Transport robot, transport system, transport method and server

Abstract

The application provides a carrying robot, a carrying system, a carrying method and a server. The carrying system comprises a carrying robot for carrying multiple goods at a time, the carrying robot comprising a walkable robot body and a goods shelf, the goods shelf comprising a vertically arranged frame and multiple goods locations arranged on the frame, and a first loading platform of each goods location being hollow designed; a docking device for docking goods from the carrying robot or placing goods on the carrying robot, the docking device comprising a lifting mechanism and multiple second loading platforms arranged on the lifting mechanism; and a control device for controlling the carrying robot to dock with the docking device, and controlling the multiple second loading platforms of the docking device to ascend or descend through the corresponding first loading platforms to transfer the goods between the multiple second loading platforms and the multiple first loading platforms. In this way, the carrying time of the goods can be shortened, and the carrying efficiency can be improved.

Description

Technical Field

[0001] This application generally relates to the field of logistics and transportation technology, and in particular to a handling robot, handling system, handling method and server. Background Technology

[0002] Currently, with the rapid development of the logistics industry, higher demands are being placed on cargo handling efficiency. For example, higher requirements are being placed on all aspects of the operation process, including transportation, warehousing, storage and retrieval, picking, packaging, sorting, outbound, inventory, and distribution.

[0003] In warehousing operations, goods are typically moved using AGVs or other handling robots. For example, handling robots can move goods from shelves to designated locations such as sorting stations, or from buffer shelves to storage shelves.

[0004] Therefore, in busy warehousing operations, improving the handling efficiency of handling robots has become one of the urgent technical problems to be solved. Summary of the Invention

[0005] To address the aforementioned problems in the prior art, according to one aspect of this application, a handling system is provided. The handling system includes a handling robot for handling multiple goods simultaneously. The handling robot includes a walkable robot body and a shelf. The shelf includes a vertically arranged frame and multiple storage positions arranged on the frame, with the multiple storage positions arranged vertically. Each storage position has a first loading platform with an open design. A docking device is used to dock goods from or place goods onto the handling robot. The docking device includes a lifting mechanism and multiple second loading platforms arranged on the lifting mechanism. The first loading platforms are configured to fit the second loading platforms, allowing the second loading platforms of the docking device to pass through the first loading platforms when the handling robot and the docking device are docked. A control device is used to control the docking of the handling robot and the docking device. After docking, the multiple first loading platforms of the multiple storage positions of the handling robot dock one by one with the multiple second loading platforms of the docking device. The device also controls the multiple second loading platforms of the docking device to rise or fall through their corresponding first loading platforms, transferring goods between the multiple second loading platforms and the multiple first loading platforms.

[0006] For example, multiple second platforms are arranged vertically, with one end of each second platform connected to a lifting mechanism and the other end suspended in the air.

[0007] For example, the first platform includes a plurality of forks spaced apart in the horizontal direction, and the second platform includes a plurality of transfer forks spaced apart in the horizontal direction. When the handling robot and the docking equipment are docked, the plurality of forks of the first platform and the plurality of transfer forks of the corresponding second platform are staggered in the horizontal direction, and the plurality of transfer forks can pass through the gaps between the plurality of forks.

[0008] For example, the control device is further configured to, after controlling multiple second loading platforms to rise to a predetermined height and respectively pass through the corresponding first loading platforms to lift goods, and transferring the goods from the multiple first loading platforms to the multiple second loading platforms, control the handling robot to leave the docking position; or,

[0009] The control device is also used to control the multiple second loading platforms to descend and pass through the corresponding first loading platforms, place the goods on the multiple second loading platforms onto the multiple first loading platforms, and then control the handling robot to leave the docking position.

[0010] For example, the lifting mechanism includes a closed-loop transmission member, the transmission member including a first side extending in a vertical direction, a first vertical section provided on the first side, and a plurality of second platforms slidably connected to the transmission member. The lifting mechanism is used to drive the plurality of second platforms to move cyclically along the transmission member, and the plurality of second platforms are used to dock with a handling robot located at a docking position when on the first side.

[0011] For example, the transmission component further includes a second side extending vertically and arranged side-by-side with the first side, the second side having a second vertical section. The transmission component also includes a first curved section connected to one end of the first and second vertical sections, and a second curved section connected to the other end of the first and second vertical sections. The conveying system also includes an inbound conveyor line located at the second vertical section. The inbound conveyor line includes a plurality of conveyor rollers, the axes of which are parallel to the plurality of transfer forks of the second platform of the receiving equipment, and the spacing between the plurality of conveyor rollers is adapted to the plurality of transfer forks of each second platform, so that the plurality of second platforms on the second vertical section can pass through the plurality of conveyor rollers.

[0012] For example, one end of the conveyor roller is rotatably connected to the conveyor frame of the inbound conveyor line, while the other end is suspended in the air.

[0013] For example, the handling system also includes an outbound conveyor line that connects to the inbound conveyor line.

[0014] For example, the transmission component is located in a vertical plane, and the inbound conveyor line and the docking position are located on the same side of the transmission component.

[0015] According to a second aspect of this application, a handling method is also provided. The method includes controlling a handling robot to move to a docking position; the handling robot is equipped with a shelf with multiple storage locations; controlling the handling robot to dock with a receiving device; after docking, multiple first loading platforms of the multiple storage locations of the handling robot dock one by one with multiple second loading platforms of the receiving device; controlling the multiple second loading platforms of the receiving device to rise or fall, transferring goods between the receiving device and the handling robot; wherein, in the docking state, the second loading platforms can pass through the first loading platforms.

[0016] For example, goods are placed on multiple first loading platforms of the handling robot. After the handling robot and the docking equipment are docked, multiple second loading platforms of the docking equipment are controlled to rise and pass through the corresponding first loading platforms to lift the goods and transfer the goods on the multiple first loading platforms to the multiple second loading platforms; or, goods are placed on multiple second loading platforms of the docking equipment. After the handling robot and the docking equipment are docked, multiple second loading platforms are controlled to descend and pass through the corresponding first loading platforms to transfer the goods on the multiple second loading platforms to the multiple first loading platforms.

[0017] For example, a plurality of second loading platforms of the docking device are arranged on a closed-loop transmission component. The first side of the docking device is docked with a handling robot, and the second side of the docking device is docked with a conveyor. The first side and the second side are located on opposite sides of the ring-shaped transmission component. The method further includes: after the docking device receives goods from the handling robot, controlling the transmission component of the docking device to rotate along a first direction to rotate the plurality of second loading platforms carrying goods from the first side through the upper part of the ring-shaped transmission component to the second side; controlling the transmission component of the docking device to continue rotating so that the plurality of second loading platforms pass downward through the conveyor one by one and place the goods on the conveyor respectively; and controlling the conveyor to transport the received goods away from the docking device; or, controlling the conveyor to transport the goods one by one to the second side of the docking device, and controlling the transmission component of the docking device to rotate along a second direction so that the plurality of second loading platforms on the second side of the docking device, located below the conveyor, rise one by one through the conveyor and lift the goods away from the conveyor respectively.

[0018] For example, the rotational speed of the transmission components of the docking equipment is matched with the speed at which the conveyor transports goods, so that goods can be transferred one by one between the docking equipment and the conveyor.

[0019] For example, goods are placed on multiple first loading platforms of the transport robot. Controlling the transport robot to dock with the docking equipment includes: adjusting the height of multiple second loading platforms on the docking equipment that are docked with the transport robot, so that the height of each of the multiple second loading platforms is slightly lower than the height of the corresponding first loading platform; controlling the transport robot to move and dock with the docking equipment. After docking, the multiple second loading platforms are respectively located below their respective first loading platforms.

[0020] For example, goods are placed on multiple second loading platforms of the docking equipment. Controlling the docking robot to dock with the docking equipment includes: adjusting the height of the multiple second loading platforms docked with the docking robot on the docking equipment so that the height of each of the multiple second loading platforms is slightly higher than the height of the corresponding first loading platform; controlling the docking robot to move and dock with the docking equipment. After docking, the multiple second loading platforms are respectively located above their respective first loading platforms.

[0021] According to a third aspect of this application, a handling robot is also provided. The handling robot includes a walkable robot body and a shelf, with the shelf positioned at the top of the walkable robot body. The shelf includes a vertically arranged frame and multiple storage locations arranged on the frame. The multiple storage locations are arranged vertically, and each storage location has a first loading platform with a hollow design. The first loading platform of each storage location is configured to fit a second loading platform of a docking device, such that when the handling robot and the docking device are docked, the second loading platform of the docking device can pass through the first loading platform of the storage location.

[0022] For example, the first loading platform of each loading position includes a plurality of loading forks spaced apart in a horizontal direction, one end of the plurality of loading forks being connected to a frame and the other end being suspended; the spacing between the plurality of loading forks is configured to adapt to the transfer forks of the second loading platform of the docking equipment.

[0023] For example, when the handling robot and the docking equipment are docked, the multiple forks of the first loading platform and the multiple transfer forks of the corresponding second loading platform are arranged alternately in the horizontal direction, and the multiple transfer forks can pass through the gaps between the multiple loading forks.

[0024] For example, multiple storage locations extend from the frame toward the first side.

[0025] For example, multiple forks in each storage location are spaced equally apart.

[0026] For example, the frame includes a support mounted on the walkable robot body and multiple frames arranged laterally on the support, with multiple storage locations connected to the multiple frames in a one-to-one correspondence.

[0027] For example, each of the multiple storage locations is movably mounted on a corresponding frame to adjust the height of the multiple storage locations individually, or the multiple frames are movably mounted on a support to adjust the height of the multiple frames individually.

[0028] For example, the spacing between multiple storage locations is adjustable.

[0029] According to a fourth aspect of this application, a server is also provided. The server includes a processor and a memory, the memory storing computer program instructions that, when executed by the processor, are used to perform any of the transport methods described above.

