Transport robot, goods storage box, and goods transport system

Abstract

The present disclosure relates to a carrying robot, which comprises a suction mechanism and a turnover mechanism, and is capable of actively obtaining a carrying object without the need of reserving space below and around the carrying object and causing deformation of the carrying object to be carried. Furthermore, the present disclosure relates to a cargo storage box, which is capable of being used in cooperation with the carrying robot to realize accurate and firm obtaining of the cargo storage box by the carrying robot. Furthermore, the present disclosure also relates to a cargo carrying system, which comprises the carrying robot and the cargo storage box, and the carrying robot is capable of realizing obtaining and carrying of the cargo storage box without the need of reserving space below and around the cargo storage box.

Description

Technical Field

[0001] This disclosure relates to the field of robotics, and more specifically, to a handling robot, a cargo storage box, and a cargo handling system. Background Technology

[0002] With the application and development of technologies in fields such as smart factories, smart logistics, and smart warehousing, there is a need for automated acquisition and handling of various objects in these fields (e.g., workpieces to be moved in smart factories; goods in smart logistics and smart warehousing). Currently, handling robots are increasingly used in these fields to significantly improve automation and reduce human resource costs, replacing manual sorting and handling. Therefore, the role of handling robots in acquiring and moving objects is becoming increasingly prominent in these fields. Existing handling robots are typically forklift-type, gripper-type, or load-bearing handling robots.

[0003] Figure 1A An example of a forklift-type handling robot is shown. During the handling process, the forklift-type handling robot inserts its forks into a pre-reserved space under the object being handled, lifts the object, and then moves it to the target location. However, for forklift-type handling robots, it is always cumbersome to pre-set a reserved space under the object being handled. Furthermore, after lifting the object, it is always placed on the forks at the front of the forklift-type handling robot, thus requiring a large overall space volume and typically only suitable for handling heavy goods.

[0004] Figure 1B An exemplary gripper-type handling robot is shown. During the handling process, the gripper-type handling robot uses mechanical grippers to grasp the object being handled and then moves it to the target location. However, for non-rigid objects, the gripping action of the gripper-type handling robot may cause deformation of the object. Furthermore, sufficient space must be left around the object to allow the mechanical grippers to drop down, to prevent the grippers from unintentionally touching or moving other objects.

[0005] Figure 1C An exemplary load-carrying robot is shown. During transport, the load-carrying robot supports the object on top and moves it to the target location, thus occupying only a small volume of space. However, the load-carrying robot lacks a mechanism for acquiring the object and lacks the ability to actively acquire objects.

[0006] Therefore, there is a need for a transport robot that can actively acquire the transported object without causing deformation of the object to be transported and has a small space occupation, a cargo storage box used in conjunction with the transport robot, and a cargo transport system including the above-mentioned transport robot and cargo storage box. Summary of the Invention

[0007] Therefore, this disclosure provides a transport robot that does not require pre-reserved space below and around the object to be transported, and can actively acquire the object to be transported without causing deformation of the object.

[0008] In addition, this disclosure also provides a cargo storage box that can be used in conjunction with the handling robot to enable the handling robot to accurately and securely acquire the cargo storage box.

[0009] In addition, this disclosure also provides a cargo handling system, which includes the handling robot and the cargo storage box. The handling robot can acquire and handle the cargo storage box without needing to reserve space under and around it.

[0010] According to embodiments of this disclosure, a handling robot is provided, comprising: an adsorption mechanism including one or more controllable adsorption components configured to controllably adsorb a transported object; a lifting mechanism fixedly connected to the adsorption mechanism, configured to lift the adsorption mechanism in a lifting direction intersecting the plane of travel of the handling robot; a travel mechanism including one or more travel devices and one or more travel drive devices for driving the one or more travel devices; and a control mechanism configured to control the adsorption mechanism to generate or release adsorption on the transported object. Here, the handling robot according to this disclosure uses the adsorption mechanism to acquire the transported object. Compared to traditional forklift-type handling robots, it eliminates the need for pre-reserved space below the cargo storage box, and compared to traditional gripper-type handling robots, it eliminates the need for pre-reserved space around the cargo storage box, avoiding deformation of the transported object that may be caused by the mechanical grippers.

[0011] According to one embodiment of the handling robot of this disclosure, in the adsorption mechanism of the handling robot, one or more controllable adsorption components protrude from the surface of the adsorption mechanism to form a surface fit between the protruding surfaces of the one or more controllable adsorption components and the surface of the handling object when adsorbing the handling object. Through this surface fit, the handling robot of this disclosure can tightly adsorb onto the handling object by means of its protruding controllable adsorption components, achieving reliable and secure acquisition of the handling object.

[0012] According to a more detailed embodiment of the handling robot disclosed herein, in the adsorption mechanism of the handling robot, the one or more controllable adsorption components include one or more electromagnet-type adsorption components or one or more vacuum suction cup-type adsorption components. The generation or release of adsorption on the transported object is accomplished by the control mechanism controlling the one or more electromagnet-type adsorption components or the one or more vacuum suction cup-type adsorption components. Therefore, compared to traditional gripper-type handling robots, it is possible to achieve a system where no pre-reserved space is needed around the cargo storage box, avoiding deformation of the transported object that may be caused by mechanical grippers.

[0013] According to another alternative design of the handling robot of this disclosure, the handling robot further includes a flipping mechanism. The flipping mechanism includes a flipping drive and a flipping transmission device, the flipping transmission device being drively connected to the lifting mechanism (e.g., via a coupling in a coupling boss). The flipping drive is configured to flip the lifting mechanism via the flipping transmission device to flip the object being handled, which is fixedly connected to the lifting mechanism, onto the top of the handling robot. Here, by flipping the object to the top of the handling robot, the handling robot deforms and handles the object in a load-bearing handling robot mode; that is, during handling, the object is no longer attached to the side of the handling robot according to this disclosure but is supported on the top of the handling robot according to this disclosure. This further reduces the overall space occupied by the handling robot according to this disclosure when handling objects. Therefore, the handling robot according to this disclosure can be advantageously used in environments with limited space and requiring a large number of handling robots.

[0014] According to embodiments of this disclosure, the flipping mechanism can be implemented in a variety of ways to perform the flipping of the transported object onto the top of the transport robot according to this disclosure.

[0015] According to a more detailed embodiment of the handling robot disclosed herein, the flipping transmission device can be implemented by a so-called synchronous belt drive, that is: the flipping transmission device includes a flipping synchronous belt and a flipping synchronous pulley, one side of the flipping synchronous belt meshes with the flipping drive device, and the other side of the flipping synchronous belt meshes with the gear teeth of the flipping synchronous pulley. Furthermore, the handling robot according to this disclosure also has a coupling boss, which is fixedly connected to the lifting mechanism to enable the lifting mechanism to rotate around the coupling shaft in the coupling boss, and the flipping synchronous pulley is axially aligned with the coupling shaft of the coupling boss and fixedly connected to the coupling boss. Here, the flipping drive device may include, for example, a rotary motor, a rotary hydraulic motor, a rotary cylinder, or other drive device that performs reciprocating rotary motion. Since the flipping synchronous pulley is fixedly connected to the connecting boss, when the flipping drive device drives the flipping synchronous pulley to rotate around the connecting shaft in the connecting boss by means of the flipping synchronous belt, the flipping drive device can also drive the lifting mechanism to rotate around the connecting shaft in the connecting boss, so as to flip the transported object adsorbed by the adsorption mechanism fixedly connected to the lifting mechanism to the top of the transport robot.

