Transport robot and method for transferring material boxes based on a transport robot

Abstract

The application provides a carrying robot and a material box transfer method based on the carrying robot. The carrying robot comprises a moving chassis, a stand column, a fork and a carrying mechanism. The moving chassis is provided with a stacking position. The stand column is arranged on the moving chassis. The fork and the carrying mechanism are arranged on the stand column. The fork is used for bringing the material box close to the stacking position and stacking the material box on the stacking position into a stack. The fork is also used for disassembling the stacked material box on the stacking position and bringing the material box away from the stacking position. The carrying mechanism is used for transporting the stacked material box on the stacking position to the side of the carrying robot. The carrying mechanism is also used for transporting the material box on the side of the carrying robot to the stacking position and stacking the material box on the stacking position into a stack. The application has high transfer efficiency for the material box.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent warehousing, and particularly relates to a carrying robot and a material box transfer method based on the carrying robot. BACKGROUND

[0002] With the rapid development of artificial intelligence technology, automation technology and information technology, the intelligent degree of terminal logistics will continue to improve. In the existing intelligent warehousing system, a carrying robot is generally used to carry goods between different places. Specifically, the carrying robot includes a mobile chassis and forks and a plurality of backpacks arranged on the mobile chassis. The plurality of backpacks can be arranged at intervals in the height direction. The forks can move and deliver goods on a goods shelf to the backpacks. After the mobile chassis moves to drive the goods on the backpacks to a target place, the forks take out the goods on the backpacks and deliver them to the target place one by one. However, the carrying efficiency of the carrying robot is low in the above-mentioned transfer process of the goods. SUMMARY

[0003] Embodiments of the present application provide a carrying robot and a material box transfer method based on the carrying robot, which has high efficiency in transferring the material box.

[0004] The first aspect of the embodiments of the present application provides a carrying robot, which includes a mobile chassis, a stand, forks and a carrying mechanism. The mobile chassis is provided with a stacking position. The stand is arranged on the mobile chassis. The forks and the carrying mechanism are arranged on the stand.

[0005] The forks are used to move the material box close to the stacking position and stack the material box on the stacking position into a stack. The forks are also used to disassemble the stacked material box on the stacking position and move the material box away from the stacking position.

[0006] The carrying mechanism is used to transport the stacked material box on the stacking position to the side of the carrying robot. The carrying mechanism is also used to transport the material box on the side of the carrying robot to the stacking position and stack the material box on the stacking position into a stack.

[0007] In a possible implementation, the carrying mechanism is also used to grasp and temporarily store the stacked material box on the stacking position; and / or

[0008] The forks include a fork body. An accommodation cavity with an open lower side is formed in the fork body. The inner contour size of the accommodation cavity matches the outer contour size of a single material box.

[0009] In a possible implementation, a first moving mechanism arranged on the stand is further included. The first moving mechanism can slide along the extension direction of the stand to drive the forks to move in the vertical direction. The first moving mechanism is also connected with the forks and is used to drive the forks to move in the first horizontal direction to drive the forks to move close to or away from the stacking position.

[0010] In a possible implementation, the first moving mechanism comprises a first slide rail and a first slide block that cooperate with each other, one of the first slide rail and the first slide block is arranged on the column, and the other is connected to the fork;

[0011] The track of the first slide rail extends along a first horizontal direction, and the first slide block is slidable relative to the first slide rail, so that the fork is movable relative to the column along the first horizontal direction.

[0012] In a possible implementation, the first moving mechanism further comprises a first cross beam arranged on at least one column, the first cross beam is slidable along the extension direction of the column to which the first cross beam is connected, the first slide rail is connected to the bottom end surface of the first cross beam, and the first slide block is arranged on the top end surface of the fork body.

[0013] In a possible implementation, the number of the first moving mechanisms is plural, the first slide rails of the plural first moving mechanisms are parallel to each other and are arranged on the first cross beam, and the first slide blocks of the plural first moving mechanisms are arranged on the top of the fork.

[0014] In a possible implementation, the column to which the first cross beam is connected is provided with a first sliding groove for the end of the first cross beam to slide, and the extension direction of the first sliding groove is vertical.

[0015] In a possible implementation, the column comprises at least a first column and a second column arranged at intervals, and the first column and the second column are located on the same side of the stacking position.