[0030] The handling system disclosed herein features a shelf mounted on top of a mobile robot. This shelf includes a vertically aligned frame and multiple storage locations on a first side of the frame's plane. These storage locations are vertically aligned with the frame, allowing for the placement of multiple goods or containers. This enables the simultaneous handling of multiple goods or containers, reducing handling time and improving efficiency. The docking equipment includes a lift and a second loading platform adapted to the first loading platform of the handling robot. Goods can be transferred by passing the second platform through the first loading platform. A control device enables the handling robot to dock with the docking equipment, automating the transfer of goods between them without requiring manual handling or picking operations, thus saving labor costs. In this way, multiple goods can be handled and docked in a single process, effectively improving the efficiency of the handling system. Attached Figure Description

[0031] The above and other objects, features, and advantages of embodiments of this application will become readily apparent from the following detailed description taken in conjunction with the accompanying drawings. Several embodiments of this application are illustrated in the drawings by way of example and not limitation, wherein:

[0032] Figure 1 A schematic diagram of the handling robot structure provided in an embodiment of this application is shown;

[0033] Figure 2 This paper shows a partially enlarged schematic diagram of the handling robot provided in an embodiment of this application;

[0034] Figure 3A This application provides a front view of the docking status of a handling robot and a docking device according to an embodiment of the present application;

[0035] Figure 3B This application provides a side view of the docking state of a handling robot and a docking device according to an embodiment of the present application;

[0036] Figure 3CThis application provides a rear view of the handling robot docking with the docking equipment according to an embodiment of the present application;

[0037] Figure 3D This application provides a top view of a handling robot docking with a docking device according to an embodiment of the present application;

[0038] Figure 4 This paper shows a schematic diagram of the cooperation between the loading fork of the handling robot and the transfer fork of the docking equipment provided in the embodiment of this application;

[0039] Figure 5 A schematic diagram showing the interaction between the transfer fork of the docking equipment provided in this application and the conveyor rollers of the conveyor is shown.

[0040] Figure 6 A flowchart illustrating the cargo handling method provided in an embodiment of this application is shown;

[0041] Figure 7 A schematic flowchart of a cargo handling method according to another embodiment of this application is shown;

[0042] Figure 8 A schematic flowchart of a cargo handling method according to another embodiment of this application is shown;

[0043] Figure 9 A flowchart illustrating the handling method provided in an embodiment of this application is shown;

[0044] In the accompanying drawings, the same or corresponding reference numerals indicate the same or corresponding parts. Detailed Implementation

[0045] The principles and spirit of this application will now be described with reference to several exemplary embodiments. It should be understood that these embodiments are given merely to enable those skilled in the art to better understand and implement this application, and are not intended to limit the scope of this application in any way.

[0046] It should be noted that although the terms "first," "second," etc., are used herein to describe different modules, steps, and data in the embodiments of this application, these terms are only for distinguishing between different modules, steps, and data, and do not indicate a specific order or degree of importance. In fact, the terms "first," "second," etc., can be used interchangeably.

[0047] It should be noted that although the terms "front," "rear," "left," "right," "top," "bottom," "outer," and "inner" are used in this document to describe different directions or sides of the embodiments of the present invention, these terms are only for distinguishing between different directions or sides and do not indicate a specific outside or inside. In fact, the terms "front," "rear," "left," "right," "top," "bottom," "outer," and "inner" can be used interchangeably in some cases.

[0048] With the development of intelligent technologies such as the Internet of Things (IoT), artificial intelligence (AI), and big data, the demand for transforming and upgrading the traditional logistics industry using these technologies is becoming increasingly strong, making intelligent logistics a research hotspot in the logistics field. Intelligent logistics utilizes AI, big data, and various information sensors, RFID technology, GPS, and other IoT devices and technologies. It is widely applied to basic activities such as material transportation, warehousing, distribution, packaging, loading and unloading, and information services, enabling intelligent analysis and decision-making, automated operation, and high-efficiency optimization in material management. IoT technologies include sensing devices, RFID technology, laser infrared scanning, and infrared sensing identification. The IoT effectively connects materials in logistics to the network, enabling real-time monitoring of materials and sensing environmental data such as humidity and temperature in warehouses to ensure proper storage conditions. Big data technology can sense and collect all data in logistics, uploading it to the information platform's data layer for filtering, mining, and analysis. Ultimately, this provides precise data support for business processes such as transportation, warehousing, storage, picking, packaging, sorting, outbound, inventory, and distribution. The application of artificial intelligence in logistics can be broadly divided into two categories: 1) AI-powered intelligent equipment such as unmanned trucks, AGVs, AMRs, forklifts, shuttles, stacker cranes, unmanned delivery vehicles, drones, service robots, robotic arms, and smart terminals replace some manual labor; 2) Software systems driven by computer vision, machine learning, operations research, and other technologies or algorithms, such as transportation equipment management systems, warehouse management systems, equipment scheduling systems, and order allocation systems, improve manual efficiency. With the research and advancement of smart logistics, this technology has been applied in numerous fields, including retail and e-commerce, electronics, tobacco, pharmaceuticals, industrial manufacturing, footwear and apparel, textiles, and food.

[0049] According to one aspect of this application, a handling robot is provided. This handling robot can move within a warehouse to transport goods, such as moving goods from warehouse shelves to workstations like sorting equipment, or moving goods from buffer shelves to storage shelves. It should be noted that the handling robot in this application can be constructed by mounting shelves on a walking robot such as an autonomous mobile robot (AMR), an automated guided vehicle (AGV), or a stealthy AGV. The handling robot can be applied within a handling system. Exemplarily, the handling system may also have a docking device for receiving goods from or placing goods onto the handling robot.

[0050] In one alternative embodiment, such as Figure 1 and Figure 2 As shown, the handling robot 10 includes a walking robot body 11 and a shelf 12. The shelf 12 is located at the top of the walking robot body 11. The shelf 12 may include a vertically arranged frame and multiple storage locations 13 arranged on the frame. The multiple storage locations 13 are arranged vertically on the frame. The first loading platform 19 of each storage location 13 may be designed with an openwork shape, and the first loading platform 19 of each storage location 13 is configured to fit with the second loading platform 23 of the docking device 20. Specifically, refer to... Figure 4 When the handling robot 10 and the docking device 20 are docked, the second loading platform 23 of the docking device 20 can pass through the first loading platform 19 of the cargo bay. This can be understood as a partial structure of the second loading platform 23 adapting to the openwork structure of the first loading platform 19. Thus, in the docked state, a portion of the structure of the second loading platform 23 can pass through the first loading platform 19 to facilitate the transfer of goods. It should be noted that the docking state here refers to the state before the handling robot 10 and the docking device 20 transfer goods; in this state, the handling robot 10 moves to the docking position, and the second loading platform 23 is adjusted to a predetermined height. It can be understood that when the handling robot 10 and the docking device 20 are not transferring goods, i.e., in the non-docked state, the first loading platform 19 of the handling robot 10 and the second loading platform 23 of the docking device 20 are independent spaces. When the handling robot 10 and the docking device 20 are docked, the second platform 23 passes through the first platform 19, resulting in a certain degree of overlap between their spaces. Goods within this overlapped space can be transferred. This transfer can be from the handling robot 10 to the docking device 20, or vice versa. The handling robot 10 in this application can handle multiple goods simultaneously, resulting in higher efficiency. Furthermore, in cooperation with the docking device 20, it can transfer multiple goods at the same time, effectively improving handling efficiency.

[0051] For example, refer to Figure 4Each loading platform 19 of each loading bay 13 may include a plurality of loading forks 14 spaced horizontally. One end of each loading fork 14 may be connected to a frame and the other end may be suspended. The spacing between the plurality of loading forks 14 is configured to adapt to the transfer forks 24 of the second loading platform 23 of the docking device 20. The plurality of loading forks 14 and the plurality of transfer forks 24 ensure the loading capacity of the first loading platform 19 and the second loading platform 23, and the adapted spacing ensures that the second loading platform 23 can pass through the first loading platform 19 more effectively, ensuring the transfer capability of goods. Exemplarily, the number of loading forks 14 on the first loading platform 19 may be the same as the number of transfer forks 24 on the second loading platform 23, to ensure that the goods are in a closer position on the first loading platform 19 and the second loading platform 13, thereby ensuring a smooth transfer process.

[0052] For example, when the handling robot 10 and the docking device 20 are docked, the multiple forks 14 of the first loading platform 19 and the multiple adapter forks 24 of the corresponding second loading platform 23 can be arranged alternately in the horizontal direction. The multiple adapter forks 14 can pass through the gaps between the multiple loading forks 14. The alternate arrangement of the multiple loading forks 14 and the multiple adapter forks 24 in the docked state can further ensure the smoothness of the cargo transfer process.

[0053] For example, refer to Figure 3A and 3D Multiple pallet positions 13 extend from the frame towards the first side. This arrangement facilitates the docking of the handling equipment 10 with the berthing equipment 20. It should be noted that the first and second sides mentioned here are defined with reference to the two sides of the berthing equipment. Figure 3A As shown, the side of the docking device 20 that overlaps with the transport robot 10 is the first side, that is, the left side of the docking device 20 from this viewpoint is the first side. Conversely, the side of the docking device 20 that is away from the transport robot 10 is the second side, that is, the right side of the docking device 20 from this viewpoint is the second side.

[0054] In one alternative embodiment, a rotatable picking component is provided on the second side of the plane where the frame is located. The picking component is used to pick up or place goods from the storage location 13 or a target location. In this embodiment of the present disclosure, by rotating the picking component, the goods picked up by the picking component can be placed on the storage location 13 of the shelf 12, or the goods picked up from the storage location 13 of the shelf 12 can be placed at a target location, such as other docking equipment or storage shelves.

[0055] In one alternative embodiment, in order to enable the rotation of the picking component, a rotating component is also provided on the second side of the plane on which the frame is located; the picking component is connected to the rotating component, and the rotation of the rotating component drives the picking component to rotate.

[0056] In another optional embodiment, to enable the picking component to retrieve and place goods from storage location 13, the picking component can also be a bidirectional telescopic gripping device. For example, when the picking component extends and retracts towards a first side, it can retrieve and place goods from storage location 13 on the shelf 12. When the picking component extends and retracts towards a second side, it can retrieve and place goods from target locations such as storage shelves or docking equipment. It should be noted that the first side here refers to the side of the picking component closer to the handling robot, and the second side refers to the side of the picking component closer to the target location such as the storage shelf or docking equipment.