[0016] According to a more detailed embodiment of the handling robot disclosed herein, the flipping transmission device can be implemented using a so-called multi-link mechanism, i.e., the flipping transmission device includes a linkage mechanism, wherein one end of a first crank in the linkage mechanism is drively connected to the flipping drive device, the lifting mechanism serves as a second crank in the linkage mechanism, and the handling robot has a connecting boss, which is fixedly connected to the lifting mechanism. Thus, when it is necessary to flip the object to be handled to the top of the handling robot according to this disclosure, the flipping drive device drives the first crank to rotate, and the second crank also rotates via the linkage in the multi-link mechanism. Since the lifting mechanism serves as the second crank in the linkage mechanism, the second crank / the lifting mechanism rotates around the connecting shaft of the connecting boss, so as to flip the object held by the adsorption mechanism fixedly connected to the lifting mechanism to the top of the handling robot. Here, the flipping drive device may also include, for example, a rotary motor, a rotary hydraulic motor, a rotary cylinder, or other drive device that performs reciprocating rotational motion.

[0017] According to a more detailed embodiment of the handling robot disclosed herein, the flipping transmission device can be implemented using a so-called rocker mechanism, i.e., the flipping transmission device includes a rocker mechanism, wherein the flipping drive device includes a linear motion drive device and is included in the rocker block of the rocker mechanism, one end of the connecting rod in the rocker mechanism is driveably connected to the linear motion drive device, and the other end of the connecting rod in the rocker mechanism is driveably connected to the lifting mechanism, and the handling robot has a connecting boss, which is fixedly connected to the lifting mechanism. Thus, when it is necessary to flip the object to be handled to the top of the handling robot according to this disclosure, the linear motion drive device, by means of the connecting rod, pushes the lifting mechanism to rotate around the connecting shaft of the connecting boss, so as to flip the object to be handled by the adsorption mechanism fixedly connected to the lifting mechanism to the top of the handling robot. Here, the linear motion drive device may, for example, include a hydraulic cylinder, a pneumatic linear cylinder, or other drive device that performs reciprocating linear motion.

[0018] According to embodiments of this disclosure, the lifting mechanism can be implemented in a variety of ways to perform the lifting and lowering of the transported object in the lifting direction.

[0019] According to a more detailed embodiment of the handling robot disclosed herein, the lifting mechanism can be implemented by a so-called synchronous belt drive, that is: the lifting mechanism includes a lifting transmission device and a lifting drive device for driving the transmission device, the lifting transmission device includes a synchronous belt, a synchronous pulley, a first lifting synchronous pulley, a second lifting synchronous pulley, and a lifting synchronous belt arranged in the lifting direction, the synchronous pulley has a first gear set and a second gear set, one side of the synchronous belt meshes with the lifting drive device, the other side of the synchronous belt meshes with the first gear set of the synchronous pulley, the lifting synchronous belt meshes with the first and second lifting synchronous pulleys on both sides respectively, and meshes with the second gear set of the synchronous pulley between its two sides, the adsorption mechanism further includes a synchronous belt pressure plate, the synchronous belt pressure plate presses the lifting synchronous belt tightly against the surface of the adsorption mechanism, so that the lifting synchronous belt is fixedly connected to the adsorption mechanism.

[0020] Therefore, when it is necessary to lift the object being transported, the lifting drive device drives the synchronous pulley to rotate via the synchronous belt through the meshing of the first gear set of the synchronous belt and the synchronous pulley. Furthermore, through the meshing of the lifting synchronous belt and the second gear set of the synchronous pulley, the lifting drive device further drives the lifting synchronous belt to move in the lifting direction. Since the suction mechanism is fixedly connected to the lifting synchronous belt, the lifting drive device drives the suction mechanism, which holds the object being transported, to lift in the lifting direction. Here, the lifting drive device may include, for example, a rotary motor, a rotary hydraulic motor, a rotary cylinder, or other drive device that performs reciprocating rotary motion.

[0021] According to another alternative embodiment of the handling robot disclosed herein, the lifting mechanism can also be implemented by a so-called screw drive, that is: the lifting mechanism includes a lifting transmission device and a lifting drive device for driving the transmission device, the lifting transmission device includes a screw and a screw pair that cooperates with the screw, the axis of the screw is parallel to the lifting direction, the lifting drive device is fixedly connected to the screw by means of a coupling to drive the screw to rotate around its axis, and the screw pair is fixedly connected to the adsorption mechanism.

[0022] Therefore, when it is necessary to lift or lower the object being transported, the lifting drive device drives the lead screw to rotate around its axial direction via a coupling. The lead screw pair rises or falls on the lead screw in the direction corresponding to the direction of rotation. Since the adsorption mechanism is fixedly connected to the lead screw pair, the adsorption mechanism also rises or falls on the lead screw. This enables the lifting drive device to drive the adsorption mechanism, which holds the object being transported, to rise or fall in the lifting direction. Here, the lifting drive device may also include, for example, a rotary motor, a rotary hydraulic motor, a rotary cylinder, or other drive device that performs reciprocating rotary motion.

[0023] According to another alternative embodiment of the handling robot disclosed herein, the lifting mechanism can also be implemented by a so-called linear motor direct drive, that is, a lifting transmission device is no longer needed, and the lifting mechanism only includes a lifting drive device. Here, the lifting drive device includes a linear motor, the stator of which extends in the lifting direction, and the mover of which is fixedly connected to the adsorption mechanism.

[0024] Therefore, when it is necessary to lift or lower the object being transported, the stator of the linear motor directly drives the mover of the linear motor to move in the extension direction of the stator, i.e., the lifting direction, via electromagnetic interaction. Since the adsorption mechanism is fixedly connected to the mover of the linear motor, the adsorption mechanism also moves up and down in the extension direction of the stator, i.e., the lifting direction. Thus, the lifting drive device drives the adsorption mechanism, which holds the object being transported, to move up and down in the lifting direction.

[0025] According to another alternative embodiment of the handling robot disclosed herein, the lifting mechanism can also be implemented via a so-called direct-drive cylinder mechanism, i.e., in this case, a lifting transmission device is no longer required, and the lifting mechanism only includes a lifting drive device. Here, the lifting drive device includes a linear cylinder mechanism, which is configured to drive its moving end to move in the lifting direction, and the moving end of the linear cylinder mechanism is fixedly connected to the adsorption mechanism.

[0026] Therefore, when it is necessary to lift or lower the object being transported, the linear motion mechanism of the cylinder pushes its moving end to move in the lifting or lowering direction. Since the adsorption mechanism is fixedly connected to the moving end of the linear motion mechanism of the cylinder, the adsorption mechanism also moves up and down in the direction pushed by the linear motion mechanism of the cylinder, i.e., the lifting or lowering direction. Thus, the lifting drive device drives the adsorption mechanism, which holds the object being transported, to move up and down in the lifting or lowering direction.

[0027] According to embodiments of this disclosure, the lifting mechanism of the handling robot further includes a limiting device to more reliably limit the lifting movement of the adsorption mechanism relative to the lifting mechanism in the lifting direction. Various implementations of the limiting device exist to limit the lifting movement in the lifting direction.

