassis body, and the projection area of ​​the second movable part on the horizontal plane is larger than the area of ​​the lower end surface of the second side wall of the chassis body.

[0013] In some embodiments, the first stand is a generally inverted U-shaped frame, the lower end of the first side wall of the first stand is connected to the first movable part, the lower end of the second side wall of the first stand is connected to the second movable part, and the first stand and the chassis body are arranged side by side and connected to each other.

[0014] In some embodiments, the first picking and placing device is movable in the up and down directions relative to the first stand.

[0015] In some embodiments, the transport robot further includes a first lifting device, which is disposed on the first stand and is used to move the first picking and placing device relative to the first stand in an up and down direction.

[0016] In some embodiments, the transport robot further includes a first cache device, which is connected to the first stand, and has a first cache position for caching goods picked up and placed by the first picking and placing device.

[0017] In some embodiments, there are multiple first cache bits, and the multiple first cache bits are arranged at intervals in the up and down directions.

[0018] In some embodiments, the first cache device includes a plurality of first cache plates, which are arranged on the first stand at intervals along the up and down directions, and the upper surface of each first cache plate constitutes a first cache position. The first cache plate is located on the first side of the first stand, and the first picking and placing device is located on the second side of the first stand opposite to the first side.

[0019] According to another embodiment of the present invention, a robot device includes: a transport robot, which is the transport robot described in any one of the above embodiments; and a lurking robot, which can pass through the transport robot through the channel.

[0020] According to the robot equipment of an embodiment of the present invention, since the first mobile chassis is provided with a channel, the lurking robot can pass through the first mobile chassis through the channel, so that the transporting robot and the lurking robot can share a driving lane without interfering with each other, thereby improving the efficiency of cargo handling and making the storage space utilization rate higher.

[0021] In some embodiments, the latent robot includes a second mobile chassis, a second stand and a second picking and placing device, the second stand is arranged on the second mobile chassis, and the second picking and placing device is arranged on the second stand for picking and placing goods.

[0022] In some embodiments, the second picking and placing device is movable in the up and down directions relative to the second stand.

[0023] In some embodiments, the latent robot further includes a second cache device, which is connected to the second stand, and the second cache device has a second cache position for caching goods picked up and placed by the second picking and placing device.

[0024] According to another embodiment of the present invention, a warehousing system includes: a plurality of shelves, with a driving aisle between adjacent shelves; a transport robot, wherein the transport robot is the transport robot described in any one of the above embodiments, and the transport robot is used to move along the driving aisle to take goods from the shelves and / or place the goods on the shelves.

[0025] According to the warehousing system of an embodiment of the present invention, since the first mobile chassis is provided with a channel, other transport devices can pass through the first mobile chassis through the channel, so that the transport robot and other transport devices can share a driving lane without interfering with each other, thereby improving the transport efficiency of goods and making the storage space utilization rate higher.

[0026] In some embodiments, the warehousing system further includes a lurking robot, which is configured to move along the driving aisle and pass through the transport robot via the passage.

[0027] In some embodiments, the shelf includes a cache area and a storage area, the cache area is located below the storage area, the lurking robot is used to pick up and place goods in the cache area, and the transport robot is used to pick up and place goods in the storage area.

[0028] In some embodiments, the cache area and the storage area are both multi-layer.

[0029] In some embodiments, the lurking robot places goods on and / or takes goods from the transport robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 Schematic diagram of a transport robot according to an embodiment of the present invention.

[0031] Figure 2 Schematic diagram of a lurking robot according to an embodiment of the present invention.

[0032] Figure 3 Schematic diagram of a warehousing system according to an embodiment of the present invention.

[0033] Figure 4 2. It is a bottom view of the transport robot according to the embodiment of the present invention.