[0057] To enable the handling of multiple goods at once, multiple storage locations 13 can be set up along the vertical direction of the frame. In this way, the multiple storage locations 13 are located at different heights of the frame. To save costs, only one picking component can be set up. Thus, in order for the picking component to pick up and place goods corresponding to different storage locations 13, the picking component needs to be movable in the vertical direction of the frame.

[0058] In one alternative embodiment, a sliding track is provided on the second side along the vertical direction of the frame; the picking component is disposed on the sliding track and moves vertically along the sliding track.

[0059] The handling robot 10 may include a mobile robot body 11 and multiple pallet positions 13 disposed on the mobile robot body 11. The pallet positions 13 are arranged vertically along the mobile robot body 11; for example, 5-8 pallet positions 13 may be arranged on an upwardly extending shelf 12 of the mobile robot body 11. The pallet positions 13 are spaced apart to accommodate goods. Each pallet position 13 includes multiple spaced-apart forks 14. Figure 2 As shown, the forks 14 are used to carry goods. Multiple forks 14 corresponding to the same storage location are located on the same horizontal plane and are spaced a certain distance apart in the horizontal direction to facilitate docking with other equipment (storage location 13 is fork-type), such as docking with docking equipment to realize the transfer of goods to docking equipment.

[0060] Optionally, in one embodiment, the handling robot 10 can dock with docking equipment such as the docking device 20 or a buffer shelf to realize the retrieval and placement of goods. For ease of understanding, the following will take the docking device 20 as an elevator as an example to describe one possible working process of the handling robot provided in the embodiments of this disclosure.

[0061] in, Figures 3A-3DA schematic diagram of the docking of the transport robot 10 with the elevator is shown. In specific implementation, the spacing between the multiple loading forks 14 of the transport robot 10 can be adapted to the spacing between the multiple transfer forks 24 of the elevator, so that the transfer forks 24 can smoothly pass through the gaps between the loading forks 14. In addition, the spacing between the multiple loading positions 13 of the transport robot 10 can be adapted to the spacing between the multiple second loading platforms 23 of the elevator. The transfer forks 24 cooperate with the loading forks 14 of the transport robot 10 to transfer goods from the loading forks 14 to the transfer forks 24, or to transfer goods from the transfer forks 24 to the loading forks 14, realizing the transfer of goods between the elevator and the transport robot 10.

[0062] When the handling robot 10 is docked with the elevator, the elevator's transfer fork 24 is located above or below the handling robot 10's loading fork 14, and the multiple loading forks 14 and multiple transfer forks 24 are arranged alternately in the horizontal direction.

[0063] Specifically, upon receiving goods, the handling robot 10 receives multiple boxes containing goods from the goods storage location until it fills multiple storage locations 13 on the handling robot 10. Then, the handling robot 10 transports the multiple boxes 100 containing goods to the docking position of the receiving device 20, so that the handling robot 10 docks with the receiving device 20. In this docking state, multiple second loading platforms 23 of the receiving device 20 are located one-to-one below the storage locations 13 of the handling robot 10 (e.g., ...). Figures 3A-3C As shown), and the multiple transfer forks 24 of the second loading platform 23 and the loading forks 14 of the loading position 13 are arranged alternately in the horizontal direction (as shown). Figure 4 (As shown), so that the transfer forks 24 can pass through the gaps between the carrying forks 14. The lifting mechanism 22 is activated, driving multiple second loading platforms 23 to rise, so that the transfer forks 24 of each second loading platform 23 pass through the corresponding carrying forks 14, lifting and transferring the goods-laden bins 100 on multiple storage positions 13 to multiple second loading platforms 23 in one go. After that, the handling robot 10 can leave the docking equipment 20 to continue to perform the next handling task, reducing waiting time.

[0064] For example, in an outbound scenario, the receiving device 20 receives empty boxes from the picking workstation. Multiple empty boxes are placed on multiple second loading platforms 23. The handling robot 10 moves to the docking position with the receiving device 20, allowing the handling robot 10 to dock with the receiving device 20. In this docked state, the multiple second loading platforms 23 of the receiving device 20 are positioned one-to-one above the storage locations 13 of the handling robot 10 (e.g., ...). Figures 3A-3C As shown), and the multiple transfer forks 24 of the second loading platform 23 and the loading forks 14 of the loading position 13 are arranged alternately in the horizontal direction (as shown). Figure 4 (As shown), this allows the transfer forks 24 to pass through the gaps between the carrying forks 14. The lifting mechanism 22 is activated, causing multiple second loading platforms 23 to descend, so that the transfer forks 24 of each second loading platform 23 pass through the corresponding carrying forks 14, placing empty containers from multiple second loading platforms 23 onto the multiple second loading platforms 23 of the handling robot in one go. Then, the handling robot 10 leaves the docking equipment 20 and returns to the cargo storage location, reducing the waiting time of the handling robot 10.

[0065] Therefore, the handling robot 10 of this disclosure, with each storage location consisting of multiple spaced-apart forks 14, can transfer multiple goods from the handling robot 10 to the second storage platform 23 in one go, or transfer multiple goods from the docking equipment 20 to the handling robot 10 in one go, thereby reducing the waiting time of the handling robot 10 and improving handling efficiency. For example, it can save 1 / 3 of the work cycle time and reduce the number of handling robots 10 by 1 / 3, thereby reducing costs and system scheduling difficulty.

[0066] In one example, multiple forks 14 can be arranged at equal intervals. In practical implementation, while ensuring the stability of the load on the first platform 13, the spacing between the multiple forks 14 can be set as large as possible, so that the handling robot can dock with a variety of different docking devices.

[0067] The specific spacing between each fork 14 can be set according to the actual needs of the scenario. For example, it can be set according to the width of the forks of the equipment to which the handling robot docks. Specifically, the spacing between each fork should be at least large enough to accommodate the forks of the docking equipment, thereby enabling the handling robot to dock with the equipment.

[0068] In one embodiment, the frame may include a support mounted on the walkable robot body 11, and multiple frames arranged laterally on the support. Multiple pallet positions can be connected one-to-one to the multiple frames. Specifically, one end of each of the multiple forks 14 can be fixed to a frame. This ensures that the handling robot 10 can simultaneously handle multiple goods, guaranteeing handling efficiency.

[0069] In one optional embodiment, to enable the handling robot to dock with various docking devices, the spacing between the multiple loading forks 14 is adjustable to accommodate the spacing between the multiple adapter forks 24 corresponding to different docking devices. It can also be adjusted according to the size of different goods to stably support them. In another embodiment, the frame includes a support mounted on the walkable robot body 11 and multiple frames laterally mounted on the support; one end of each loading fork 14 is movably mounted on a frame. In one optional embodiment, one end of the loading fork is slidably mounted on the frame; alternatively, the frame has multiple connecting holes, allowing for selection of different connecting holes for connection according to actual needs.

[0070] For example, each of the multiple storage locations 13 can be movably mounted on a corresponding frame to adjust the height of each storage location individually. Alternatively, in another example, multiple frames can be movably mounted on a support to adjust the height of each frame individually. The spacing between the multiple storage locations 13 is adjustable to accommodate different cargo heights, preventing interference between the cargo and the storage locations 13 in the height direction during loading and unloading. For instance, the frames corresponding to the multiple storage locations 13 can be slidably mounted on a support, allowing the spacing between the multiple storage locations 13 to be adjusted by sliding the frames on the support. The adjusted frames are then fixed to the support using fasteners.

[0071] In one alternative embodiment, the walkable robot body 11 includes walking wheels, which drive the transport robot 10 to walk by rotating the walking wheels.

[0072] The handling robot provided in this embodiment features a shelf mounted on top of a walkable robot. The shelf includes a vertically arranged frame and multiple storage locations on a first side of the frame's plane. These storage locations are vertically aligned with the frame, allowing for the placement of multiple goods or containers. This enables the simultaneous handling of multiple goods or containers, reducing handling time and improving efficiency. Furthermore, each storage location includes multiple spaced-apart forks that can dock with other docking equipment (such as elevators), facilitating automated handling between goods and docking equipment. Additionally, the handling robot in this embodiment has a rotatable picking component on a second side of the frame's plane. This component can be used to pick up and place goods from storage locations or target positions, enabling docking between the handling robot and other equipment and achieving automated goods handling.

[0073] Optionally, in one embodiment, the handling robot provided in this disclosure can dock with docking equipment (such as elevators, buffer shelves, etc.) to realize the handling of goods in a warehouse. Therefore, this application also discloses a handling system, which may include docking equipment 20, handling robot 10, and a control device. The control device controls the handling robot 10 to dock with the docking equipment 20 to realize the transfer of goods between the handling robot 10 and the docking equipment 20. The docking equipment can be an elevator, or any other device capable of picking up and placing goods. The goods can be a container filled with goods or an empty container.

[0074] The following section will describe the process of how the aforementioned handling robot and docking equipment work together to handle goods, using specific application scenarios as examples.

[0075] In one optional application scenario, upon receiving goods, the handling robot 10 transports a container filled with goods from the goods storage location to a docking position with the receiving device 20, which then transfers the container to the sorting station. Upon outgoing goods, the handling robot 10 receives an empty container transferred from the receiving device 20 at the sorting station, and then transports the empty container from the sorting station to the goods storage location for safekeeping.

[0076] like Figures 3A-3DAs shown, the handling robot 10 in this handling system can be used to handle multiple goods at once. Specifically, the handling robot 10 includes a walkable robot body 11 and a shelf 12. The shelf 12 may include a vertically arranged frame and multiple storage positions 13 arranged on the frame. The multiple storage positions 13 are arranged vertically, and the first loading platform 19 of each storage position is hollowed out. Goods to be handled can be placed on the first loading platform 19. When handling multiple goods, the multiple goods can be placed vertically on the shelf 12. The docking device 20 can be used to dock goods from the handling robot 10 or to place goods on the handling robot 10. Specifically, the docking device 20 may include a lifting mechanism 22 and a second loading platform 23. There can be multiple second loading platforms 23, and the multiple second loading platforms 23 can be arranged on the lifting mechanism 22. The first loading platform 19 is constructed to adapt to the second loading platform 23, so that when the handling robot and the docking device are docked, the second loading platform of the docking device can pass through the first loading platform 19. This can be understood as follows: the structure of the second platform 23 can be adapted to the hollow structure of the first platform 19. This allows the handling robot 10 and the docking device 20 to be docked, enabling the second platform 23 to move upwards and pass through the first platform 19, transferring goods from the first platform 19 to the second platform 23. When there are goods on the second platform 23, it moves downwards, passing through the first platform 19 from above, thus transferring goods from the docking device 20 to the handling robot 10.