[0028] According to a more detailed embodiment of the handling robot disclosed herein, the lifting mechanism includes a limiting device, which is implemented as a slide rail and a slider. Specifically, the limiting device includes a slide rail and a slider, wherein the slide rail is fixedly connected to the lifting mechanism and extends in the lifting direction, the slider is slidably supported on the slide rail, and the slider is fixedly connected to the adsorption mechanism. Because the slider is fixedly connected to the adsorption mechanism and can slide on the slide rail, the movement direction of the adsorption mechanism relative to the lifting mechanism can be reliably limited to the extension direction of the slide rail, i.e., the lifting direction.

[0029] According to another optional embodiment of the handling robot disclosed herein, the lifting mechanism includes a limiting device implemented as a linear bearing. Specifically, the limiting device includes a linear shaft and a linear bearing. The linear shaft is fixedly connected to the lifting mechanism and extends in the lifting direction. The linear bearing is slidably mounted on the linear shaft and fixedly connected to the adsorption mechanism. Because the linear bearing is fixedly connected to the adsorption mechanism and can slide on the linear shaft, the movement direction of the adsorption mechanism relative to the lifting mechanism can be reliably limited in the extension direction of the linear shaft, i.e., the lifting direction.

[0030] A second aspect of this disclosure relates to a cargo storage box that can be used in conjunction with a handling robot. Here, an adsorption section is provided on the side wall of the cargo storage box, the adsorption section including one or more adsorption components, and the one or more adsorption components adsorb onto one or more adsorption components provided on the handling robot, so that the handling robot can transport the cargo storage box.

[0031] According to a more detailed embodiment of the handling robot disclosed herein, in the cargo storage box, the one or more adsorption components are one or more grooves, so that when the handling robot adsorbs the transported object, a surface fit is formed between the groove and the surface of the one or more controllable adsorption components of the handling robot. Thus, by means of the surface fit formed between the groove of the cargo storage box and the protruding surface of the controllable adsorption component of the handling robot, accurate positioning and firm adsorption of the cargo storage box by the handling robot can be achieved.

[0032] According to a more detailed embodiment of the handling robot of this disclosure, a ferromagnetic material is provided in the grooves of the cargo storage box to form magnetic adsorption between one or more grooves of the cargo storage box and one or more controllable adsorption components of the handling robot when the handling robot adsorbs the object being handled. Thus, by means of the magnetically formed surface fit, the cargo storage box can not only reliably and firmly move up and down in the lifting direction after being adsorbed by the handling robot according to this disclosure, but also can be reliably flipped onto the top of the handling robot according to this disclosure by its flipping mechanism when needed, for example, when the environment in which the handling robot is used is crowded. Furthermore, by means of this magnetically formed surface fit, after flipping, that is, during the handling of the cargo storage box in a manner similar to that of a conventional load-bearing handling robot with its top supported, it is also possible to achieve a secure magnetic support of the cargo storage box on the top of the handling robot according to this disclosure. In summary, by means of the cargo storage box according to this disclosure, the handling robot according to this disclosure can achieve accurate and secure acquisition of the cargo storage box.

[0033] A third aspect of this disclosure relates to a cargo handling system, comprising the handling robot described above and the cargo storage box described above. Here, the handling robot according to this disclosure handles the cargo storage box as the object of transport. As described above, through the adsorption of the cargo storage box by the handling robot according to this disclosure and the resulting surface fit, reliable adsorption of the cargo storage box can be achieved, and it can be flipped onto the top of the handling robot when necessary. Therefore, the cargo handling system according to this disclosure achieves both a smaller space requirement and the ability to acquire and transport the cargo storage box without requiring pre-reserved space below and around it.

[0034] In summary, this disclosure provides a transport robot. On one hand, the transport robot has an adsorption mechanism to actively adsorb the transported object, enabling it to actively acquire the object without requiring pre-reserved space below or around it and without causing deformation of the object. On the other hand, the transport robot may also have a flipping mechanism, which can flip the adsorbed object to the top of the robot for transport when necessary. This prevents the adsorbed object from being attached to the sides of the robot during transport but instead supports it on top, significantly reducing the space required by the robot during transport.

[0035] Furthermore, this disclosure provides a cargo storage box. The cargo storage box can be used in conjunction with the handling robot, and when it is adsorbed, it forms a surface fit with the controllable adsorption component protruding from the handling robot through an adsorption portion provided on its side wall and a groove included in the adsorption portion. Due to this surface fit, whether the cargo storage box is raised or lowered to the side of the handling robot or flipped to the top of the handling robot, the handling robot can accurately and securely acquire the cargo.

[0036] Furthermore, this disclosure provides a cargo handling system. This cargo handling system combines the advantages of the handling robot described above and the cargo storage box described above. On the one hand, it achieves a smaller space requirement; on the other hand, it can acquire and transport the cargo storage box without requiring pre-reserved space below or around it, and without causing deformation of the cargo storage box. Attached Figure Description

[0037] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are merely some exemplary embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0038] In the attached image:

[0039] Figure 1A A schematic diagram of a traditional forklift-type handling robot is shown;

[0040] Figure 1B A schematic diagram of a traditional gripper-type handling robot is shown;

[0041] Figure 1C A schematic diagram of a traditional load-carrying robot is shown;

[0042] Figure 2A A schematic block diagram of a handling robot according to the present disclosure is shown;

[0043] Figure 2B A handling robot according to this disclosure is shown;

[0044] Figure 3 A schematic diagram showing the surface mating between the handling robot and the object being handled according to this disclosure is shown;

[0045] Figure 4A A schematic block diagram of a handling robot according to an alternative design is shown;

[0046] Figure 4B A handling robot based on an alternative design is shown;

[0047] Figure 5A , Figure 5B The diagram shows a handling robot before and after flipping, according to an alternative design.

[0048] Figure 6 An embodiment of a reversing transmission device in the form of a synchronous belt drive is shown;

[0049] Figure 7 A simplified diagram of an embodiment of a tilting transmission device in the form of a multi-link mechanism is shown;

[0050] Figure 8 A simplified diagram of an embodiment of a tilting transmission device in the form of a rocker mechanism is shown;

[0051] Figure 9 An embodiment of a lifting mechanism in the form of a synchronous belt drive is shown;

[0052] Figure 10 An embodiment of a lifting mechanism in the form of a synchronous belt drive is shown;

[0053] Figure 11 An embodiment of a limiting device in the form of a slide rail and a slider is shown. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of this disclosure more apparent, exemplary embodiments according to this disclosure will now be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this disclosure, and not all embodiments of this disclosure. It should be understood that this disclosure is not limited to the exemplary embodiments described herein.

[0055] Furthermore, in this specification and the accompanying drawings, steps and elements that are substantially the same or similar are indicated by the same or similar reference numerals, and repeated descriptions of these steps and elements will be omitted.

[0056] Furthermore, in this specification and accompanying drawings, elements are described in singular or plural forms according to embodiments. However, the singular and plural forms have been suitably chosen for the presented cases merely for ease of explanation and are not intended to limit this disclosure. Thus, a singular form may include a plural form, and a plural form may include a singular form, unless the context clearly indicates otherwise.

[0057] Furthermore, the terms "first" and "second" used in this specification and drawings are merely to distinguish similar objects and do not represent a specific ordering of objects. Understandably, "first" and "second" may be interchanged in a specific order or sequence where permitted, so that the embodiments of this disclosure described herein can be implemented in an order other than that illustrated or described herein.