[0016] The number of the first moving mechanisms is two, the first slide rails of the two first moving mechanisms are connected to the opposite surfaces of the first column and the second column respectively, and the first slide blocks of the two first moving mechanisms are arranged on the opposite side walls of the fork respectively.

[0017] In a possible implementation, the first slide rail comprises a first slide rail segment, a second slide rail segment and a third slide rail segment, the first slide rail segment is provided with a first track, the second slide rail segment is provided with a second track, and the third slide rail segment is provided with a third track.

[0018] The side of the first slide rail segment away from the first track is connected to the first column and / or the second column, the second slide rail segment is embedded in the first track and is slidable along the first track, the third slide rail segment is embedded in the second track and is slidable along the second track, the first slide block is embedded in the third track and is slidable along the third track, and the extension directions of the first track, the second track and the third track are parallel to the first horizontal direction.

[0019] In a possible implementation, the first column and the second column are provided with a first sliding groove for the end of the first slide rail to slide, and the extension direction of the first sliding groove is vertical.

[0020] In a possible implementation, the carrying mechanism comprises a support frame and a grabbing arm assembly, the grabbing arm assembly is capable of being lifted along a vertical direction relative to the support frame to drive the stacked material boxes on the stacking position to and from the support frame.

[0021] In a possible implementation, the second moving mechanism is further arranged on the column, and is connected with the support frame and used to drive the support frame to move along a second horizontal direction to drive the support frame to move between the stacking position and the side of the carrying robot.

[0022] In a possible implementation, the second moving mechanism comprises a second cross beam arranged on the column.

[0023] The second moving mechanism further comprises a second sliding block matched with the second cross beam, the second sliding block is arranged on the support frame, and the second sliding block is provided with a sliding rail, the sliding rail is nested on the second cross beam and is capable of moving along the second horizontal direction relative to the second cross beam, so that the support frame is capable of moving along the second horizontal direction relative to the column.

[0024] In a possible implementation, the fence is further arranged on the moving chassis, and the fence defines a positioning surface extending along a vertical direction, the positioning surface vertically surrounds the stacking position and abuts against the side of each material box in the stacking position.

[0025] In a possible implementation, the fence comprises a plurality of stacking fences, each stacking fence is arranged around the stacking position, and an inner side surface of each stacking fence forms the positioning surface.

[0026] In a possible implementation, each stacking fence is capable of being lifted along a vertical direction; and / or

[0027] The side end portions of each stacking fence have a gap extending along a vertical direction, and the gap is located corresponding to a corner of each material box stacked in the stacking position.

[0028] In a possible implementation, the fork comprises a fork body, the fork body is internally formed with a lower opening accommodating cavity, an edge of the opening is provided with a positioning plate capable of moving between a first preset position and a second preset position, when the positioning plate is located at the first preset position, the positioning plate is arranged below the opening to lock the material box in the accommodating cavity;

[0029] When the positioning plate is located at the second preset position, the positioning plate is located at the side of the fork body to release the material box in the accommodating cavity.

[0030] In a possible implementation, the support frame has a containing space with an open bottom side, and the grabbing arm assembly includes a containing frame provided with a positioning claw matched with the material box to lock the material box contained in the containing frame; the containing frame is slidably arranged in the containing space of the support frame and can enter and exit the containing space through the opening of the containing space.

[0031] The second aspect of the embodiments of the present application provides a material box transfer method based on a carrying robot, the carrying robot including a mobile chassis provided with a stacking position and forks and a carrying mechanism arranged on the mobile chassis, and the material box transfer method including:

[0032] controlling the forks to move the material box on the shelf to the stacking position and stack the material box into a stack at the stacking position;

[0033] controlling the carrying mechanism or the forks to move the material box stacked at the stacking position to a preset position.

[0034] In a possible implementation, the carrying robot further includes a column arranged on the mobile chassis and a first moving mechanism arranged on the column, the first moving mechanism being configured to drive the forks to move in a first horizontal direction or a vertical direction, wherein the first horizontal direction is toward the stacking position.

[0035] controlling the forks to move the material box on the shelf to the stacking position and stack the material box into a stack at the stacking position, specifically including:

[0036] controlling the forks to obtain the material box on the shelf;

[0037] controlling the first moving mechanism to drive the forks to move in the first horizontal direction and the vertical direction until the forks reach the stacking position;

[0038] controlling the forks to release the material box to stack the material box into a stack at the stacking position.