[0077] The control device can be used to control the docking of the handling robot 10 and the docking device 20. After docking, the multiple first loading platforms 19 of the multiple storage locations 13 of the handling robot 10 dock one by one with the multiple second loading platforms 23 of the docking device 20. The control device can also control the multiple second loading platforms 23 of the docking device 20 to rise or fall through the corresponding first loading platforms 19, transferring goods between the multiple second loading platforms 23 and the multiple first loading platforms 19. When there are multiple handling robots 10 and multiple docking devices 20 in the handling system, there can be one control device connected to multiple handling robots 10 and multiple docking devices 20, which can simultaneously control multiple handling robots 10 and multiple docking devices 20 to transfer goods.

[0078] The handling system in this application utilizes a handling robot 10 that can simultaneously handle multiple goods, effectively shortening the handling time. The docking device 20 is equipped with multiple second loading platforms 23, which can dock one-to-one with the multiple first loading platforms 14 of the handling robot 10, enabling the simultaneous transfer of multiple goods and thus reducing transfer time. The control device can adjust the height of the second loading platforms 23 to achieve automated handling, improving handling and transfer efficiency while effectively reducing labor costs.

[0079] The docking equipment 20 may include a frame 21, a lifting mechanism 22, and multiple second loading platforms 23. The docking equipment 20 may be installed on the conveyor 30 adjacent to the sorting workstation. Figure 5 The location (shown) has a side for receiving goods from the handling robot 10 and a side for transferring goods to the conveyor 30 at the sorting workstation. The frame 21 supports the lifting mechanism 22 and multiple second loading platforms 23. The frame 21 can be positioned adjacent to the picking workstation and extends vertically.

[0080] Exemplarily, multiple second loading platforms 23 can be arranged vertically. One end of each second loading platform 23 can be connected to the lifting mechanism 22, while the other end is suspended. Thus, the multiple second loading platforms 23 arranged vertically can correspond to multiple first loading platforms 19 arranged vertically. Furthermore, the suspended arrangement of the multiple second loading platforms 23 ensures that the process of the second loading platforms 23 passing through the first loading platforms 19 is more convenient. Exemplarily, the vertical spacing between the multiple second loading platforms 23 can be the same as the vertical distance between the multiple first loading platforms 19. This allows for simultaneous docking of the multiple first loading platforms 19 and the multiple second loading platforms 23, further improving handling efficiency. The second loading platforms 23 can rise or fall relative to the frame 21. Exemplarily, in conjunction with reference to... Figure 3B and Figure 4 The first platform 19 may include a plurality of forks 14 spaced apart in the horizontal direction, and the second platform 23 may include a plurality of transfer forks 24 spaced apart in the horizontal direction. Figure 3D As shown, the transfer forks 24 are used to transfer goods. When the handling robot 10 and the docking device 20 are docked, the multiple forks 14 of the first loading platform 19 and the multiple transfer forks 24 of the corresponding second loading platform 23 are arranged alternately in the horizontal direction, allowing the multiple transfer forks 24 to pass through the gaps between the multiple forks 19. This arrangement of the multiple forks 14 and the multiple transfer forks 24 ensures the carrying capacity of both the first and second loading platforms 19. Furthermore, the horizontally staggered arrangement keeps the goods relatively stable during docking, and the appropriate spacing ensures that the second loading platform 23 can better pass through the first loading platform 19, guaranteeing the transfer capability of the goods. For example, the horizontal distance between the multiple forks 14 can be the same as the horizontal distance between the multiple transfer forks 24.

[0081] The spacing between the multiple transfer forks 24 can be adapted to the spacing between the multiple loading forks 14 of the handling robot 10, so that the transfer forks 24 can smoothly pass through the gaps between the loading forks 14. Furthermore, the spacing between the multiple second loading platforms 23 can be adapted to the spacing between the multiple pallet positions 13 of the handling robot 10. The transfer forks 24 cooperate with the loading forks 14 of the handling robot 10 to transfer goods from the loading forks 14 to the transfer forks 24, or vice versa, thereby realizing the transfer of goods between the docking device 20 and the handling robot 10.

[0082] The lifting mechanism 22 is connected to the second loading platform 23, driving multiple second loading platforms 23 to rise or fall together. The lifting mechanism 22 raises multiple second loading platforms 23, transferring goods from multiple storage locations 13 of the handling robot 10 to the transfer forks 24 in one go. The lifting mechanism also lowers multiple second loading platforms 23, transferring goods from multiple loading platforms 23 to multiple storage locations 13 of the handling robot 10 in one go, thereby improving the efficiency of goods handling. For example, refer to... Figure 3A In addition to 3C, the lifting mechanism 22 may include a closed-loop transmission member 29. The transmission member 29 includes a first side extending vertically, on which a first vertical segment 29a is provided. A plurality of second platforms 23 are slidably connected to the transmission member 29. The lifting mechanism 22 can be used to drive the plurality of second platforms 23 to move cyclically along the transmission direction of the transmission member 29. When on the first side, the plurality of second platforms 23 are used to dock with the handling robot 10 located at the docking position. Thus, the lifting mechanism 22 can drive the plurality of second platforms 23 to move vertically to achieve the transfer of goods between the docking equipment and the handling robot 10.

[0083] For example, the transmission member 29 may further include a second side extending vertically and arranged side-by-side with the first side. A second vertical segment 29b may be provided on the second side. The transmission member 29 may also include a first curved segment 29c connected to one end of the first vertical segment 29a and the second vertical segment 29b, and a second curved segment 29d connected to the other end of the first vertical segment 29a and the second vertical segment 29b.

[0084] For example, the control device can also be used to control multiple second loading platforms 23 to rise to a predetermined height, pass through their corresponding first loading platforms 19 to lift goods, and transfer the goods from the first loading platforms 19 to the multiple second loading platforms 23, before controlling the transport robot 10 to leave the docking position. This can be understood as the control device controlling the height of the multiple second loading platforms 23 to rise, and after passing through their corresponding first loading platforms 19, to contact the goods. At this point, the control device controls the second loading platforms to continue rising a certain distance, thus better transferring the goods on the transport robot 10 to the docking device 20, preventing goods from being left on the transport robot 10 without complete transfer, and ensuring the efficiency of the transport system. Specifically, the predetermined height can be set according to different usage requirements. For example, after the second loading platform passes through the first loading platform, the control device can control the second loading platform to rise 3-5 cm.

[0085] For example, the control device can also be used to control multiple second loading platforms 23 to descend and pass through corresponding first loading platforms 19, placing the goods on the multiple second loading platforms 23 onto the multiple first loading platforms 19, and then control the handling robot 10 to leave the docking position. This achieves the process of transferring multiple goods located on the docking equipment 20 to the handling robot 10, ensuring handling efficiency.

[0086] Specifically, upon receiving goods, the handling robot 10 receives multiple boxes containing goods from the goods storage location until it fills multiple storage locations 13 on the handling robot 10. Then, the handling robot 10 transports the multiple boxes containing goods to the docking position of the receiving device 20, so that the handling robot 10 docks with the receiving device 20. In this docked state, multiple second loading platforms 23 of the receiving device 20 are positioned one-to-one below the storage locations 13 of the handling robot 10 (e.g., ...). Figures 3A-3C As shown), and the multiple transfer forks 24 of the platform 23 and the loading forks 14 of the storage location 13 are arranged alternately in the horizontal direction (as shown). Figure 4 (As shown), so that the transfer forks 24 can pass through the gaps between the carrying forks 14. The lifting mechanism 22 is activated, driving multiple second loading platforms 23 to rise, so that the transfer forks 24 of each loading platform 23 pass through the corresponding carrying forks 14, lifting and transferring the boxes containing goods on multiple loading positions 13 to multiple second loading platforms 23 at one time. After that, the handling robot 10 can leave the docking equipment 20 to continue to execute the next handling command, reducing the waiting time.

[0087] During outbound processing, the receiving equipment 20 receives empty boxes from the picking station. Multiple empty boxes are placed on multiple second loading platforms 23. The handling robot 10 moves to the docking position with the receiving equipment 20, allowing the handling robot 10 to dock with the receiving equipment 20. In this docked state, the multiple second loading platforms 23 of the receiving equipment 20 are positioned one-to-one above the loading positions 13 of the handling robot 10 (e.g., ...). Figures 3A-3C As shown), and the multiple transfer forks 24 of the second loading platform 23 and the loading forks 14 of the loading position 13 are arranged alternately in the horizontal direction (as shown). Figure 4 (As shown), this allows the transfer forks 24 to pass through the gaps between the carrying forks 14. The lifting mechanism 22 is activated, causing multiple second loading platforms 23 to descend, so that the transfer forks 24 of each second loading platform 23 pass through the corresponding carrying forks 14, placing empty containers from multiple second loading platforms 23 onto the multiple second loading platforms 23 of the handling robot in one go. Then, the handling robot 10 leaves the docking equipment 20 and returns to the cargo storage location, reducing the waiting time of the handling robot 10.

[0088] Therefore, the docking device 20 of this disclosure, through multiple spaced transfer forks 24 on each loading platform 23, can transfer multiple goods from the handling robot 10 to the loading platform 23 at once, or transfer multiple goods from the docking device 20 to the handling robot 10 at once, thereby reducing the waiting time of the handling robot 10 and improving handling efficiency. For example, it can save 1 / 3 of the work cycle time and reduce the number of handling robots by 1 / 3, thereby reducing costs and system scheduling difficulty.