[0058] Furthermore, the terms "upper," "lower," "vertical," "horizontal," and "front," etc., which relate to orientation or positional relationships, used in this specification and drawings are only for the convenience of describing embodiments according to this disclosure and are not intended to limit this disclosure. Therefore, they should not be construed as limiting this disclosure.

[0059] Furthermore, in this specification and accompanying drawings, unless otherwise expressly stated, "connection" does not necessarily mean "direct connection" or "direct contact." Here, "connection" can mean both a fixing function and electrical connection.

[0060] As an example, this disclosure can be applied to the field of robotics combined with Artificial Intelligence (AI). AI refers to the theories, methods, technologies, and application systems that utilize digital computers or machines controlled by digital computers to simulate, extend, and expand human intelligence, perceive the environment, acquire knowledge, and use that knowledge to achieve optimal results. In other words, AI is a comprehensive technology within computer science that attempts to understand the essence of intelligence and produce new intelligent machines that can react in a way similar to human intelligence. AI also studies the design principles and implementation methods of various intelligent machines, enabling them to possess perception, reasoning, and decision-making capabilities.

[0061] Artificial intelligence (AI) is a comprehensive discipline encompassing a wide range of fields, including both hardware and software technologies. Fundamental AI technologies generally include sensors, dedicated AI chips, cloud computing, distributed storage, big data processing, operating / interactive systems, and mechatronics. AI software technologies primarily include computer vision, speech processing, natural language processing, and machine learning / deep learning.

[0062] Currently, with the research and advancement of artificial intelligence (AI) technology, AI is being researched and applied in various fields, such as smart homes, smart wearable devices, virtual assistants, smart speakers, smart marketing, autonomous driving, drones, robots, smart healthcare, and smart customer service. Leveraging AI's perception, reasoning, and decision-making capabilities, AI has been combined with material handling robots and applied to smart factories, smart logistics, and smart warehousing to replace manual sorting and handling, significantly improving the automation level of these fields and reducing human resource costs.

[0063] As mentioned above, in combination Figures 1A-1C As shown, traditional handling robots are forklift-type, gripper-type, or load-bearing handling robots. As mentioned earlier, these robots suffer from problems such as the need to reserve space below and around the object being handled, the potential deformation of the object caused by the mechanical grippers, and the large space occupation due to the object being fixed to the side during handling. The solution disclosed in this paper can solve these problems, as illustrated in the following embodiments.

[0064] According to one aspect of this disclosure, a transport robot is provided. Figure 2A A schematic block diagram of a conveying machine according to this disclosure is shown. Figure 2B An exemplary transport robot according to this disclosure is shown.

[0065] According to embodiments of this disclosure, the handling robot 200 includes an adsorption mechanism 210, which includes one or more controllable adsorption components 211, ..., 21n. For clarity, Figure 2A Only a single controllable adsorption component is shown. Any number of controllable adsorption components can be set as needed according to actual usage. The one or more controllable adsorption components are configured to controllably adsorb the transported object. Because this embodiment uses a controllable adsorption component instead of mechanical grippers or forks to acquire the transported object, on the one hand, compared to traditional gripper-type transport robots, it effectively avoids deformation of the transported object that may be caused by mechanical grippers and eliminates the need to pre-reserve space around the transported object for the grippers to descend. On the other hand, compared to traditional forklift-type robots, it eliminates the need to pre-reserve space below the cargo storage box for fork insertion. Thus, reliable adsorption / acquisition of the transported object is achieved without causing deformation, and the additional labor costs associated with pre-reserving space are reduced.

[0066] According to embodiments of this disclosure, the handling robot 200 further includes a lifting mechanism 220, which is fixedly connected to the adsorption mechanism 210 and configured to lift the adsorption mechanism in a lifting direction intersecting the plane in which the handling robot travels. According to more detailed embodiments of this disclosure, the fixed connection between the adsorption mechanism 210 and the lifting mechanism 220 can be achieved by means of pressure plates, welding, riveting, etc. Detailed embodiments of the fixed connection between the adsorption mechanism 210 and the lifting mechanism 220 are described below. Therefore, after the transport robot 200 adsorbs the transport object using the adsorption mechanism 210, it can use the lifting mechanism 220 to lift the adsorption mechanism 210 and the adsorbed transport object in the lifting direction to facilitate the subsequent transport operation of the transport robot 200. After the transport robot 200 is transported to the desired transport position, it can use the lifting mechanism 220 to lower the adsorption mechanism 210 and the adsorbed transport object in the lifting direction to facilitate the transport robot 200 to place the transport object in the desired transport position after arriving at the desired transport position.

[0067] According to embodiments of this disclosure, the handling robot 200 further includes a driving mechanism 230, which includes one or more driving devices and one or more driving drive devices for driving the one or more driving devices. In more detailed embodiments of this disclosure, the one or more driving devices may, for example, include one or more wheeled driving devices (e.g., wheeled vehicles) depending on actual needs. Figure 2B The device shown includes one or more four Mecanum wheels, a tracked driving device, a foot-mounted driving device, etc. With the help of the driving mechanism 230, the object to be transported can be moved to any desired transport location after the adsorption mechanism 210 has adsorbed the object.

[0068] According to embodiments of this disclosure, the handling robot 200 further includes a control mechanism 240, which is signal-connected to the adsorption mechanism 210. The control mechanism 240 is configured to control the adsorption mechanism 210 to generate or release adsorption on the transported object. Furthermore, the control mechanism 240 may also be signal-connected to the lifting mechanism and / or the traveling mechanism. In more detailed embodiments according to this disclosure, the control mechanism 240 may be arranged at any position on the handling robot 200, for example, as needed. Figure 2B The control mechanism 240 shown can be arranged on the driving mechanism 230, and the transmission of control signals of the control mechanism 240 to the adsorption mechanism 210 and / or the driving mechanism can be realized through any feasible technical solution in the fields of wired communication and wireless communication.

[0069] In summary, instead of the mechanical grippers or forks used in traditional handling robots, the handling robot 200 according to this disclosure uses one or more controllable adsorption components 211, ..., 21n in the adsorption mechanism 210 to adsorb the object to be handled. As mentioned above, this eliminates the need for pre-reserved space around or below the object to be handled, saving storage space, and also avoids potential deformation of the object to be handled. Therefore, the handling robot 200 according to this disclosure can be reliably used in highly automated smart factories, smart logistics, smart warehousing and other fields, and further reduces additional labor costs and storage costs compared to traditional handling robots.

[0070] Figure 3 A schematic diagram showing the surface mating between the transport robot and the transported object according to this disclosure is shown. For clarity, [the diagram is omitted here]. Figure 3 Only the adsorption mechanism 310 of the handling robot according to this disclosure is shown. Furthermore, for ease of explanation, in... Figure 3 The image also shows the object being transported by the transport robot (i.e., the cargo storage box) 350.