[0039] In a possible implementation, the mobile chassis is provided with a plurality of liftable stacking baffles at positions corresponding to the stacking position, each stacking baffle being arranged around the side of the material box stacked at the stacking position to prevent tilting.

[0040] controlling the first moving mechanism to drive the forks to move in the first horizontal direction and the vertical direction until the forks reach the stacking position, specifically including:

[0041] controlling the stacking baffles to be lifted so that the top end of the stacking baffles is at a first preset height; wherein the first preset height is lower than the total height of all the material boxes stacked at the stacking position.

[0042] controlling the first moving mechanism to drive the forks to move in the vertical direction until the bottom end of the forks is higher than the first preset height.

[0043] Control the first moving mechanism to drive the forks to move along the first horizontal direction to the stacking position.

[0044] In a possible implementation, the forks include a forks body and a mechanical arm assembly, the mechanical arm assembly is retractable relative to the forks body, a receiving cavity with a lower opening is formed in the forks body, and a movable positioning plate is arranged at the edge of the opening to release or lock the material box in the receiving cavity.

[0045] Control the forks to pick up the material box on the shelf, specifically including:

[0046] Control the positioning plate to move to the opening of the receiving cavity, and control the mechanical arm assembly to deliver the material box on the shelf into the receiving cavity; and / or

[0047] Control the forks to release the material box therein to be stacked on the stacking position, specifically including:

[0048] Control the positioning plate to move to the outside of the opening of the receiving cavity, so that the material box in the receiving cavity is released to be stacked on the stacking position.

[0049] In a possible implementation, control the forks to move the material box stacked on the stacking position to a preset position, specifically including:

[0050] Control the forks to pick up the material box stacked on the stacking position;

[0051] Control the first moving mechanism to move the material box to the shelf;

[0052] Control the forks to release the material box therein to the shelf.

[0053] In a possible implementation, the forks include a forks body, a receiving cavity with a lower opening is formed in the forks body, and a movable positioning plate is arranged at the edge of the opening to release or lock the material box in the receiving cavity.

[0054] Control the forks to pick up the material box stacked on the stacking position, specifically including:

[0055] Control the first moving mechanism to drive the forks to move along the first horizontal direction and the vertical direction to above the material box stacked on the stacking position;

[0056] Control the first moving mechanism to drive the forks to move along the vertical direction to be flush with the bottom of the material box as the picking target;

[0057] Control the positioning plate to move to the opening of the receiving cavity and support below the material box on the stacking position; and / or

[0058] Control the forks to release the material box therein to the shelf, specifically including:

[0059] The control positioning plate moves to the outside of the opening of the receiving cavity, so that the material box in the receiving cavity is released to the shelf.

[0060] In one possible implementation, the handling mechanism includes a support frame and a gripping arm assembly, which can be raised and lowered vertically relative to the support frame to move the material box in and out of the support frame.

[0061] The control and handling mechanism moves the stacked material boxes at the palletizing station to a preset position, specifically including:

[0062] The gripping arm assembly is controlled to grip the stacked material boxes at the palletizing position and place them into the support frame;

[0063] Control the conveying mechanism to move to the preset position, and control the gripping arm assembly to release the material box in the support frame for unstacking.

[0064] In one possible implementation, the handling robot further includes a column mounted on a mobile chassis and a second moving mechanism mounted on the column, the second moving mechanism being used to drive the handling mechanism along a second horizontal direction, wherein the second horizontal direction is toward the stacking position;

[0065] Controlling the conveying mechanism to move to a preset position specifically includes:

[0066] Control the second moving mechanism to drive the transport mechanism to move along the second horizontal direction until the transport mechanism moves to the preset position.

[0067] In one possible implementation, the preset positions include a third preset position and a fourth preset position set at intervals;

[0068] Controlling the conveying mechanism to move to a preset position and controlling the gripping arm assembly to release the material box from the support frame for unstacking, specifically includes:

[0069] Control the conveying mechanism to move above the third preset position, and control the gripping arm assembly to release the material box in the support frame to the third preset position;

[0070] The gripping arm assembly is controlled to grip a portion of the stacked material boxes at the third preset position and place them into the support frame. The conveying mechanism is then moved above the fourth preset position, and the gripping arm assembly is controlled to release the material boxes from the support frame to the fourth preset position.

[0071] In one possible implementation, the handling mechanism includes a support frame and a gripping arm assembly, which can be raised and lowered vertically relative to the support frame to move the material box in and out of the support frame.