[0089] In one example, the spacing between multiple adapter forks 24 is adjustable to accommodate the spacing between multiple forks 14 of different handling robots 10, and can also be adjusted according to the size of different goods to stably support them. For example, multiple adapter forks 24 are respectively sleeved on a horizontally extending shaft, and the spacing between the multiple adapter forks 24 is adjusted by the sliding engagement between the adapter forks 24 and the shaft. The adapter forks 24 with the adjusted spacing are then fixed to the shaft with fasteners.

[0090] In another example, the spacing between the multiple second platforms 23 is adjustable to suit the interval between the multiple storage locations 13 of the different handling robots 10. It can also be adjusted according to the height of different goods to avoid interference between the goods and the second platforms 23 in the height direction during loading and unloading, thus preventing disruption. For example, the multiple second platforms 23 are connected to a vertically extending shaft. The spacing between the multiple second platforms 23 is adjusted through the sliding engagement between the second platforms 23 and the shaft. The adjusted second platforms 23 are then fixed to the shaft with fasteners.

[0091] In some embodiments, such as Figures 3A-3C As shown, the lifting mechanism 22 may include a lifting assembly and a drive motor. The lifting assembly is connected to a plurality of second platforms 23; the drive motor is connected to the lifting assembly and drives the lifting assembly to raise or lower the plurality of second platforms 23.

[0092] For example, the lifting assembly may include a drive wheel, a driven wheel, and a transmission component. The drive wheel and driven wheel are vertically spaced on the frame 21. The drive wheel is connected to the output shaft of a drive motor, and the transmission component is wound around the drive wheel and driven wheel. Multiple second loading platforms 23 are fixed vertically to the transmission component. The adapter forks 24 of the second loading platforms 23 include opposing connecting ends and free ends, wherein the connecting ends are fixed to the transmission component, and the free ends extend horizontally.

[0093] When the handling robot 10 is docked with the docking equipment 20, the extension direction of the transfer fork 24 is opposite to the extension direction of the carrying fork 14, so that multiple transfer forks 24 and multiple carrying forks 14 can pass in the vertical direction.

[0094] The drive motor is fixed on the frame 21. The rotation of the drive motor drives the drive wheel to rotate, which in turn drives the transmission components and driven wheels to rotate, thereby causing multiple second platforms 23 to rise or fall in sync with the rotating components.

[0095] The transmission component 29 is wound between the driving wheel and the driven wheel, and the transmission component 29 is in the form of a closed ring. Multiple second platforms 23 arranged vertically can be provided on both sides of the transmission component 29. Figure 3C For example, when the transmission component 29 rotates counterclockwise, multiple second platforms 23 located on the second vertical section 29b of the transmission component 29 descend, and multiple second platforms 23 located on the first vertical section 29a of the transmission component 29 rise, so that the multiple second platforms 23 on the transmission component 29 can rotate continuously and cyclically around a circular trajectory. The multiple second platforms 23 located on the first vertical section 29a are used to dock with the storage location 13 of the handling robot 10, and the multiple second platforms 23 located on the second vertical section 29b can be used to dock with the sorting workstation. For example, the drive wheel and driven wheel can be sprockets, and the transmission component can be a chain. Alternatively, the drive wheel and driven wheel can be pulleys, and the transmission component can be a belt.

[0096] Optionally, in one embodiment, the docking equipment can also dock with a conveyor, as shown in FIG5. The conveyor can be used to receive goods from the docking equipment 20 as described in any of the embodiments above, or to transport goods to the docking equipment 20 as described in any of the embodiments above. The conveyor 30 includes an inbound conveyor line 31, which includes a conveyor frame 33 and a plurality of conveyor rollers 34. Refer to FIG3C and... Figure 5 The inbound conveyor line 31 can be located at the second vertical section 29b. The inbound conveyor line 31 can include multiple conveyor rollers 34, the axes of which can be parallel to the multiple transfer forks 24 of the second loading platform 23 of the docking equipment. The spacing between the multiple conveyor rollers 34 is adapted to the multiple transfer forks 24 of each second loading platform 23, allowing the multiple second loading platforms 23 on the second vertical section 29b to pass through the multiple conveyor rollers. Goods can be moved from the first side to the second side via the transmission member 29, with the moving distance not exceeding half the overall length of the transmission member 29. This shortens the distance the goods move, further improving handling efficiency. Furthermore, goods can be transferred between the docking equipment 20 and the handling robot 10 on the first side of the transmission member 29, and between the docking equipment 20 and the inbound conveyor line 31 on the second side of the transmission member 29, resulting in a better structural design and better space utilization. For example, the first vertical section 39a and the second vertical section 39b are of equal length and height. This allows for better utilization of the space on the transmission component 39. Goods on the first vertical section 39a can pass through the second vertical section 39 and be transferred to the inbound conveyor line 31. The structure is more rationally designed, ensuring efficient handling.

[0097] Furthermore, the handling system also includes an outbound conveyor line 32 connected to the inbound conveyor line 31, used to transport goods transferred from the inbound conveyor line. In this way, goods pass through the inbound conveyor line 31, enter the outbound conveyor line 32 under the rotation of the conveyor rollers 34, and are transported to the designated location by the outbound conveyor line 32, making the transfer process more efficient.

[0098] The conveyor frame 33 supports the conveyor rollers 34 and is located at the picking station. Multiple conveyor rollers 34 are rotatably arranged on the conveyor frame 33 at horizontal intervals. The multiple conveyor rollers 34 can be located on the same horizontal plane and are spaced apart in the horizontal direction.

[0099] The spacing between the multiple conveyor rollers 34 can be adapted to the spacing between the multiple transfer forks 24 of the receiving device 20, so that the transfer forks 24 can smoothly pass through the gaps between the multiple conveyor rollers 34. The transfer forks 24 cooperate with the multiple conveyor rollers 34 to transfer the goods on the transfer forks 24 to the conveyor rollers 34, realizing the transfer of goods between the receiving device 20 and the inbound conveyor line 31, or transferring the goods on the inbound conveyor line 31 to the transfer forks 24.

[0100] When the docking equipment 20 is connected to the inbound conveyor line 31, multiple transfer forks 24 and multiple conveyor rollers 34 are arranged alternately in the horizontal direction. In the docking state of the docking equipment 20 and the inbound conveyor line 31, the transfer forks 24 of the docking equipment 20 and the multiple conveyor rollers 34 are positioned in the vertical direction.

[0101] For example, one end of the conveyor roller 34 is rotatably connected to the conveyor frame 33 of the inbound conveyor line 31, and the other end of the conveyor roller 34 is suspended. The conveyor roller 34 can extend horizontally, wherein, when the docking device 20 is docked with the inbound conveyor line 31, the extension direction of the suspended end of the transfer fork 24 is opposite to the extension direction of the suspended end of the conveyor roller 34. In this way, the end of the conveyor roller 34 connected to the conveyor frame 33 can ensure the stability of the position of the conveyor roller 34, and the suspended end of the conveyor roller 34 can pass through the gap between the multiple transfer forks 24 on the second loading platform 23. The multiple transfer forks 24 and the multiple conveyor rollers 34 can pass through each other in the vertical direction, ensuring that goods can be transferred from the docking device 20 to the inbound conveyor line 31.

[0102] Specifically, during the warehousing process, the receiving equipment 20 docks with the inbound conveyor line 31, and multiple second loading platforms 23 are located above multiple conveyor rollers 34. The multiple transfer forks 24 of the second loading platforms 23 are staggered with the multiple conveyor rollers 34 in the horizontal direction so that the transfer forks 24 can pass through the gaps between the multiple conveyor rollers 34 and place multiple boxes containing goods one by one on the inbound conveyor line 31. The receiving device 20 starts, driving multiple second loading platforms 23 to descend, allowing multiple transfer forks 24 at the bottom to pass through the gaps between multiple conveyor rollers 34, placing the bottommost bins containing goods onto the multiple conveyor rollers 34 of the inbound conveyor line 31, awaiting sorting by the sorting personnel. Afterward, the receiving device 20 stops driving the second loading platforms 23 to descend. Once the multiple conveyor rollers 34 have transported the bottommost bins containing goods to the exit of the inbound conveyor line 31, the receiving device 20 continues to drive the second loading platforms 23 to descend, placing the next bin containing goods on the second loading platform 23 onto the multiple conveyor rollers 34 of the inbound conveyor line 31. Thus, multiple bins containing goods on multiple second loading platforms 23 are placed one by one onto the inbound conveyor line 31 for sorting.

[0103] When leaving the warehouse, the receiving equipment 20 docks with the inbound conveyor line 31. At least one of the multiple second loading platforms 23 is located below the multiple conveyor rollers 34, and the multiple transfer forks 24 of the second loading platform 23 are staggered with the multiple conveyor rollers 34 in the horizontal direction so that the transfer forks 24 can pass through the gaps between the multiple conveyor rollers 34 to transfer the empty boxes to the second loading platform 23 one by one. The inbound conveyor line 31 receives empty boxes from the outbound conveyor line 32. The receiving device 20 starts, driving the loading platform 23 to rise. The transfer forks 24 of the second loading platform 23 pass through multiple conveyor rollers 34, lifting the empty box and transferring it to the second loading platform 23, so that the empty box leaves the inbound conveyor line 31. After that, the receiving device 20 stops driving the second loading platform 23 to rise. When the next empty box enters the multiple conveyor rollers 34 of the inbound conveyor line 31, the receiving device 20 starts again, driving the second loading platform 23 to rise and transferring the next empty box to the next loading platform 23, thereby transferring multiple empty boxes one by one to the loading platform 23 of the receiving device 20.

[0104] For example, the transmission component 29 can be located in a vertical plane, and the inbound conveyor line 31 and the docking position can be located on the same side of the transmission component. Specifically, the docking position can be understood as the position of the handling robot 10 when transferring goods with the docking device 20. The handling robot 10 and the inbound conveyor line 31 transfer goods with the docking device 20 on the same side. During this process, only the second loading platform 24 needs to move; the position of the docking device 20 does not need to move. This results in a more rational structural design and a more efficient handling process.