[0071] According to embodiments of this disclosure, in the handling robot according to this disclosure, one or more controllable adsorption components 311, ..., 31n protrude from the surface of the adsorption mechanism 310 to form a surface fit between the protruding surfaces of the one or more controllable adsorption components 311, ..., 31n and the surface of the handling object when adsorbing the handling object. In a more detailed embodiment according to this disclosure, the surface of the handling object 350 to be adsorbed may have grooves 351, ..., 35n with spatial dimensions and numbers matching the one or more controllable adsorption components 311, ..., 31n. Thus, when adsorbing the handling object, the one or more controllable adsorption components 311, ..., 31n can be inserted into the grooves 351, ..., 35n and form a surface fit, resulting in accurate and secure adsorption positioning. Furthermore, in a more detailed embodiment according to this disclosure, sensors (e.g., Hall effect sensors) may be arranged in the one or more controllable adsorption components 311, ..., 31n and / or the grooves 351, ..., 35n to determine whether the positioning of the one or more controllable adsorption components 311, ..., 31n with the grooves 351, ..., 35n is accurate and whether the adsorption is firm, thereby further improving the accuracy of adsorption positioning and the firmness of adsorption.

[0072] According to a more detailed embodiment of the handling robot disclosed herein, the one or more controllable adsorption components 311, ..., 31n include one or more electromagnet-type adsorption components or one or more vacuum suction cup-type adsorption components. Here, with the aid of the control mechanism, when it is necessary to adsorb the object to be transported 350, the control mechanism controls the electromagnet-type adsorption component to generate a corresponding electromagnetic interaction force or controls the vacuum suction cup-type adsorption component to generate negative pressure; and when it is necessary to release the adsorption, the control mechanism controls the electromagnet-type adsorption component to stop generating the corresponding electromagnetic interaction force or controls the vacuum suction cup-type adsorption component to release the negative pressure, thereby achieving a firm and reliable controllable adsorption of the object to be transported 350. Depending on actual needs, any controllable electromagnet-type adsorption component or vacuum suction cup-type adsorption component known in the prior art, such as an airflow negative pressure suction cup, a squeeze-air negative pressure suction cup, etc., can be used.

[0073] According to another alternative design of the transport robot disclosed herein, the transport robot further includes a flipping mechanism. Figure 4A A schematic block diagram of a handling robot according to an alternative design is shown. Figure 4B An exemplary transport robot according to an alternative design is shown.

[0074] According to embodiments of this disclosure, the flipping mechanism 450 includes a flipping drive device 451 and a flipping transmission device 452. Figure 4B The flipping transmission device 452 described in the figure is outlined in a dashed box. The flipping transmission device 452 is connected to the lifting mechanism 420. The flipping drive device 451 is configured to flip the lifting mechanism 420 through the flipping transmission device 452 to flip the transported object adsorbed by the adsorption mechanism 410 fixedly connected to the lifting mechanism 420 to the top of the transport robot 400.

[0075] In embodiments according to this disclosure, the transport robot 400 deforms by flipping the transported object onto top of it. Figure 5A and Figure 5B Schematic diagrams of a transport robot according to an alternative design are shown respectively before and after flipping. For ease of explanation, Figure 5A and Figure 5B The lifting mechanism 420 and the tilting mechanism 450 (highlighted by a dashed box) are shown only by way of example and should not be construed as limited to the illustrated embodiments. Figure 5AAs shown, before the lifting mechanism 420 is flipped, the transported object adsorbed by the adsorption mechanism 410 is connected to the surface of the lifting mechanism 420, in other words, it is adsorbed onto the front side of the transport robot 400. Here, for example, if the space for the transport robot 400 is cramped, the transported object adsorbed by the adsorption mechanism 410, which is fixedly connected to the lifting mechanism 420, can be flipped to the top of the transport robot 400, as described above. See also the flipping mechanism 450 and the lifting mechanism 420 after flipping. Figure 5B .like Figure 5B As shown, after the flip is completed, the lifting mechanism 420 will optionally extend in the horizontal direction, for example. This means that during transport, the object being transported is no longer attached to the front side of the transport robot 400 but is supported on top of the transport robot 400. That is, after the flip is completed, the transport robot 400 transports the object in a manner similar to that of a conventional load-bearing transport robot.

[0076] Therefore, the handling robot 400 according to this disclosure can actively acquire the object to be handled without causing deformation and without requiring pre-reserved space. Furthermore, it combines the advantages of traditional load-bearing handling robots, which have smaller space requirements, and can flip the object to be handled onto the top of the handling robot 400 for support when necessary, further reducing the overall space occupied by the handling robot 400 during object handling. Thus, in addition to the advantages described in the above embodiments, the handling robot according to this disclosure can also be advantageously used in environments with limited space where a large number of handling robots are required.

[0077] According to a more detailed embodiment of the handling robot disclosed herein, the flipping transmission device can be implemented by a so-called synchronous belt drive. Figure 6 An embodiment of a reversing transmission device in the form of a synchronous belt drive is shown. For the sake of clarity in illustrating the connection relationships, Figure 6 In addition to the tilting mechanism 450, the lifting mechanism 420 is also shown.

[0078] In an embodiment according to this disclosure, the flipping transmission device includes a flipping synchronous belt 4521 and a flipping synchronous pulley 4522. One side of the flipping synchronous belt 4521 meshes with the flipping drive device 451, and the other side of the flipping synchronous belt 4521 meshes with the gear teeth of the flipping synchronous pulley 4522. The handling robot also has a coupling boss 460, which is fixedly connected to the lifting mechanism 420 to enable the lifting mechanism 420 to rotate around the coupling shaft 461 of the coupling boss 460. Furthermore, the flipping synchronous pulley 4522 is axially aligned with the coupling shaft 461 of the coupling boss and fixedly connected to the coupling boss 460.

[0079] Here, the tilting drive device 451 may include, for example, a rotary motor, a rotary hydraulic motor, a rotary cylinder, or other drive devices that perform reciprocating rotary motion. Figure 6 The tilting drive 451 shown includes two rotary motors and Figure 6 The flipping transmission device shown includes two flipping timing belts. Any number of flipping drive devices and flipping timing belts can be set according to actual needs, and is not limited to the situation shown in this embodiment. When a flipping operation is required, the flipping drive device 451 rotates. Since the flipping drive device 451 meshes with the flipping timing belt 4521, the flipping drive device 451 will drive the flipping timing belt 4521 to move. Since the other side of the flipping timing belt 4521 meshes with the gear teeth of the flipping timing pulley 4522, the moving flipping timing belt 4521 will drive the flipping timing pulley 4522 to rotate around the connecting shaft 461. Since the flipping timing pulley 4522 is fixedly connected to the connecting shaft boss 460, and the connecting shaft boss 460 is fixedly connected to the lifting mechanism 420, the rotation of the flipping timing pulley 4522 around the connecting shaft 461 will cause the lifting mechanism 420 to rotate around the connecting shaft 461. Thus, the object being transported, which is adsorbed by the adsorption mechanism fixedly connected to the lifting mechanism 420, is flipped onto the top of the transport robot (see...). Figure 5B ).

[0080] According to a more detailed embodiment of the transport robot disclosed herein, the flipping transmission device can be implemented in the form of a so-called multi-link mechanism. Figure 7 A simplified diagram of an embodiment of a tilting transmission device in the form of a multi-link mechanism is shown. It should be noted that any desired multi-link mechanism can be selected as needed, without limitation. Figure 7 The multi-link mechanism shown is in the form of a planar four-bar linkage.

[0081] In an embodiment according to this disclosure, the flipping transmission device includes a linkage mechanism 750, wherein one end of a first crank 7521 in the linkage mechanism is throttle-connected to the flipping drive device 751, the lifting mechanism 720 serves as a second crank in the linkage mechanism, and the handling robot has a coupling boss 760, which is fixedly connected to the lifting mechanism 720 to enable the lifting mechanism 720 to rotate around the coupling shaft 761 of the coupling boss 760.