[0034] Reference numerals:

[0035] 10. Transport robots;

[0036] 11. First mobile chassis; 111. Chassis body; 112. Passage; 113. First mobile portion; 114. Second mobile portion; 12. First stand; 13. First pick-and-place device; 14. First cache device; 141. First cache plate; 1411. First cache position;

[0037] 20. Lurking robots;

[0038] 21. Second mobile chassis; 22. Second stand; 23. Second cache device; 231. Second cache position;

[0039] 30. Shelves;

[0040] 31. Driving lane; 32. Cache area; 33. Storage area. DETAILED DESCRIPTION

[0041] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0042] In the present invention, it should be pointed out that the term "cargo" should be understood in a broad sense, meaning items that can be transported, that is, including goods themselves that can be transported separately, such as goods with outer packaging, liquid goods contained in containers, and also including various cargo containers for containing goods, such as pallets, cargo boxes, etc., as well as various cargo containers containing goods, such as cargo boxes containing goods.

[0043] Please refer to the following Figures 1 to 4 A transfer robot 10 , a robot apparatus, and a warehouse system according to an embodiment of the present invention are described.

[0044] like Figure 1As shown, the handling robot 10 according to an embodiment of the present invention includes a first mobile chassis 11, a first vertical frame 12 and a first picking and placing device 13. The first vertical frame 12 is arranged on the first mobile chassis 11. The first picking and placing device 13 is arranged on the first vertical frame 12 for picking and placing goods. The first mobile chassis 11 is provided with a channel 112 for passing through the first mobile chassis 11.

[0045] It will be appreciated that passage 112 is used to allow other ground-moving mobile devices, such as other mobile robots, to pass through. Specifically, other mobile devices can pass through the transport robot 10 via passage 112, thereby increasing the number and density of robots and improving efficiency. Optionally, the length of passage 112 aligns with the direction of travel of the first mobile chassis 11. For example, when the first mobile chassis 11 moves in a front-to-back direction, the length of passage 112 aligns with the front-to-back direction, thereby facilitating the passage of other ground-moving devices, such as the lurking robot 20, through passage 112.

[0046] According to the handling robot 10 of an embodiment of the present invention, since the first mobile chassis 11 is provided with a channel 112, other devices can pass through the first mobile chassis 11 through the channel 112, so that the handling robot 10 and other devices can share a driving lane 31 without interfering with each other, thereby improving the handling efficiency of goods and making the storage space utilization rate higher.

[0047] Optionally, the lower end of the first mobile chassis 11 has a driving wheel (not shown). The handling robot 10 of the embodiment of the present invention can realize the translation and rotation of the first mobile chassis 11 by rotating the driving wheel, thereby improving the flexibility of the first mobile chassis 11 during movement.

[0048] It is understandable that if Figure 3 As shown, since the driving lanes 31 between the shelves 30 are narrow, by adopting the transport robot 10 with the above structure, other robots can travel on the same lane as the transport robot 10, thereby improving the utilization rate of the driving lanes 31 and expanding the storage space of the shelves 30.

[0049] In some embodiments, as Figure 1 As shown, the first mobile chassis 11 includes a chassis body 111, a first moving portion 113 and a second moving portion 114. The first moving portion 113 and the second moving portion 114 are spaced apart at the lower end of the chassis body 111. The channel 112 is provided in the chassis body 111 and extends between the first moving portion 113 and the second moving portion 114. It can be understood that, as Figure 1As shown, the first movable portion 113 and the second movable portion 114 are spaced apart along the left-right direction at the lower end of the chassis body 111. The first movable portion 113 and the second movable portion 114 can be driven by drive wheels or tracks, etc., to drive the chassis body 111 to move in the front-to-back direction. The channel 112 is provided within the chassis body 111 and extends between the first movable portion 113 and the second movable portion 114. It can be understood that a portion of the channel 112 is formed on the chassis body 111, and another portion of the channel 112 is formed between the first movable portion 113 and the second movable portion 114. This facilitates the processing and manufacturing of the channel 112, makes the structure of the handling robot 10 more reasonable, and improves the performance.

[0050] Alternatively, as Figure 1 As shown, the channel 112 is generally inverted U-shaped. In other words, the cross-section of the channel 112 perpendicular to the front-to-back direction is generally N-shaped. Specifically, the lower end of the channel 112 extends downward to the ground to facilitate passage of other robots through the channel 112. The upper end of the channel 112 is closed, leaving space within the chassis body 111 for mounting the transmission or control components of the first mobile chassis 11 within the chassis body 111. This further improves the rationality of the design of the channel 112 and makes the structural layout of the transport robot 10 more rational.