[0105] According to this disclosure, a cargo handling system is also provided, including a handling robot 10, a docking device 20, and a conveyor 30. The handling robot 10 is the handling robot 10 mentioned in any of the embodiments above, the docking device 20 is the docking device 20 mentioned in any of the embodiments above, and the conveyor 30 is the conveyor 30 mentioned in any of the embodiments above.

[0106] Upon entry into the warehouse, the handling robot 10 delivers a container carrying goods to the receiving equipment 20. The receiving equipment 20 then transfers the container carrying goods delivered by the handling robot 10 to the conveyor 30, so that sorting personnel can sort the goods at the inbound conveyor line 31 of the conveyor 30.

[0107] Specifically, the handling robot 10 receives multiple boxes containing goods from the goods storage location until it fills multiple storage positions 13 on the handling robot 10. Then, the handling robot 10 transports the multiple boxes containing goods to the docking position of the docking device 20, so that the handling robot 10 docks with the docking device 20. In this docking state, multiple second loading platforms 23 of the docking device 20 are located one-to-one below the storage positions 13 of the handling robot 10 (e.g., ...). Figures 3A-3CAs shown), and the multiple transfer forks 24 of the loading platform 23 and the loading forks 14 of the storage location 13 are arranged alternately in the horizontal direction (as shown). Figure 4 As shown, the transfer forks 24 are arranged so that they can pass through the gaps between the loading forks 14. The lifting mechanism 22 is activated, causing multiple second loading platforms 23 to rise, so that the transfer forks 24 of each loading platform 23 pass through the corresponding loading forks 14, lifting and transferring the boxes containing goods on multiple storage positions 13 to multiple second loading platforms 23 in one go. After that, the handling robot 10 can leave the docking equipment 20 to continue to execute the next handling command, reducing waiting time. Next, the docking equipment 20 docks with the inbound conveyor line 31. The multiple second loading platforms 23 are located above multiple conveyor rollers 34, and the multiple transfer forks 24 of the loading platforms 23 and the multiple conveyor rollers 34 are staggered in the horizontal direction so that the transfer forks 24 can pass through the gaps between the multiple conveyor rollers 34, placing multiple boxes containing goods one by one on the inbound conveyor line 31. The receiving device 20 starts, driving multiple second loading platforms 23 to descend, allowing multiple transfer forks 24 at the bottom to pass through the gaps between multiple conveyor rollers 34, placing the bottommost bins containing goods onto the multiple conveyor rollers 34 of the inbound conveyor line 31, awaiting sorting by the sorting personnel. Afterward, the receiving device 20 stops driving the second loading platforms 23 to descend. Once the multiple conveyor rollers 34 have transported the bottommost bins containing goods to the exit of the inbound conveyor line 31, the receiving device 20 continues to drive the second loading platforms 23 to descend, placing the next bin containing goods on the second loading platform 23 onto the multiple conveyor rollers 34 of the inbound conveyor line 31. Thus, multiple bins containing goods on multiple second loading platforms 23 are placed one by one onto the inbound conveyor line 31 for sorting.

[0108] When leaving the warehouse, the outbound conveyor line 32 of the conveyor 30 will transport the empty material box to the inbound conveyor line 31. The receiving equipment 20 will transfer the empty material box that has been transported to the inbound conveyor line 31 to the handling robot 10. The handling robot 10 will then transport the empty material box to the goods storage location.

[0109] The receiving device 20 is connected to the inbound conveyor line 31. At least one of the multiple second loading platforms 23 is located below the multiple conveyor rollers 34, and the multiple transfer forks 24 of the second loading platform 23 are staggered with the multiple conveyor rollers 34 in the horizontal direction so that the transfer forks 24 can pass through the gaps between the multiple conveyor rollers 34 to transfer empty boxes one by one to the second loading platform 23. The inbound conveyor line 31 receives empty boxes from the outbound conveyor line 32. The receiving device 20 starts, driving the second loading platform 23 to rise. The transfer forks 24 of the second loading platform 23 pass through multiple conveyor rollers 34, lifting the empty boxes and transferring them onto the second loading platform 23, so that the empty boxes leave the inbound conveyor line 31. After that, the receiving device 20 stops driving the second loading platform 23 to rise. When the next empty box enters the multiple conveyor rollers 34 of the inbound conveyor line 31, the receiving device 20 starts again, driving the second loading platform 23 to rise and transferring the next empty box onto the next second loading platform 23, thereby transferring multiple empty boxes one by one onto the second loading platform 23 of the receiving device 20.

[0110] According to this disclosure, a cargo handling method 200 is also provided, such as... Figure 6 As shown, the docking equipment 20 described in any of the embodiments above is used. The cargo handling method 200 includes steps S21 and S22:

[0111] In step S21, in response to the receiving command, the lifting mechanism of the receiving equipment 20 is controlled to lift multiple transfer platforms, transferring multiple goods onto the transfer forks 24 of multiple second loading platforms 23 respectively.

[0112] The receiving instruction may include an inbound receiving instruction, which may be triggered when the handling robot 10 arrives at the docking position of the docking device 20.

[0113] In response to the receiving instruction, the docking device 20 is controlled to dock with the handling robot 10, so that the transfer fork 24 of the docking device 20 is located below the loading fork 14 of the handling robot 10, and the multiple loading forks 14 and multiple transfer forks 24 are arranged alternately in the horizontal direction.

[0114] The docking device 20 docks with the handling robot 10, and the multiple second loading platforms 23 of the docking device 20 are located one-to-one below the loading positions 13 of the handling robot 10 (e.g., ...). Figures 3A-3C (As shown). Multiple forks 14 and multiple adapter forks 24 are staggered in the horizontal direction so that the adapter forks 24 can pass through the gaps between the forks 14.

[0115] The lifting mechanism of the control docking equipment 20 drives multiple second loading platforms 23 to rise, transferring multiple goods on the handling robot 10 to multiple transfer forks 24 respectively.

[0116] The lifting mechanism of the docking device 20 raises multiple second loading platforms 23, allowing the transfer forks 24 of each second loading platform 23 to pass through the corresponding loading forks 14, lifting and transferring the goods-laden boxes from multiple storage locations 13 to the multiple second loading platforms 23 in one go. Thus, the handling robot 10 can leave the docking device 20 to continue executing the next handling instruction, reducing waiting time.

[0117] In step S22, in response to the unloading command, the lifting mechanism of the docking equipment 20 is controlled to lower multiple second loading platforms 23, and multiple goods carried by the transfer forks 24 are placed on the conveyor or handling robot.

[0118] The unloading instruction includes the warehouse unloading instruction, which can be an instruction from the second loading platform 23 of the docking equipment 20 to start moving after receiving the goods transported by the handling robot 10.

[0119] In response to the unloading command, the docking device 20 is controlled to connect with the inbound conveyor line 31 of the conveyor 30, so that the transfer forks 24 of the docking device 20 are positioned above the conveyor rollers 34 of the inbound conveyor line 31, and the multiple transfer forks 24 and the multiple conveyor rollers 34 of the conveyor 30 are arranged alternately in the horizontal direction so that the transfer forks 24 can pass through the gaps between the multiple conveyor rollers 34. The lifting mechanism of the docking device 20 is controlled to lower the multiple second loading platforms 23, and the multiple goods transferred by the transfer forks 24 are placed sequentially on the inbound conveyor line of the conveyor 30.

[0120] It can receive cargo entry instructions and control the lifting mechanism of the docking equipment 20 to stop driving the second loading platform 23 to descend according to the received cargo entry instructions, so as to wait for the cargo placed on the entry conveyor line 31 to leave the entry conveyor line 31. The cargo entry instructions are triggered when the cargo on the transfer fork 24 comes into contact with the entry conveyor line 31.

[0121] Upon receiving a cargo exit instruction, the lifting mechanism of the docking equipment 20 is controlled to continue lowering the second loading platform 23, placing the cargo transferred by the next transfer fork 24 onto the inbound conveyor line 31 of the conveyor 30. The cargo exit instruction is triggered when cargo leaves the inbound conveyor line 31. This process transfers multiple goods one by one to the inbound conveyor line 31 for sorting by picking personnel.

[0122] In some embodiments, the receiving instruction further includes an outbound receiving instruction, comprising: in response to the outbound receiving instruction, controlling the docking device 20 to dock with the inbound conveyor line 31 of the conveyor 30, such that the transfer forks 24 of the docking device 20 are positioned below the conveyor rollers 34 of the inbound conveyor line 31, and such that the plurality of transfer forks 24 and the plurality of conveyor rollers 34 of the inbound conveyor line 31 are staggered in the horizontal direction so that the transfer forks 24 can pass through the gaps between the plurality of conveyor rollers 34. Controlling the lifting mechanism to raise the plurality of second loading platforms 23, thereby sequentially loading the plurality of goods on the inbound conveyor line 31 of the conveyor 30 onto the transfer forks 24 of the plurality of second loading platforms 23.

[0123] It can receive cargo exit instructions and control the lifting mechanism of the docking equipment 20 to stop driving the second loading platform 23 to rise and fall according to the received cargo exit instructions. The cargo exit instructions are instructions triggered when the cargo on the inbound conveyor line 31 leaves multiple conveyor rollers.

[0124] Upon receiving the cargo entry instruction, the lifting mechanism of the docking equipment 20 is controlled to continue to drive the second loading platform 23 to rise, transferring the cargo of the next entry conveyor line to the transfer fork 24 of the loading platform 23. The cargo entry instruction is triggered when the cargo on the transfer fork 24 comes into contact with the entry conveyor line.

[0125] In one embodiment, the unloading instruction also includes an outbound unloading instruction. In response to the outbound unloading instruction, the docking device 20 is controlled to dock with the handling robot 10, so that the transfer forks 24 of the docking device 20 are positioned above the loading forks 14 of the handling robot 10, and the multiple loading forks 14 and multiple transfer forks 24 are arranged alternately in the horizontal direction so that the transfer forks 24 can pass through the gaps between the loading forks 14. The lifting mechanism of the docking device 20 is controlled to drive the multiple second loading platforms 23 to rise, and the multiple goods on the multiple transfer forks 24 are placed on the loading forks 14 of the handling robot 10 respectively, so as to transfer the goods on the multiple second loading platforms 23 to multiple storage positions 13 at one time, thereby reducing the waiting time of the handling robot 10 and improving the handling efficiency.