[0082] Here, the flipping drive device 751 may include, for example, a rotary motor, a rotary hydraulic motor, a rotary cylinder, or other drive device that performs reciprocating rotary motion. When a flipping operation is required, the flipping drive device 751 performs a rotary motion. Since the flipping drive device 751 is connected to one end of the first crank 7521 in the linkage mechanism, the flipping drive device 751 drives the first crank 7521 to rotate. Through the connecting rod between the first crank 7521 and the lifting mechanism 720, which serves as the second crank, the flipping drive device 751 also drives the lifting mechanism 720 to rotate around the connecting shaft 761 of the connecting boss 760. Thus, the object being transported, which is fixedly connected to the lifting mechanism 720, is flipped to the top of the transport robot.

[0083] According to a more detailed embodiment of the transport robot disclosed herein, the flipping transmission device can be implemented by a so-called rocker mechanism. Figure 8 A simplified diagram of an embodiment of a tilting transmission device in the form of a rocker mechanism is shown.

[0084] In an embodiment according to this disclosure, the flipping transmission device includes a rocking block mechanism, wherein the flipping drive device 851 includes a linear motion drive device and is included in a rocking block 8521 of the rocking block mechanism, one end of a connecting rod 8522 in the rocking block mechanism is throttle-connected to the linear motion drive device 851, and the other end of the connecting rod 8522 in the rocking block mechanism is throttle-connected to the lifting mechanism 820, and the handling robot has a coupling boss 860, which is fixedly connected to the lifting mechanism 820.

[0085] Here, the flipping drive device 851 can be, for example, a hydraulic cylinder or other linear motion drive device that performs reciprocating linear motion. When a flipping operation is required, the flipping drive device 851 performs linear motion. The linear motion drive device, via the connecting rod, pushes the lifting mechanism 820 to rotate around the connecting shaft 861 of the connecting boss 860. This achieves the flipping of the transported object adsorbed by the adsorption mechanism fixedly connected to the lifting mechanism 820 to the top of the transport robot.

[0086] According to a more detailed embodiment of the transport robot of this disclosure, the lifting mechanism in the transport robot can be implemented in various ways. Embodiments of the lifting mechanism in the transport robot according to this disclosure are illustrated herein by way of example.

[0087] According to a more detailed embodiment of the handling robot disclosed herein, the lifting transmission device in the lifting mechanism can be implemented by a so-called synchronous belt drive. Figure 9 An embodiment of a lifting mechanism with a synchronous belt drive is shown. For ease of explanation, the lifting mechanism before flipping, after flipping, and with an adsorption mechanism are shown respectively.

[0088] In an embodiment according to this disclosure, the lifting mechanism includes a lifting transmission device and a lifting drive device 421 for driving the transmission device. The lifting transmission device includes a synchronous belt 4221, a synchronous pulley 4222, a first lifting synchronous pulley 4223, a second lifting synchronous pulley 4224, and a lifting synchronous belt 4225 arranged in the lifting direction, all fixed to the lifting mechanism. The synchronous pulley 4222 has a first gear set 4222a and a second gear set 4222b. One side of the synchronous belt 4221 meshes with the lifting drive device 421. The other side of the step belt 4221 meshes with the first gear set 4222a of the synchronous pulley 4222. The lifting synchronous belt 4225 meshes with the first and second lifting synchronous pulleys 4223 and 4224 on its two sides respectively, and meshes with the second gear set 4222b of the synchronous pulley 4221 between its two sides. The adsorption mechanism 410 also includes a synchronous belt pressure plate 4101, which presses the lifting synchronous belt 4225 against the surface of the adsorption mechanism 410 so that the lifting synchronous belt 4225 is fixedly connected to the adsorption mechanism 410.

[0089] Here, the lifting drive device 421 may include, for example, a rotary motor, a rotary hydraulic motor, a rotary cylinder, or other drive devices that perform reciprocating rotary motion. When it is necessary to lift the object being transported, the lifting drive device 421 drives the synchronous pulley 4222 to rotate via the synchronous belt 4221 through the meshing of the first gear set 4222a of the synchronous belt 4221 and the synchronous pulley 4222. Furthermore, the lifting drive device 421 further drives the lifting synchronous belt 4225 to move in the lifting direction through the meshing of the lifting synchronous belt 4225 with the second gear set 4222b of the synchronous pulley. The lifting synchronous belt 4225 is fixedly connected to the adsorption mechanism 410 via the synchronous belt pressure plate 4101, thus enabling the lifting drive device 421 to drive the adsorption mechanism 410, which adsorbs the object being transported, to lift in the lifting direction. Figure 9The illustrated embodiment uses two lifting timing belts 4225 to achieve lifting. However, any number of lifting timing belts 4225 can be selected according to actual needs.

[0090] According to a more detailed embodiment of the handling robot disclosed herein, the lifting transmission device in the lifting mechanism can be implemented by a so-called screw drive. Figure 10 An embodiment of a lifting mechanism in the form of a synchronous belt drive is shown.

[0091] In an embodiment according to this disclosure, the lifting mechanism 1020 includes a lifting transmission device and a lifting drive device 1021 for driving the transmission device. The lifting transmission device includes a lead screw 10221 and a lead screw pair 10222 cooperating with the lead screw. The axial direction of the lead screw is parallel to the lifting direction. The lifting drive device 1021 is fixedly connected to the lead screw 10221 by means of a coupling 10223 to drive the lead screw 10221 to rotate around its axial direction. The lead screw pair 10222 is fixedly connected to the adsorption mechanism 1010.

[0092] Here, the lifting drive device 1021 may include, for example, a rotary motor, a rotary hydraulic motor, a rotary cylinder, or other drive device that performs reciprocating rotary motion. When it is necessary to lift the object being transported, the lifting drive device 1021 drives the lead screw 10221 to rotate around its axial direction via a coupling 10223. Consequently, the lead screw assembly 10222 rises or falls on the lead screw 10221 in the direction of rotation. Since the adsorption mechanism 1010 is fixedly connected to the lead screw assembly 10222, the adsorption mechanism 1010 also rises and falls on the lead screw 10221. This achieves the lifting drive device 1021 driving the adsorption mechanism 1010, which holds the object being transported, to rise and fall in the lifting direction.

[0093] Furthermore, according to another alternative embodiment of the handling robot disclosed herein, the lifting transmission device in the lifting mechanism can be implemented using a so-called linear motor direct drive. Here, a lifting transmission device is no longer needed, and the lifting mechanism only includes a lifting drive device, i.e., a linear motor. Due to its structure and... Figure 9 The embodiment shown is similar and will not be illustrated here. The lifting drive device includes a linear motor, the stator of which extends in the lifting direction, and the mover of which is fixedly connected to the adsorption mechanism.

[0094] When the object to be transported needs to be lifted or lowered, the stator of the linear motor directly drives the mover of the linear motor to move along the extension direction of the stator, i.e., the lifting direction, via electromagnetic interaction. Since the adsorption mechanism is fixedly connected to the mover of the linear motor, the adsorption mechanism also moves up and down along the extension direction of the stator, i.e., the lifting direction. Therefore, the lifting drive device drives the adsorption mechanism, which holds the object to be transported, to move up and down in the lifting direction.