[0072] The control and handling mechanism moves the stacked material boxes at the palletizing station to a preset position, specifically including:

[0073] The gripping arm assembly is controlled to grip the stacked material boxes at the palletizing position and place them into the support frame;

[0074] controlling the support frame to be lifted along a vertical direction;

[0075] controlling the forks to move the material boxes on the rack to the stacking position on the carrying robot and stack the material boxes on the stacking position;

[0076] controlling the carrying mechanism to move to a preset position and controlling the grabbing arm assembly to release the material boxes in the support frame for unstacking;

[0077] controlling the grabbing arm assembly to grab the material boxes stacked on the stacking position into the support frame, moving the carrying mechanism to the preset position, and controlling the grabbing arm assembly to release the material boxes in the support frame for unstacking.

[0078] The third aspect of the embodiments of the present application provides a material box transfer method based on a carrying robot, the carrying robot comprising a moving chassis provided with a stacking position, forks and a carrying mechanism arranged on the moving chassis, and the material box transfer method comprising:

[0079] controlling the carrying mechanism to grab the material boxes on the preset position to the stacking position;

[0080] controlling the forks to move the material boxes stacked on the stacking position to the rack or controlling the carrying mechanism to move the material boxes stacked on the stacking position to a fifth preset position.

[0081] In a possible implementation, the carrying mechanism comprises a support frame and a grabbing arm assembly, the grabbing arm assembly being capable of lifting along a vertical direction relative to the support frame to bring the material boxes in and out of the support frame;

[0082] controlling the carrying mechanism to grab the material boxes on the preset position to the stacking position, specifically comprising:

[0083] controlling the grabbing arm assembly to grab the material boxes stacked on the preset position into the support frame;

[0084] controlling the carrying mechanism to move to the stacking position and controlling the grabbing arm assembly to release the material boxes in the support frame to the stacking position.

[0085] In a possible implementation, the carrying robot further comprises a column arranged on the moving chassis and a second moving mechanism arranged on the column, the second moving mechanism being used to drive the carrying mechanism to move along a second horizontal direction, wherein the second horizontal direction is towards the stacking position;

[0086] controlling the carrying mechanism to move to the stacking position, specifically comprising:

[0087] controlling the second moving mechanism to drive the carrying mechanism to move along the second horizontal direction until the carrying mechanism moves to the stacking position.

[0088] In a possible implementation, the preset positions include a third preset position and a fourth preset position arranged at intervals;

[0089] The control of the grabbing arm assembly to grab the material boxes stacked on the preset position into the support frame specifically includes:

[0090] The control of the grabbing arm assembly to grab the material boxes stacked on the third preset position into the support frame;

[0091] The control of the grabbing arm assembly to place the material boxes stored in the support frame onto the material boxes stacked on the fourth preset position to form a stack, and the control of the grabbing arm assembly to grab the material boxes stacked on the fourth preset position into the support frame.

[0092] In a possible implementation, the carrying robot further includes a column arranged on the moving chassis and a second moving mechanism arranged on the column, the second moving mechanism being configured to drive the carrying mechanism to move in a second horizontal direction or a vertical direction, wherein the second horizontal direction is towards the stacking position.

[0093] The control of the carrying mechanism to move to the stacking position and the control of the grabbing arm assembly to release the material boxes in the support frame to the stacking position further includes:

[0094] The control of the second moving mechanism to drive the carrying mechanism to move in the second horizontal direction until the preset position;

[0095] The control of the grabbing arm assembly to grab the material boxes stacked on the preset position into the support frame.

[0096] In a possible implementation, after the support frame and the stacking position each have the material boxes stacked, the control of the forks to move the material boxes stacked on the stacking position to the rack further includes:

[0097] The control of the forks to move the material boxes stacked on the stacking position to the rack;

[0098] The control of the grabbing arm assembly to release the material boxes in the support frame to the stacking position;

[0099] The control of the forks to move the material boxes stacked on the stacking position to the rack.

[0100] In a possible implementation, the carrying robot further includes a column arranged on the moving chassis and a first moving mechanism arranged on the column, the first moving mechanism being configured to drive the forks to move in a first horizontal direction or a vertical direction, wherein the first horizontal direction is towards the stacking position.

[0101] The control of the forks to move the material boxes stacked on the stacking position to the rack specifically includes:

[0102] The fork acquires the material box on the stacking position;

[0103] The first moving mechanism drives the fork to move along the first horizontal direction and the vertical direction until the fork reaches a position corresponding to the shelf;

[0104] The fork releases the material box in it to the shelf.