[0126] According to this disclosure, a cargo handling method 300 is also provided, such as... Figure 7 As shown, the handling robot 10 applied to any of the embodiments above includes steps S31 and S32 in the cargo handling method 300.

[0127] In step S31, in response to the delivery instruction, the handling robot 10 is controlled to move to the docking position with the docking device 20 and a receiving instruction is issued, wherein the delivery instruction includes an inbound delivery instruction and / or an outbound delivery instruction; in step S32, a receiving completion instruction corresponding to the receiving instruction is received and the handling robot is controlled to leave the docking position.

[0128] The delivery instructions include inbound delivery instructions. In response to these instructions, the handling robot 10 is controlled to move to the docking position with the receiving device 20, and a receiving instruction is issued. This causes the transfer forks 24 of the receiving device 20 to be positioned below the carrying forks 14 of the handling robot 10, with the multiple carrying forks 14 and multiple transfer forks 24 arranged alternately in the horizontal direction. After docking is completed, a receiving instruction is issued to the receiving device 20. The lifting mechanism of the receiving device 20 then raises multiple second loading platforms 23, causing the transfer forks 24 of each second loading platform 23 to pass through the corresponding carrying forks 14, thus lifting and transferring the goods-laden bins from multiple storage locations 13 onto the multiple second loading platforms 23 in one go.

[0129] Then, the handling robot 10 receives the receiving completion instruction corresponding to the warehouse receiving instruction, controls the handling robot 10 to leave the docking position, and the handling robot 10 continues to execute the next handling instruction, reducing the waiting time.

[0130] The delivery instructions include outbound delivery instructions. In response to the outbound delivery instructions, the handling robot 10 is controlled to move to the docking position with the receiving device 20 and a receiving instruction is issued. This causes the transfer forks 24 of the receiving device 20 to be positioned above the loading forks 14 of the handling robot 10, with the multiple loading forks 14 and multiple transfer forks 24 arranged alternately in the horizontal direction. After docking is completed, a receiving instruction is issued to the receiving device 20. The lifting mechanism of the receiving device 20 drives multiple second loading platforms 23 to rise, so that the transfer forks 24 of each second loading platform 23 pass through the corresponding loading forks 14, lifting the boxes containing goods from multiple second loading platforms 23 and transferring them to multiple storage locations 13 in one go. Then, the handling robot 10 receives the receiving completion instruction corresponding to the outbound receiving instruction and controls the handling robot 10 to leave the docking position and return to the goods storage location, reducing the waiting time of the handling robot 10.

[0131] According to this disclosure, a cargo handling method 400 is also provided, such as... Figure 8 As shown, the cargo handling method 400, applied to the conveyor 30 in any of the embodiments described above, includes steps S41 and S42.

[0132] In step S41, cargo information on the inbound conveyor line 31 is received, and an inbound signal is sent to the docking equipment 20.

[0133] When the lifting mechanism of the receiving equipment 20 lowers the second loading platform 23 to transfer the goods to the inbound conveyor line 31, it sends an inbound signal to the receiving equipment 20. The lifting mechanism of the receiving equipment 20 then stops lowering the second loading platform 23, so that the sorting personnel can sort the goods on the inbound conveyor line 31.

[0134] In step S42, based on the received cargo information, the multiple conveyor rollers 34 of the inbound conveyor line 31 are controlled to rotate, so that the cargo leaves the inbound conveyor line 31 and sends an exit signal to the docking equipment 20.

[0135] When the goods leave the inbound conveyor line 31, the sorting of goods on the inbound conveyor line 31 is completed. After the goods leave the inbound conveyor line 31, the receiving equipment 20 continues to drive the second loading platform 23 to descend according to the received exit signal, and transfers the next goods to the inbound conveyor line, until the goods are placed one by one on the inbound conveyor line 31.

[0136] In one embodiment, the cargo handling method 400 further includes, in response to an outbound command, controlling the outbound conveyor line of the conveyor to transport the cargo to the inbound conveyor line and issuing an outbound receiving command to the receiving equipment 20.

[0137] After sorting, the empty boxes need to be transported to the goods storage location. According to the received outbound instruction, the control conveyor controls the outbound conveyor line 32 to transport the empty boxes to the inbound conveyor line 31, and sends an outbound receiving instruction to the docking equipment 20, so that the docking equipment 20 docks with the inbound conveyor line 31 according to the received outbound receiving instruction, thereby transferring the empty boxes to the handling robot 10, and the handling robot 10 transports the empty boxes to the goods storage location.

[0138] According to another aspect of this application, a method of transporting materials is also disclosed. (See reference...) Figure 9 The handling method may include the following steps. Step S51: Control the handling robot to move to the docking position. The handling robot is equipped with a shelf and the shelf is equipped with multiple storage locations. Control the handling robot to dock with the docking equipment. After docking, the multiple first loading platforms of the multiple storage locations of the handling robot dock with the multiple second loading platforms of the docking equipment one by one. Control the multiple second loading platforms of the docking equipment to rise or fall to transfer goods between the docking equipment and the handling robot. In the docking state, the second loading platforms can pass through the first loading platforms.

[0139] For example, refer to Figure 9 The handling method may further include step S511. Goods are placed on multiple first loading platforms of the handling robot. After the handling robot and the docking equipment are docked, multiple second loading platforms of the docking equipment are controlled to rise and pass through their corresponding first loading platforms to lift the goods, transferring the goods from the multiple first loading platforms to the multiple second loading platforms. Step S511 can be understood as the process of transferring goods from the handling robot to the docking equipment.

[0140] For example, the handling method may further include step S512. Goods are placed on multiple second loading platforms of the docking equipment. After the handling robot and the docking equipment have docked, the multiple second loading platforms are controlled to descend, and each of the multiple second loading platforms passes through its corresponding first loading platform, transferring the goods on the multiple second loading platforms to the multiple first loading platforms. Step S512 can be understood as the process of transferring goods from the docking equipment to the handling robot.

[0141] For example, multiple second loading platforms of the docking device can be arranged on a closed-loop transmission component. A first side of the docking device docks with a handling robot, and a second side docks with a conveyor. The first and second sides are located on opposite sides of the ring-shaped transmission component. After the docking device receives goods from the handling robot, the handling method may further include the following steps: Controlling the transmission component of the docking device to rotate along a first direction to rotate the multiple second loading platforms carrying goods from the first side through the upper part of the ring-shaped transmission component to the second side; controlling the transmission component of the docking device to continue rotating so that the multiple second loading platforms pass downwards through the conveyor one by one, placing the goods onto the conveyor; and controlling the conveyor to transport the received goods away from the docking device. Figure 3C Taking the embodiment in the figure as an example, the first direction is the direction shown by the dashed arrow in the figure, that is, the counterclockwise direction. Multiple second loading platforms move in the counterclockwise direction. In this step, the goods on the second loading platforms are transferred one by one to the conveyor and transported to the predetermined position.

[0142] For example, the handling method may also include the following steps: Controlling the conveyor to transport goods one by one to the second side of the receiving equipment, and controlling the transmission components of the receiving equipment to rotate along a second direction, causing multiple second loading platforms located below the conveyor on the second side of the receiving equipment to rise one by one and pass through the conveyor, respectively lifting the goods off the conveyor. In this way, the goods are transferred from the conveyor to the receiving equipment.

[0143] For example, the handling method may also include the following steps: Controlling the rotational speed of the transmission components of the receiving equipment to match the speed at which the conveyor transports goods, so that goods can be transferred one by one between the receiving equipment and the conveyor. In this way, whether the receiving equipment is transferring goods to the conveyor or the conveyor is transferring goods to the receiving equipment, a relatively stable matching speed can be guaranteed, preventing goods from being missed due to one side's excessive speed, thus ensuring the handling effect.

[0144] For example, when goods are placed on multiple first platforms of the transport robot, the transport robot is controlled to dock with the docking equipment. This step includes adjusting the height of multiple second platforms on the docking equipment that are docked with the transport robot, so that the height of each of the multiple second platforms is slightly lower than the height of its corresponding first platform. The transport robot is then controlled to move and dock with the docking equipment. After docking, the multiple second platforms are located below their respective first platforms. This can be understood as the step of transferring goods from the transport robot to the docking equipment including adjusting the vertical height of the multiple second platforms and the horizontal position of the first platforms of the transport robot. The fact that the height of the multiple second platforms is slightly lower than the corresponding first platforms better prevents collisions with the docking equipment during the movement of the transport robot. Here, "the height of the second platforms is slightly lower than the height of the first platforms" can be understood as the height of the second platforms being lower than the height of the first platforms by a predetermined distance. For example, this predetermined distance can be 3-5 cm.

[0145] For example, goods are placed on multiple second loading platforms of the docking equipment, and a handling robot is controlled to dock with the docking equipment. This step includes adjusting the height of the multiple second loading platforms docked with the handling robot on the docking equipment, so that the height of each of the multiple second loading platforms is slightly higher than the height of its corresponding first loading platform. The handling robot is then controlled to move and dock with the docking equipment. After docking, the multiple second loading platforms are respectively located above their respective first loading platforms. It can be understood that the step of transferring goods from the docking equipment to the handling robot also includes adjusting the vertical height of the second loading platforms and the horizontal position of the first loading platform of the handling robot. After controlling the height of the second loading platforms to be slightly higher than their corresponding first loading platforms, and the handling robot is in the docking position, the multiple second loading platforms are controlled to move downwards, passing through the first loading platforms, transferring the goods on the second loading platforms to the first loading platforms, and the handling robot is controlled to transport the goods to a predetermined position. Here, the fact that the height of each of the second loading platforms is slightly higher than the height of the first loading platform can be understood as the height of the second loading platform being higher than the height of the first loading platform by a predetermined distance, which can be set according to different situations. For example, the predetermined distance can be 3-5cm.

[0146] According to another aspect of this application, a server is also provided. The server includes a processor and a memory, the memory storing computer program instructions that are executed by the processor to perform any of the transport methods described above.