[0095] Furthermore, according to another alternative embodiment of the handling robot disclosed herein, the lifting transmission device in the lifting mechanism can be implemented using a so-called direct-drive cylinder method. In this case, a lifting transmission device is no longer needed, and the lifting mechanism only includes a lifting drive device, i.e., a cylinder. This is because its structure is different from... Figure 9 The embodiment shown is similar and will not be illustrated here. Here, the lifting drive device includes a cylinder linear motion mechanism, which is configured to drive its moving end to move in the lifting direction, and the moving end of the cylinder linear motion mechanism is fixedly connected to the adsorption mechanism.

[0096] When it is necessary to lift or lower the object being transported, the linear motion mechanism of the cylinder pushes its moving end to move in the lifting or lowering direction. Since the adsorption mechanism is fixedly connected to the moving end of the linear motion mechanism of the cylinder, the adsorption mechanism also moves up and down in the direction pushed by the linear motion mechanism of the cylinder, i.e., the lifting or lowering direction. Thus, the lifting drive device drives the adsorption mechanism, which holds the object being transported, to move up and down in the lifting or lowering direction.

[0097] According to another alternative design of the handling robot disclosed herein, the handling robot further includes a limiting device. With the aid of the limiting device, the lifting movement of the adsorption mechanism relative to the lifting mechanism can be more reliably limited in the lifting direction. Here, the limiting device can be implemented in various ways.

[0098] The limiting device can be implemented using a sliding rail and a slider. For ease of explanation, here... Figure 11 An embodiment of a limiting device in the form of a slide rail and a slider is shown in a flipped-over form.

[0099] In an embodiment according to this disclosure, the lifting mechanism 1120 includes a limiting device comprising a slide rail 1123 and a slider 1124. The slide rail 1123 is fixedly connected to the lifting mechanism 1120 and extends in the lifting direction. The slider 1124 is slidably supported on the slide rail 1123, and the slider 1123 is fixedly connected to the adsorption mechanism. Figure 11The illustrated embodiment uses two parallel sliding rails 1123. Furthermore, any number of sliding rails can be provided on the lifting mechanism 1120 as needed. Because the slider 1124 is fixedly connected to the adsorption mechanism and can slide on the sliding rails, when the adsorption mechanism moves up and down on the lifting mechanism 1120, the direction of movement of the adsorption mechanism relative to the lifting mechanism can be reliably limited to the extension direction of the sliding rail 1123, i.e., the lifting direction.

[0100] The limiting device can be implemented using a linear bearing. The limiting device includes a linear shaft and a linear bearing. Similar to the slide rail 1123, the linear shaft is fixedly connected to the lifting mechanism and extends in the lifting direction. The linear bearing is slidably mounted on the linear shaft and is also fixedly connected to the adsorption mechanism. Because the linear bearing is fixedly connected to the adsorption mechanism and can slide on the linear shaft, when the adsorption mechanism moves up and down on the lifting mechanism 1120, the direction of movement of the adsorption mechanism relative to the lifting mechanism can also be reliably limited to the extension direction of the linear shaft, i.e., the lifting direction.

[0101] In summary, on the one hand, the handling robot according to this disclosure has an adsorption mechanism to actively adsorb the object to be handled, enabling the robot to actively acquire the object without easily causing deformation of the object or requiring cumbersome pre-reserved space below and around it. On the other hand, the handling robot can also have a flipping mechanism, which can flip the adsorbed object to the top of the robot for handling when necessary. This means that during handling, the adsorbed object is no longer attached to the side of the robot but supported on top, significantly reducing the space required by the robot during handling and lowering additional labor and storage costs. Therefore, the handling robot according to this disclosure can be advantageously used in environments with limited space that require a large number of handling robots, particularly in smart factories, smart logistics, and smart warehousing.

[0102] The second aspect of this disclosure relates to a cargo storage box. As described above, the cargo storage box according to this disclosure has been... Figure 3 As shown below. Figure 3 The cargo storage box according to this disclosure is described.

[0103] In an embodiment according to this disclosure, an adsorption section is provided on the side wall of the cargo storage box 350. The adsorption section includes one or more adsorption components, and the one or more adsorption components adsorb onto one or more adsorption components provided on the handling robot so that the handling robot can handle the cargo storage box.

[0104] In a more detailed embodiment according to this disclosure, in the cargo storage box 350, the one or more adsorption components are one or more grooves 351, ..., 35n, to form a surface fit between the grooves and the surfaces of one or more controllable adsorption components 311, ..., 31n of the transport robot when the transport robot adsorbs the transported object. Optionally, the number and spatial dimensions of the grooves 351, ..., 35n are matched with the controllable adsorption components 311, ..., 31n of the transport robot's adsorption mechanism. Thus, by means of the surface fit formed between the grooves 351, ..., 35n of the cargo storage box and the protruding surfaces of the controllable adsorption components 311, ..., 31n of the transport robot, accurate positioning and firm adsorption of the cargo storage box 350 by the transport robot can be achieved.

[0105] In a more detailed embodiment according to this disclosure, ferromagnetic material is provided in the grooves 351, ..., 35n of the cargo storage box 350 so that magnetic adsorption is formed between one or more grooves 351, ..., 35n of the cargo storage box and one or more controllable adsorption components 311, ..., 31n of the transport robot when the transport robot adsorbs the transported object. Thus, by means of the magnetically formed surface fit, the cargo storage box 350 can not only reliably and firmly move up and down in the lifting direction after being adsorbed by the transport robot according to this disclosure, but also can be reliably flipped onto the top of the transport robot according to this disclosure by the flipping mechanism when needed, for example, when the transport robot is used in a crowded environment. Furthermore, by means of this magnetically formed surface fit, after flipping, that is, during the transport of the cargo storage box in a manner similar to that of a conventional load-bearing transport robot with its top supported, it is also possible to achieve a secure magnetic support of the cargo storage box on the top of the transport robot according to this disclosure. In summary, by using the cargo storage box according to this disclosure, the handling robot according to this disclosure can accurately and securely acquire the cargo storage box. Furthermore, in a more detailed embodiment according to this disclosure, sensors (e.g., Hall effect sensors) can be arranged in the grooves 351, ..., 35n to determine whether the positioning of the one or more controllable adsorption components 311, ..., 31n with the grooves 351, ..., 35n is accurate and whether the adsorption is secure, thereby further improving the accuracy of adsorption positioning and the strength of adsorption.

[0106] In summary, the cargo storage box of this disclosure, by means of surface fit, when used in conjunction with the handling robot of this disclosure, enables it to be easily aligned, firmly attached, and reliably transported by the handling robot of this disclosure, whether it is being raised or lowered on the side of the handling robot or being flipped onto the top of the handling robot.

[0107] A third aspect of this disclosure relates to a cargo handling system. The cargo handling system includes a handling robot as described above and a cargo storage box as described above, wherein the object handled by the handling robot is the cargo storage box. The adsorption and surface fitting between the handling robot and the cargo storage box have been established. Figure 3 As shown in the image, for the sake of brevity, it is also combined here. Figure 3 To elaborate.

[0108] As described above, by adsorbing the cargo storage box according to the present disclosure onto the transport robot according to the present disclosure, and by the surface matching of the protruding surfaces of one or more controllable adsorption components 311, ..., 31n of the transport robot formed after adsorption with the surface of one or more grooves 351, ..., 35n of the cargo storage box, reliable adsorption of the cargo storage box 350 can be achieved, and it can be flipped to the top of the transport robot when necessary.