[0105] In a possible implementation, a plurality of liftable stacking baffle plates are arranged at positions on the moving chassis corresponding to the stacking positions, and each stacking baffle plate is arranged around the side of the stacking position to prevent the material boxes from tilting;

[0106] Before the fork acquires the material box on the stacking position, the method further includes:

[0107] The stacking baffle plates are controlled to descend so that the material box on the stacking position as the storage target is exposed from the stacking baffle plates.

[0108] In a possible implementation, the fork includes a fork body and a mechanical arm assembly, the mechanical arm assembly is telescopic relative to the fork body, a lower opening accommodating cavity is formed in the fork body, and a movable positioning plate is arranged at the edge of the opening to release or lock the material box in the accommodating cavity;

[0109] The fork acquires the material box on the stacking position, and specifically includes:

[0110] The first moving assembly drives the fork to move to a position corresponding to the target material box on the stacking position, and the positioning plate is controlled to move into the opening of the accommodating cavity and be supported below the target material box; and / or

[0111] The fork releases the material box in it to the shelf, and specifically includes:

[0112] The positioning plate is controlled to move to the inside of the opening of the accommodating cavity, and the mechanical arm assembly is controlled to deliver the material box in the accommodating cavity to the shelf.

[0113] In a possible implementation, the method of controlling the carrying mechanism to move the stacked material boxes on the stacking position to the fifth preset position specifically includes:

[0114] The grabbing arm assembly is controlled to grab the stacked material boxes on the stacking position into the support frame;

[0115] The carrying mechanism is controlled to move to the fifth preset position, and the grabbing arm assembly is controlled to release the material boxes in the support frame to the fifth preset position.

[0116] The carrying robot and the material box transfer method based on the carrying robot provided by the embodiment can place more material boxes in the limited height space of the moving chassis by stacking the material boxes on the stacking position through the fork and the carrying mechanism. The fork is used for stacking the material boxes on the stacking position, and the fork is also used for disassembling the stacked material boxes on the stacking position and moving the material boxes away from the stacking position. In this way, the fork can automatically stack and disassemble the material boxes on the stacking position. Further, the carrying mechanism is used for carrying the stacked material boxes on the stacking position to the side of the carrying robot, and the carrying mechanism is also used for carrying the material boxes on the side of the carrying robot to the stacking position and stacking the material boxes on the stacking position, that is, the carrying mechanism can also perform the stacking and disassembling operations of the material boxes on the stacking position.

[0117] Therefore, the fork and the carrying mechanism cooperate to transfer the material boxes between two places. The fork can be used to stack the material boxes in the first place on the stacking position. After the moving chassis drives the material boxes on the stacking position to the second place, the fork or the carrying mechanism can be used to disassemble the stacked material boxes on the stacking position to the second place. Alternatively, the carrying mechanism can be used to carry the stacked material boxes in the first place to the stacking position. After the moving chassis drives the material boxes on the stacking position to the second place, the fork or the carrying mechanism can be used to disassemble the stacked material boxes on the stacking position to the second place.

[0118] The carrying mechanism can carry multiple stacked material boxes at the same time, which greatly improves the carrying efficiency. In addition, the fork and the carrying mechanism can both stack and disassemble the material boxes on the stacking position. The carrying operation of the material boxes and the carrying mechanism can be combined to derive multiple different transfer methods, which are more flexible and universal in carrying operation. BRIEF DESCRIPTION OF DRAWINGS

[0119] Figure 1 The overall structure schematic diagram of the carrying robot provided by the embodiment of the present application is shown in the figure;

[0120] Figure 2a The left view of the carrying robot provided by the embodiment of the present application is shown in the figure; Figure 1 The left view of the carrying robot provided by the embodiment of the present application is shown in the figure;

[0121] Figure 2b The structure schematic diagram of another state of the carrying robot provided by the embodiment of the present application is shown in the figure;

[0122] Figure 2c The structure schematic diagram of the carrying mechanism and the stacking position of the carrying robot provided by the embodiment of the present application is shown in the figure;

[0123] Figure 3 The structure schematic diagram of another structure of the carrying robot provided by the embodiment of the present application is shown in the figure;

[0124] Figure 4 is a left view of Figure 3 ;

[0125] Figure 5 is another angle of the structure of the carrying robot provided by the embodiment of the present application;