[0147] Those skilled in the art, by reading the above detailed description of the handling system and handling robot, can understand the specific steps and technical effects of the above handling method, as well as the specific implementation and technical effects of the above server. For the sake of brevity, they will not be described in detail here.

[0148] The foregoing description of implementations of this application has been provided for illustrative and descriptive purposes. The foregoing description is not exhaustive and is not intended to limit this application to the exact forms disclosed. Various modifications and variations may exist in accordance with the foregoing teachings, or may arise from practice of this application. These embodiments were chosen and described to illustrate the principles of this application and its practical application, enabling those skilled in the art to utilize this application in various implementations and modifications to suit the specific purpose of the concept.

Claims

1. A handling system, characterized in that, include: A handling robot is used to handle multiple goods at once. The handling robot includes a walking robot body and a shelf. The shelf includes a vertically arranged frame and multiple storage positions arranged on the frame. The multiple storage positions are arranged vertically, and the first loading platform of each storage position has a hollow design. A docking device is used to dock goods from or place goods onto the transport robot. The docking device includes a lifting mechanism and a plurality of second loading platforms disposed on the lifting mechanism. The first loading platform is configured to be adapted to the second loading platforms, such that when the transport robot and the docking device are docked, the second loading platforms of the docking device can pass through the first loading platforms. A control device is used to control the transport robot to dock with the docking equipment. After docking, the multiple first loading platforms of the multiple cargo positions of the transport robot dock with the multiple second loading platforms of the docking equipment one by one. The device also controls the multiple second loading platforms of the docking equipment to rise or fall through the corresponding first loading platforms to transfer goods between the multiple second loading platforms and the multiple first loading platforms. The spacing between the plurality of second loading platforms is adjustable, and the second loading platform includes a plurality of transfer forks spaced apart in a horizontal direction, the spacing between the plurality of transfer forks being adjustable.

2. The handling system according to claim 1, characterized in that, The plurality of second platforms are arranged vertically, with one end of each second platform connected to the lifting mechanism and the other end suspended in the air.

3. The handling system according to claim 1 or 2, characterized in that, The first loading platform includes a plurality of loading forks spaced apart in the horizontal direction. When the handling robot and the docking device are docked, the multiple forks of the first loading platform and the multiple adapter forks of the corresponding second loading platform are arranged alternately in the horizontal direction, and the multiple adapter forks can pass through the gaps between the multiple loading forks.

4. The handling system according to claim 1 or 2, characterized in that, The control device is also used to control the multiple second loading platforms to rise to a predetermined height and pass through the corresponding first loading platforms to lift the goods, and after transferring the goods on the multiple first loading platforms to the multiple second loading platforms, control the handling robot to leave the docking position. or, The control device is also used to control the plurality of second loading platforms to descend and pass through the corresponding first loading platforms, and after placing the goods on the plurality of second loading platforms onto the plurality of first loading platforms, control the handling robot to leave the docking position.

5. The handling system according to claim 4, characterized in that, The lifting mechanism includes a closed-loop transmission component, which includes a first side extending vertically, and a first vertical section is provided on the first side. The plurality of second platforms are slidably connected to the transmission member, and the lifting mechanism is used to drive the plurality of second platforms to move cyclically along the transmission member. When the plurality of second platforms are on the first side, they are used to dock with the handling robot located at the docking position.

6. The handling system according to claim 5, characterized in that, The transmission component further includes a second side extending vertically and arranged side-by-side with the first side. A second vertical segment is provided on the second side. The transmission component also includes a first curved segment connected to one end of the first vertical segment and the second vertical segment, and a second curved segment connected to the other end of the first vertical segment and the second vertical segment. The handling system also includes an inbound conveyor line located at the second vertical section. The inbound conveyor line includes multiple conveyor rollers, the axes of which are parallel to the multiple transfer forks of the second loading platform of the receiving equipment. The spacing between the multiple conveyor rollers is adapted to the multiple transfer forks of each second loading platform, so that the multiple second loading platforms on the second vertical section can pass through the multiple conveyor rollers.

7. The handling system according to claim 6, characterized in that, One end of the conveyor roller is rotatably connected to the conveyor frame of the inbound conveyor line, while the other end is suspended in the air.

8. The handling system according to claim 7, characterized in that, The transport system also includes an outbound transport line that connects to the inbound transport line.

9. The handling system according to claim 6, characterized in that, The transmission component is located in a vertical plane, and the inbound conveyor line and the docking position are located on the same side of the transmission component.

10. A method for handling materials, characterized in that, include: Control the transport robot to move to the docking position. The transport robot is equipped with a shelf and the shelf is equipped with multiple storage locations. Control the docking of the transport robot and the docking equipment. After docking is completed, the multiple first loading platforms of the multiple cargo positions of the transport robot are docked one by one with the multiple second loading platforms of the docking equipment. The system controls the raising or lowering of multiple second loading platforms of the docking equipment to transfer goods between the docking equipment and the handling robot. In the docking state, the second platform can pass through the first platform, the spacing between the multiple second platforms can be adjusted, and the second platform includes multiple adapter forks spaced apart in the horizontal direction, the spacing between the multiple adapter forks can be adjusted.

11. The handling method according to claim 10, characterized in that, Goods are placed on the multiple first loading platforms of the transport robot. After the transport robot and the docking equipment are docked, the multiple second loading platforms of the docking equipment are controlled to rise and pass through the corresponding first loading platforms to lift the goods and transfer the goods on the multiple first loading platforms to the multiple second loading platforms. or, Goods are placed on the multiple second loading platforms of the docking equipment. After the handling robot and the docking equipment are docked, the multiple second loading platforms are controlled to descend. The multiple second loading platforms pass through the corresponding first loading platforms to transfer the goods on the multiple second loading platforms to the multiple first loading platforms.

12. The handling method according to claim 11, characterized in that, The docking device has multiple second loading platforms mounted on a closed-loop transmission component. A first side of the docking device connects to the transport robot, and a second side connects to the conveyor. The first and second sides are located on opposite sides of the transmission component. The method further includes: After the docking device receives the goods from the handling robot, the transmission component of the docking device is controlled to rotate along a first direction to rotate multiple second loading platforms carrying goods from the first side to the second side via the upper part of the transmission component. The transmission component of the docking device is then controlled to continue rotating so that the multiple second loading platforms pass down through the conveyor one by one and place the goods onto the conveyor. The conveyor is then controlled to transport the received goods away from the docking device. or, The conveyor is controlled to transport goods one by one to the second side of the docking equipment, and the transmission component of the docking equipment is controlled to rotate along the second direction, so that multiple second loading platforms located below the conveyor on the second side of the docking equipment rise one by one and pass through the conveyor, respectively lifting the goods away from the conveyor.

13. The handling method according to claim 12, characterized in that, The rotational speed of the transmission components of the docking equipment is matched with the speed at which the conveyor transports goods, so that goods can be transferred one by one between the docking equipment and the conveyor.

14. The handling method according to any one of claims 10 to 13, characterized in that, Goods are placed on the multiple first loading platforms of the transport robot, and the control of the transport robot and the docking equipment includes: Adjust the height of the plurality of second loading platforms on the docking equipment that are docked with the transport robot, so that the height of each of the plurality of second loading platforms is slightly lower than the height of the corresponding first loading platform; The handling robot is controlled to move and dock with the docking equipment. After docking, the multiple second loading platforms are respectively located below their respective first loading platforms.

15. The handling method according to any one of claims 10 to 13, characterized in that, Goods are placed on multiple second loading platforms of the docking equipment, and the control of the handling robot to dock with the docking equipment includes: Adjust the height of the plurality of second loading platforms on the docking equipment that are docked with the transport robot, so that the height of each of the plurality of second loading platforms is slightly higher than the height of the corresponding first loading platform; The transport robot is controlled to move and dock with the docking device. After docking, the multiple second loading platforms are respectively located above their respective first loading platforms.

16. A transport robot, characterized in that, It includes a walking robot body and a shelf, with the shelf positioned on top of the walking robot body; The shelf includes a vertically arranged frame and multiple storage positions arranged on the frame. The multiple storage positions are arranged vertically, and the first loading platform of each storage position is designed to be hollowed out. The first loading platform of each storage position is constructed to be adapted to the second loading platform of the docking equipment, so that when the handling robot and the docking equipment are docked, the second loading platform of the docking equipment can pass through the first loading platform of the storage position. The spacing between the multiple second loading platforms is adjustable. The second loading platform includes multiple adapter forks arranged horizontally at intervals, and the spacing between the multiple adapter forks is adjustable.

17. The handling robot according to claim 16, characterized in that, The first loading platform of each storage location includes a plurality of loading forks spaced apart in the horizontal direction, one end of the plurality of loading forks being connected to the frame and the other end being suspended in the air; The spacing between the plurality of forks is configured to be adapted to the transfer forks of the second loading platform of the docking equipment.

18. The handling robot according to claim 17, characterized in that, When the handling robot and the docking device are docked, the multiple forks of the first loading platform and the multiple adapter forks of the corresponding second loading platform are arranged alternately in the horizontal direction, and the multiple adapter forks can pass through the gaps between the multiple loading forks.

19. The handling robot according to any one of claims 16-18, characterized in that, The plurality of storage locations all extend from the frame toward the first side.

20. The handling robot according to claim 17, characterized in that, Multiple forks for carrying goods are spaced evenly in each storage location.

21. The handling robot according to any one of claims 16-18, characterized in that, The frame includes a support mounted on the walkable robot body and multiple frames arranged laterally on the support. The multiple storage locations are connected to the multiple shelving units in a one-to-one correspondence.

22. The handling robot according to claim 21, characterized in that, Each of the plurality of storage locations is movable within a corresponding frame to allow for individual height adjustment of the plurality of storage locations. or, The multiple frames are movably mounted on the support to adjust their heights individually.

23. The handling robot according to any one of claims 16-18, characterized in that, The spacing between the multiple storage locations is adjustable.

24. A server, characterized in that, It includes a processor and a memory, wherein the memory stores computer program instructions that, when executed by the processor, are used to perform the transport method as described in any one of claims 10-15.

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