[0109] In summary, the cargo handling system combines the advantages of the handling robots described above with those of the cargo storage boxes described above. On the one hand, it achieves a smaller space requirement; on the other hand, it can retrieve and move the cargo storage boxes without requiring pre-reserved space underneath or around them, and without causing deformation of the boxes, thus reducing additional labor and warehousing costs. Therefore, the cargo handling system according to this disclosure can be advantageously used in environments with limited space that require a large number of handling robots, particularly in smart factories, smart logistics, and smart warehousing.

[0110] The following points need to be explained:

[0111] (1) The accompanying drawings of the embodiments of this disclosure only involve the structures involved in the embodiments of this disclosure. Other structures can be referred to the general design.

[0112] (2) Where there is no conflict, the embodiments of this disclosure and the features in the embodiments can be combined with each other to obtain new embodiments.

[0113] Furthermore, the exemplary embodiments of this disclosure described in detail above are merely illustrative and not restrictive. Those skilled in the art will understand that various modifications and combinations can be made to these embodiments or their features without departing from the principles and spirit of this disclosure, and such modifications should fall within the scope of this disclosure.

Claims

1. A transport robot, comprising: An adsorption mechanism includes one or more controllable adsorption components configured to controllably adsorb and transport objects. A lifting mechanism is fixedly connected to the adsorption mechanism, and the lifting mechanism is configured to lift the adsorption mechanism in a lifting direction intersecting the plane in which the transport robot travels; A driving mechanism, the driving mechanism including one or more driving devices and one or more driving drive devices for driving the one or more driving devices; A control mechanism configured to control the adsorption mechanism to generate or release adsorption on the transported object; as well as The flipping mechanism includes a flipping drive device and a flipping transmission device. The flipping transmission device is connected to the lifting mechanism. The flipping drive device is configured to flip the lifting mechanism via the flipping transmission device to flip the transported object adsorbed by the adsorption mechanism fixedly connected to the lifting mechanism to the top of the transport robot. After the flipping is completed, the side wall of the transported object adsorbed is placed on the top of the transport robot.

2. The handling robot according to claim 1, wherein, The one or more controllable adsorption components protrude from the surface of the adsorption mechanism to form a surface fit between the protruding surfaces of the one or more controllable adsorption components and the surface of the transported object when adsorbing the transported object.

3. The handling robot according to claim 1, wherein, The one or more controllable adsorption components include one or more electromagnet-type adsorption components or one or more vacuum suction cup-type adsorption components.

4. The handling robot according to claim 1, wherein, The tilting transmission device includes a tilting timing belt and a tilting timing pulley. One side of the tilting timing belt meshes with the tilting drive device, and the other side of the tilting timing belt meshes with the gear teeth of the tilting timing pulley. The handling robot has a connecting boss, which is fixedly connected to the lifting mechanism so that the lifting mechanism can rotate around the connecting shaft in the connecting boss. The flipping synchronous pulley is axially aligned with the connecting shaft of the connecting boss and fixedly connected to the connecting boss.

5. The handling robot according to claim 1, wherein, The tilting transmission device includes a linkage mechanism, wherein one end of the first crank in the linkage mechanism is drively connected to the tilting drive device, and the lifting mechanism serves as the second crank in the linkage mechanism. The transport robot has a connecting boss, which is fixedly connected to the lifting mechanism so that the lifting mechanism can rotate around the connecting boss.

6. The handling robot according to claim 1, wherein, The tilting transmission device includes a rocking block mechanism, wherein the tilting drive device includes a linear motion drive device and is included in the rocking block of the rocking block mechanism, one end of the connecting rod in the rocking block mechanism is driveably connected to the linear motion drive device, and the other end of the connecting rod in the rocking block mechanism is drively connected to the lifting mechanism. The transport robot has a connecting boss, which is fixedly connected to the lifting mechanism so that the lifting mechanism can rotate around the connecting boss.

7. The handling robot according to any one of claims 1 to 6, wherein, The lifting mechanism includes a lifting transmission device and a lifting drive device for driving the lifting transmission device. The lifting transmission device includes a synchronous belt, a synchronous pulley, a first lifting synchronous pulley, a second lifting synchronous pulley, and a lifting synchronous belt arranged in the lifting direction, all fixed to the lifting mechanism. The synchronous pulley has a first set of teeth and a second set of teeth. One side of the synchronous belt meshes with the lifting drive device, and the other side of the synchronous belt meshes with the first set of teeth of the synchronous pulley. The lifting synchronous belt meshes with the first and second lifting synchronous pulleys on both sides, and with the second set of teeth of the synchronous pulley between its two sides. The adsorption mechanism also includes a timing belt pressure plate, which presses the lifting timing belt tightly onto the surface of the adsorption mechanism so that the lifting timing belt is fixedly connected to the adsorption mechanism.

8. The handling robot according to any one of claims 1 to 6, wherein, The lifting mechanism includes a lifting transmission device and a lifting drive device for driving the lifting transmission device. The lifting transmission device includes a lead screw and a lead screw pair that cooperates with the lead screw. The axial direction of the lead screw is parallel to the lifting direction. The lifting drive device is fixedly connected to the lead screw by means of a coupling to drive the lead screw to rotate around its axial direction. The lead screw pair is fixedly connected to the adsorption mechanism.

9. The handling robot according to any one of claims 1 to 6, wherein, The lifting mechanism includes a lifting drive device, which includes a linear motor. The stator of the linear motor extends in the lifting direction, and the mover of the linear motor is fixedly connected to the adsorption mechanism. The lifting drive device includes a cylinder linear motion mechanism, which is configured to push its moving end to move in the lifting direction, and the moving end of the cylinder linear motion mechanism is fixedly connected to the adsorption mechanism.

10. The handling robot according to any one of claims 1 to 6, wherein, The lifting mechanism includes a limiting device, which comprises a slide rail and a slider. The slide rail is fixedly connected to the lifting mechanism and extends in the lifting direction. The slider is slidably supported on the slide rail and is fixedly connected to the adsorption mechanism. The limiting device includes a linear shaft and a linear bearing. The linear shaft is fixedly connected to the lifting mechanism and extends in the lifting direction. The linear bearing is slidably mounted on the linear shaft and is fixedly connected to the adsorption mechanism.

11. A method for transporting objects using the transport robot as described in claim 1, comprising: Adsorb the transported object; The adsorbed object is flipped onto the top of the transport robot; as well as Transport the object being moved.

12. A cargo storage box, wherein an adsorption section is provided on the side wall of the cargo storage box, the adsorption section comprising one or more adsorption components, and the one or more adsorption components adsorb onto one or more controllable adsorption components provided on a handling robot as described in claim 1, so that the handling robot can handle the cargo storage box.

13. The cargo storage box according to claim 12, wherein, The one or more adsorption components are one or more grooves, which form a surface fit between the grooves and the surfaces of one or more controllable adsorption components of the transport robot when the transport robot adsorbs the transported object.

14. The cargo storage box according to claim 13, wherein, The groove is provided with ferromagnetic material so that when the handling robot adsorbs the object being handled, magnetic adsorption is formed between one or more grooves in the cargo storage box and one or more controllable adsorption components of the handling robot.

15. A cargo handling system, the cargo handling system comprising a handling robot according to any one of claims 1 to 10 and a cargo storage box according to any one of claims 12 to 14, wherein, The object being transported by the transport robot is the cargo storage box.

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