[0051] Alternatively, as Figure 1 As shown, the chassis body 111 is generally inverted U-shaped, that is, the cross-section of the chassis body 111 perpendicular to the front-to-back direction is generally inverted U-shaped. The first movable portion 113 is provided at the lower end of the first side wall of the chassis body 111, and the second movable portion 114 is provided at the lower end of the second side wall of the chassis body 111. It can be understood that the outer peripheral contour of the cross-section of the chassis body 111 is n-shaped, with the first side wall on the left side of the chassis body 111 and the second side wall on the right side of the chassis body 111.

[0052] In other words, the left outer wall of the chassis body 111 and the left inner wall of the channel 112 define a first side wall of the chassis body 111, and the right outer wall of the chassis body 111 and the right inner wall of the channel 112 define a second side wall of the chassis body 111. Because the first movable portion 113 is disposed at the lower end of the first side wall of the chassis body 111 and the second movable portion 114 is disposed at the lower end of the second side wall of the chassis body 111, the accommodation space within the first and second side walls of the chassis body 111 can be fully utilized, resulting in a compact structural layout, a rational design, and high space utilization for the first movable chassis 11 of the transport robot 10.

[0053] Optionally, there are two drive wheels, one at the lower end of the first movable portion 113 and the other at the lower end of the second movable portion 114. The two drive wheels can move at a differential speed to achieve steering and translation of the chassis body 111. Furthermore, driven wheels can be provided at the lower end of the first movable portion 113 and the lower end of the second movable portion 114 to assist in the rotation of the chassis body 111. For example, the driven wheels can be universal wheels, thereby improving the movement of the first movable chassis 111.

[0054] In some embodiments, as Figure 1 and Figure 4 As shown, the projections of the first movable portion 113 and the second movable portion 114 on the horizontal plane are both runway-shaped. The projection area of ​​the first movable portion 113 on the horizontal plane is larger than the area of ​​the lower end surface of the first side wall of the chassis body 111, and the projection area of ​​the second movable portion 114 on the horizontal plane is larger than the area of ​​the lower end surface of the second side wall of the chassis body 111. It can be understood that the projection area of ​​the lower end surface of the first movable portion 113 facing the ground is larger than the projection area of ​​the lower end surface of the first side wall of the chassis body 111 facing the ground. The projection area of ​​the lower end surface of the second movable portion 114 facing the ground is larger than the projection area of ​​the lower end surface of the second side wall of the chassis body 111 facing the ground. This makes the operation of the transport robot 10 more stable and less likely to tip over, greatly improving the reliability of the transport robot 10 during operation.

[0055] In some embodiments, as Figure 1 As shown, the first stand 12 is a generally inverted U-shaped frame. The lower end of the first side wall of the first stand 12 is connected to the first movable portion 113, and the lower end of the second side wall of the first stand 12 is connected to the second movable portion 114. The first stand 12 and the chassis body 111 are arranged side by side and connected to each other. For example, the first stand 12 and the chassis body 111 are arranged side by side in the front-to-back direction. It can be understood that the lower end of the first side wall of the first stand 12 and the lower end of the second side wall of the first stand 12 are connected to the first movable portion 113 and the second movable portion 114, respectively, and one side of the first side wall of the first stand 12 and one side of the second side wall of the first stand 12 are connected to the chassis body 111, thereby improving the reliability of the connection of the first stand 12 and making the first stand 12 stronger.

[0056] Alternatively, as Figure 1 As shown, the first pick-and-place device 13 is movable in the up-down direction relative to the first stand 12. Specifically, the first pick-and-place device 13 has a first telescopic component (not shown), which can move in the direction away from and close to the first stand 12 to pick and place goods.

[0057] For example, the handling robot 10 further includes a first lifting device (not shown), which is disposed on the first frame 12 and is configured to move the first pick-and-place device 13 in a vertical direction relative to the first frame 12. It is understood that when the first pick-and-place device 13 needs to move in a vertical direction to pick up and place goods, the first lifting device can be driven to move the first pick-and-place device 13. For example, the first lifting device can be a transmission structure such as a sprocket transmission structure, a ball screw transmission structure, a pneumatic cylinder, or a hydraulic cylinder.