[0126] Figure 6 is a flow chart of the material box transfer method based on the carrying robot provided by the embodiment of the present application;

[0127] Figure 7a is a state diagram of the taking and placing of the material box between the forks and the shelves in the material box transfer method based on the carrying robot provided by the embodiment of the present application;

[0128] Figure 7b is a state diagram of the taking and placing of the material box between the forks and the shelves in the material box transfer method based on the carrying robot provided by the embodiment of the present application;

[0129] Figure 7c is a state diagram of the stacking or unstacking of the forks in the stacking position in the material box transfer method based on the carrying robot provided by the embodiment of the present application;

[0130] Figure 8 is a state diagram of the stacking or unstacking of the carrying mechanism on the pallet in the material box transfer method based on the carrying robot provided by the embodiment of the present application;

[0131] Figure 9 is a state diagram of the stacking or unstacking of the carrying mechanism on the pallet in the material box transfer method based on the carrying robot provided by the embodiment of the present application;

[0132] Figure 10 is a flow chart of the stacking of the forks in the stacking position in the material box transfer method based on the carrying robot provided by the embodiment of the present application;

[0133] Figure 11 is a flow chart of the moving of the stacked material boxes in the stacking position to the preset position by the forks in the material box transfer method based on the carrying robot provided by the embodiment of the present application;

[0134] Figure 12 is a flow chart of the moving of the stacked material boxes in the stacking position to the preset position by the carrying mechanism in the material box transfer method based on the carrying robot provided by the embodiment of the present application;

[0135] Figure 13 is a flow chart of another embodiment of the material box transfer method based on the carrying robot provided by the embodiment of the present application;

[0136] Figure 14A flowchart of a process in which the carrying mechanism of the carrying robot provided in the material box transfer method of the embodiment of the present application grabs the material box at a preset position to a stacking position;

[0137] Figure 15 A flowchart of a process in which the forks of the carrying robot provided in the material box transfer method of the embodiment of the present application move the stacked material boxes at the stacking position to the shelves;

[0138] Figure 16 A flowchart of a process in which the forks of the carrying robot provided in the material box transfer method of the embodiment of the present application move the stacked material boxes at the stacking position to the shelves.

[0139] Explanation of reference numerals:

[0140] 100 - carrying robot; 10 - moving chassis; 20 - upright; 21 - first upright; 22 - second upright; 23 - first sliding groove; 23' - connecting portion; 30 - forks; 31 - fork body; 32 - accommodating cavity; 321 - inlet and outlet; 33 - positioning plate; 34 - mechanical arm assembly; 341 - movable piece; 40 - stacking position; 50 - carrying mechanism; 51 - support frame; 511 - containing space; 52 - grabbing arm assembly; 521 - positioning claw; 622, 622' - containing frame; 6221 - top plate; 6222 - grabbing arm; 60, 60' - first moving mechanism; 61, 61' - first sliding rail; 611 - first sliding rail segment; 6111 - first track; 612 - second sliding rail segment; 613 - third sliding rail segment; 62, 62' - first sliding block; 63 - first cross beam; 70, 70' - second moving mechanism; 71, 71' - second cross beam; 72, 72' - second sliding block; 80 - enclosing member; 81 - stacking baffle; 811 - inner side surface; 82 - sub-baffle; 83 - interval; 84 - tray; 90 - shelf; 91 - preset position on the shelf; 92 - material box. DETAILED DESCRIPTION

[0141] The terms used in the embodiments of the present application are only used to explain the specific embodiments of the present application, and are not intended to limit the present application, and the embodiments of the present application will be described in detail below in conjunction with the drawings.

[0142] EMBODIMENT

[0143] Figure 1 The overall structure schematic diagram of the carrying robot provided in the embodiment of the present application, Figure 2a The left view of Figure 1 The left view of Figure 2b The structure schematic diagram of another state of the carrying robot provided in the embodiment of the present application, Figure 2c The structure schematic diagram of the carrying mechanism and the stacking position both containing the material box in the carrying robot provided in the embodiment of the present application,Figure 3 FIG. 2 is a schematic view of another structure of a carrying robot provided by an embodiment of the present application, Figure 4 Figure 3 FIG. 3 is a left view of FIG. 2.

[0144] With reference to Figure 1 Figure 2a The present application provides a carrying robot 100, comprising a moving chassis 10, a column 20, a fork 30 and a carrying mechanism 50; the moving chassis 10 is provided with a stacking position 40, and the column 20 is arranged on the moving chassis 10; the fork 30 and the carrying mechanism 50 are both arranged on the column 20.