[0058] Alternatively, as Figure 1 As shown, the transport robot 10 further includes a first buffer device 14, which is connected to the first stand 12. The first buffer device 14 has a first buffer position 1411 for caching goods picked up and placed by the first pick-and-place device 13. It is understandable that when the transport robot 10 needs to transport goods on the shelf 30, the first telescopic component of the first pick-and-place device 13 can be extended in a direction away from the first stand 12 to clamp the goods. After the goods are clamped, the first telescopic component of the first pick-and-place device 13 can be moved in a direction close to the first stand 12 to place the goods on the first pick-and-place device 13 on the first buffer position 1411, thereby allowing the transport robot 10 to transport more goods, thereby improving the working efficiency of the transport robot 10.

[0059] In some embodiments, as Figure 1 As shown, there are multiple first cache locations 1411, and the multiple first cache locations 1411 are arranged at intervals along the up and down directions to be used for caching more goods.

[0060] Specifically, if Figure 1 As shown, the first cache device 14 includes a plurality of first cache plates 141, which are spaced apart along the vertical direction on the first frame 12. The upper surface of each first cache plate 141 constitutes a first cache position 1411. The first cache plate 141 is located on a first side of the first frame 12, and the first pick-and-place device 13 is located on a second side of the first frame 12 opposite to the first side. It is understandable that the first pick-and-place device 13 is located on the front side of the first frame 12, the first cache plate 141 is located on the rear side of the first frame 12, the first mobile chassis 11 is located on the rear side of the first frame 12, and the first cache plate 141 is located above the first mobile chassis 11. This makes the structure of the transport robot 10 more compact, the layout more reasonable, and the use effect of the transport robot 10 better.

[0061] like Figures 1 to 3 As shown, a robot device according to another embodiment of the present invention includes a transport robot 10 and a lurking robot 20 . The transport robot 10 is the transport robot 10 of the embodiment of the present invention, and the lurking robot 20 can pass through the transport robot 10 through a channel 112 .

[0062] According to the robot equipment of an embodiment of the present invention, since the first mobile chassis 11 is provided with a channel 112, the lurking robot 20 can pass through the first mobile chassis 11 through the channel 112, so that the transporting robot 10 and the lurking robot 20 can share a driving lane 31 without interfering with each other, thereby improving the handling efficiency of goods and making the storage space utilization rate higher.

[0063] It can be understood that since the driving aisles 31 between the shelves 30 are narrow, by adopting the robot equipment with the above structure, other robots can travel on the same aisle as the transport robot 10, thereby improving the utilization rate of the driving aisle 31 and expanding the storage space of the shelves 30.

[0064] Alternatively, as Figure 2 As shown, the lurking robot 20 includes a second mobile chassis 21, a second stand 22, and a second pick-and-place device (not shown). The second stand 22 is disposed on the second mobile chassis 21, and the second pick-and-place device is disposed on the second stand 22 for picking and placing cargo. It is understood that the lurking robot 20 can carry cargo at a lower position through the second pick-and-place device, while the handling robot 10 can carry cargo at a higher position through the first pick-and-place device 13. The two work together to further improve the efficiency of cargo handling.

[0065] Alternatively, as Figure 2 As shown, the second pick-and-place device is movable in the up-down direction relative to the second stand 22. Specifically, the second pick-and-place device has a second telescopic component (not shown), which can move in the direction away from and close to the second stand 22 to pick and place goods.

[0066] For example, the handling robot 10 further includes a second lifting device (not shown), which is disposed on the second upright frame 22 and is configured to move the second pick-and-place device in a vertical direction relative to the second upright frame 22. It is understood that when the second pick-and-place device needs to move in a vertical direction to pick up and place goods, the second lifting device can be driven to move the second pick-and-place device. For example, the second lifting device can be a transmission structure such as a sprocket transmission structure, a ball screw transmission structure, a pneumatic cylinder, or a hydraulic cylinder.