[0145] The fork 30 is used to bring the material box close to the stacking position 40 and stack the material boxes on the stacking position 40 into a stack, and the fork 30 is also used to disassemble the stacked material boxes on the stacking position 40 and bring the material boxes away from the stacking position 40.

[0146] The carrying mechanism 50 is used to transport the stacked material boxes on the stacking position 40 to the side of the carrying robot 100, and the carrying mechanism 50 is also used to transport the material boxes on the side of the carrying robot 100 to the stacking position 40 and stack them on the stacking position 40 into a stack.

[0147] In the above scheme, by arranging the fork 30 and the carrying mechanism 50, the fork 30 is used to bring the material boxes close to the stacking position 40 and stack the material boxes on the stacking position 40 into a stack, and this stacking placement of the material boxes can place more material boxes in the limited height space of the moving chassis 10; and the fork 30 is also used to disassemble the stacked material boxes on the stacking position 40 and bring the material boxes away from the stacking position 40; thus the fork 30 can automatically stack and disassemble the material boxes on the stacking position. Further, the carrying mechanism 50 is used to transport the stacked material boxes on the stacking position 40 to the side of the carrying robot 100, and the carrying mechanism 50 is also used to transport the material boxes on the side of the carrying robot 100 to the stacking position 40 and stack them on the stacking position 40 into a stack, i.e. the carrying mechanism 50 can also perform the stacking and disassembling operation of the material boxes on the stacking position 40.

[0148] Therefore, the fork 30 and the carrying mechanism 50 cooperate, when transporting the material boxes between two places, the fork 30 can be used to first stack the material boxes in the first place on the stacking position 40, and after the moving chassis 10 drives the material boxes on the stacking position 40 to reach the second place, the fork 30 or the carrying mechanism 50 can be used to disassemble the stacked material boxes on the stacking position 40 to the second place. Alternatively, the carrying mechanism 50 can be used to first transport the stacked material boxes in the first place to the stacking position, and after the moving chassis 10 drives the material boxes on the stacking position 40 to reach the second place, the fork 30 or the carrying mechanism 50 can be used to disassemble the stacked material boxes on the stacking position 40 to the second place.

[0149] ​​The transport mode of stacking the material boxes into stacks can transport more material boxes at a time, and the simultaneous transport operation of the multiple material boxes in the stacks by the carrying mechanism 50 also greatly improves the transport efficiency. In addition, the pallet forks 30 and the carrying mechanism 50 can both stack and unstack the material boxes in the stacking position, and the transport operation of the material boxes and the carrying mechanism 50 are combined with each other, which can derive multiple different transfer modes, and the transport operation is more flexible and universal.

[0150] In the mobile chassis 10, a stacking position 40 can be arranged on the top surface of the mobile chassis 10, and the stacking position 40 is a preset area for stacking the material boxes. The upright column 20 is arranged upright on the mobile chassis 10 and bears the pallet forks 30 and the carrying mechanism 50. The carrying mechanism 50 and the stacking position 40 can be located on the same side of the upright column 20.

[0151] The pallet forks 30 are used to bring the material boxes close to the stacking position 40 and stack the material boxes on the stacking position 40, so that the pallet forks 30 can stack the material boxes in the stacking position 40. The pallet forks 30 can stack the goods on the shelves in the stacking position 40, or stack the material boxes in other positions such as the workstations in the stacking position 40, so as to realize the stacking action of the transfer robot 100.

[0152] The pallet forks 30 are also used to disassemble the stacked material boxes in the stacking position 40 and bring the material boxes away from the stacking position 40, so that the pallet forks 30 can unstack the material boxes stacked in the stacking position 40. It can be understood that the pallet forks 30 can transport the disassembled material boxes in the stacking position 40 to the shelves, or transport the disassembled material boxes in the stacking position 40 to other positions such as the workstations.

[0153] It can be understood that the operation of the pallet forks 30 on the material boxes can be for a single material box at a time. Specifically, the pallet forks 30 can include a pallet fork body 31, and a cavity 32 with an open bottom is formed in the pallet fork body 31. The inner contour size of the cavity 32 matches or is larger than the outer contour of a single material box, as long as it can accommodate the material box and can take and place the material box.