[0067] Alternatively, as Figure 2As shown, the lurking robot 20 also includes a second buffering device 23 connected to the second upright frame 22. The second buffering device 23 has a second buffering position for buffering goods picked up and placed by the second pick-and-place device. It is understood that when the lurking robot 20 needs to move goods from the shelf 30, the second telescopic component of the second pick-and-place device can extend away from the second upright frame 22 to grasp the goods. After grasping the goods, the second telescopic component of the second pick-and-place device can move toward the second upright frame 22 to place the goods from the second pick-and-place device into the second buffering position. This allows the transport robot 10 to transport more goods, thereby improving the operating efficiency of the transport robot 10. For example, there can be multiple second buffering positions, each of which is spaced apart in the vertical direction to buffer more goods.

[0068] like Figures 1 to 3 As shown, a warehousing system according to another embodiment of the present invention includes a transport robot 10 and a plurality of shelves 30, with travel lanes 31 between adjacent shelves 30. The transport robot 10 is the transport robot 10 of the embodiment of the present invention, and is configured to move along the travel lanes 31 to remove goods from the shelves 30 and / or place goods on the shelves 30. Optionally, the warehousing system further includes a lurking robot 20, which is configured to move along the travel lanes 31 and can pass through the transport robot 10 via a passage 112.

[0069] According to the warehousing system of an embodiment of the present invention, since the first mobile chassis 11 is provided with a channel 112, the lurking robot 20 can pass through the first mobile chassis 11 through the channel 112, and then the transporting robot 10 and the lurking robot 20 can share a driving lane 31 without interfering with each other, thereby improving the handling efficiency of goods and making the space utilization rate of the warehousing system higher.

[0070] It can be understood that the warehousing system of the embodiment of the present invention can combine the advantages of the fast operation of the latent robot 20, without modifying the shelf 30, reducing the cost of building the shelf 30, and the handling robot 10 and the latent robot 20 do not need to set up a separate driving lane 31, thereby improving the overall storage efficiency of the warehousing system, and the handling robot 10 and the latent robot 20 can carry multiple boxes of goods at the same time, thereby improving the handling efficiency of the handling robot 10 and the latent robot 20.

[0071] Optionally, the shelf 30 includes a buffer area 22 and a storage area 23. The buffer area 22 is located below the storage area 23. The lurking robot 20 is used to retrieve and place goods in the buffer area 22, while the handling robot 10 is used to retrieve and place goods in the storage area 23. Optionally, both the buffer area 22 and the storage area 23 are multi-layered. For example, the first three layers below the shelf 30 can be the buffer area 22, and the third layer and above of the shelf 30 can be the storage area 23. When the warehousing system is in operation, the lurking robot 20 can retrieve and place goods in the buffer area 22, while the handling robot 10 can retrieve and place goods in the storage area 23. The two robots cooperate with each other to improve cargo handling efficiency.

[0072] In another embodiment, the transport robot 10 places cargo on and / or removes cargo from the lurking robot 20. It is understood that the transport robot 10 can place its cargo directly onto the lurking robot 20, or the transport robot 10 can remove cargo from the lurking robot 20, thereby improving the coordination between the two robots and increasing cargo handling efficiency. For example, when the transport robot 10 and the lurking robot 20 are on the same positioning code, they can operate synchronously, with the transport robot 10 directly placing one or more boxes of cargo onto the lurking robot 20.

[0073] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0074] Furthermore, 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 the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0075] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0076] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0077] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0078] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A transport robot, characterized in that: include: a first mobile chassis, a first stand, and a first pick-and-place device, wherein the first stand is disposed on the first mobile chassis, the first pick-and-place device is disposed on the first stand for picking up and placing goods, the first mobile chassis being provided with a passage for passing through the first mobile chassis; wherein the upper end of the passage is a closed structure, the lower end of the passage extends downward to the ground, the length direction of the passage is consistent with the travel direction of the first mobile chassis, and the passage is used to allow other mobile devices to pass through the transport robot via the passage; The first mobile chassis includes a chassis body, a first moving part, and a second moving part. The first moving part and the second moving part are spaced apart at the lower end of the chassis body. The lower ends of the first moving part and the second moving part are respectively provided with driving wheels. The driving wheels at the lower end of the first moving part and the driving wheels at the lower end of the second moving part can run at a differential speed. A portion of the channel is formed on the chassis body, and another portion of the channel is formed between the first moving part and the second moving part. The channel supports the passage of a lurking robot, so that the lurking robot and the transport robot share a driving lane without interfering with each other. In which, during the cargo handling process, the handling robot is used to pick up and place the cargo in the storage area of ​​the shelf; or, the handling robot is used to take the cargo from the storage area of ​​the shelf and place it in the buffer area of ​​the shelf, so that the latent robot can take and place the cargo in the buffer area, and the handling robot is used to transport the cargo placed by the latent robot in the buffer area of ​​the shelf to the storage area of ​​the shelf; or, the handling robot is used to place the cargo on the latent robot and / or take the cargo from the latent robot; or, the handling robot and the latent robot support synchronous operation, and during the synchronous operation process, the handling robot supports directly placing one or more boxes of cargo on the latent robot.

2. The transport robot according to claim 1, characterized in that: The channel is generally inverted U-shaped.

3. The transport robot according to claim 1, wherein: The chassis body is generally in an inverted U shape, the first moving portion is provided at the lower end of the first side wall of the chassis body, and the second moving portion is provided at the lower end of the second side wall of the chassis body.

4. The transport robot according to claim 3, characterized in that: The projections of the first movable part and the second movable part on the horizontal plane are both runway-shaped, the projection area of ​​the first movable part on the horizontal plane is larger than the area of ​​the lower end surface of the first side wall of the chassis body, and the projection area of ​​the second movable part on the horizontal plane is larger than the area of ​​the lower end surface of the second side wall of the chassis body.

5. The transport robot according to claim 3, characterized in that: The first stand is a generally inverted U-shaped frame, the lower end of the first side wall of the first stand is connected to the first movable part, the lower end of the second side wall of the first stand is connected to the second movable part, and the first stand and the chassis body are arranged side by side and connected to each other.

6. The handling robot according to any one of claims 1 to 5, characterized in that: The first picking and placing device is movable in an up and down direction relative to the first stand.

7. The transport robot according to claim 6, characterized in that: It also includes a first lifting device, which is arranged on the first stand and is used to move the first picking and placing device relative to the first stand in the up and down directions.

8. The handling robot according to any one of claims 1 to 5, characterized in that: It also includes a first cache device, which is connected to the first stand and has a first cache position for caching goods picked up and placed by the first picking and placing device.

9. The transport robot according to claim 8, characterized in that: There are a plurality of first cache locations, and the plurality of first cache locations are spaced apart in the vertical direction.

10. The transport robot according to claim 9, characterized in that: The first cache device includes a plurality of first cache plates, which are arranged on the first stand at intervals along the up and down directions. The upper surface of each first cache plate constitutes a first cache position. The first cache plate is located on the first side of the first stand, and the first picking and placing device is located on the second side of the first stand opposite to the first side.

11. A robotic device, characterized in that: include: A handling robot, wherein the handling robot is a handling robot according to any one of claims 1 to 10; A lurking robot, wherein the lurking robot can pass through the transport robot through the passage.

12. The robotic device according to claim 11, wherein: The latent robot includes a second mobile chassis, a second stand, and a second pick-and-place device. The second stand is arranged on the second mobile chassis, and the second pick-and-place device is arranged on the second stand for picking up and placing goods.

13. The robotic device according to claim 11, wherein: The second picking and placing device is movable in an up and down direction relative to the second stand.

14. The robotic device according to claim 13, wherein: The latent robot further includes a second cache device, which is connected to the second stand, and has a second cache position for caching goods picked up and placed by the second picking and placing device.

15. A storage system, characterized in that: include: Multiple racks with travel lanes between adjacent racks; A transport robot, wherein the transport robot is the transport robot according to any one of claims 1 to 10, and the transport robot is used to move along the driving lane to take goods from the shelf and / or place the goods on the shelf.

16. The storage system according to claim 15, characterized in that: It also includes a lurking robot, which is used to move along the driving lane and can pass through the transport robot through the passage.

17. The storage system according to claim 16, characterized in that: The shelf includes a buffer area and a storage area, the buffer area is located below the storage area, the lurking robot is used to take and place goods in the buffer area, and the transport robot is used to take and place goods in the storage area.

18. The storage system according to claim 17, characterized in that: The cache area and the storage area are both multi-layer.

19. The storage system according to claim 16, characterized in that: The transport robot places goods on the lurking robot and / or takes goods away from the lurking robot.

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