[0154] In the embodiment of the application, the carrying mechanism 50 is used to transport the stacked material boxes in the stacking position 40 to the side of the transfer robot 100, for example, to other positions such as workstations for unstacking the stacked material boxes; or the carrying mechanism 50 is also used to grasp and temporarily store the stacked material boxes in the stacking position 40, so that the carrying mechanism 50 plays the role of a storage space for the material boxes.

[0155] In addition, the carrying mechanism 50 is also used to transport the material box in the working station to the side of the carrying robot 100, for example, to the stacking position 40 and stack on the stacking position 40.

[0156] The specific structure of the fork 30 will be described below.

[0157] Referring to Figure 1 , Figure 2a , the fork 30 further comprises a mechanical arm assembly 34, which is retractable relative to the fork body 31 to bring the material box in and out of the fork body 31. In some examples, the end of the mechanical arm assembly 34 is further provided with a movable piece 341, which can rotate at the end of the mechanical arm assembly 34 to block the moving path of the material box or move out of the moving path of the material box. It can be understood that the mechanical arm assembly 34 can be retracted in the direction (second direction S) in which the material box enters and exits the fork body 31 to pull the material box into the fork body 31 or push the material box out of the fork body 31.

[0158] As described above, the fork body 31 is formed with a lower opening accommodating cavity 32 in which the material box can be accommodated. At least one side of the fork body 31 further has an inlet and outlet 321 for the material box to enter and exit the accommodating cavity 32. It should be noted that the number of inlet and outlet 321 here can be two, and correspondingly, the mechanical arm assembly 34 can be retracted in the direction close to or away from the shelf, and can operate the material box through at least one of the two inlet and outlet 321.

[0159] The edge of the opening of the accommodating cavity 32 is provided with a positioning plate 33 which is movable between a first preset position and a second preset position. When the positioning plate 33 is located at the first preset position, it is blocked below the opening of the accommodating cavity 32 to lock the material box in the accommodating cavity 32, as shown in Figure 2b ; when the positioning plate 33 is located at the second preset position, it is located at the side of the fork body 31 to release the material box in the accommodating cavity 32, as shown in Figure 1 .

[0160] When it is needed to obtain the material box on the shelf, the positioning plate 33 is moved to the first preset position, the mechanical arm assembly is extended and the material box is entered into the accommodating cavity 32 from the inlet and outlet of the accommodating cavity 32. When it is needed to disassemble the stacked material boxes on the stacking position 40, the fork body 31 can be moved to the position corresponding to the material box to be disassembled, and the positioning plate 33 is moved to the first preset position, the material box can be grabbed into the accommodating cavity 32.

[0161] When it is needed to release the material box in the fork body 31, it is only needed to move the positioning plate 33 to the second preset position to release the material box.

[0162] The connection method between the positioning plate 33 and the fork body 31 can be a common connection method, such as hinge.

[0163] The structure of the first moving mechanism 60 used to move the forks 30 is described below.

[0164] The handling robot 100 includes a first moving mechanism 60, which is used to move the forks 30 closer to or away from the stacking position 40. Specifically, the first moving mechanism 60 is used to move the forks 30 along a first horizontal direction F or a vertical direction H, wherein the first horizontal direction is towards the stacking position 40.

[0165] Reference Figure 1 , Figure 2a The first moving mechanism 60 is mounted on the column 20. The first moving mechanism 60 can slide along the extension direction of the column 20 to drive the fork 30 to move in the vertical direction, thus realizing the lifting and lowering of the fork 30 in the vertical direction H.

[0166] The first moving mechanism 60 is also connected to the forks 30 and is used to move the forks 30 along the first horizontal direction F, so as to move the forks 30 closer to or away from the stacking position 40. In this way, due to the presence of the first moving mechanism 60, the movement of the forks 30 between any two positions can be obtained by a combination of movement along the first horizontal direction F and movement along the vertical direction H.

[0167] Continue to refer to Figure 1 The first moving mechanism 60 includes a first slide rail 61 and a first slider 62 that cooperate with each other. One of the first slide rail 61 and the first slider 62 is disposed on the column 20, and the other is connected to the fork 30. The track of the first slide rail 61 extends along the first horizontal direction F, and the first slider 62 can slide relative to the first slide rail 61 so that the fork 30 can move relative to the column 20 along the first horizontal direction F.

[0168] In a specific implementation, the uprights 20 include at least a first upright 21 and a second upright 22 spaced apart, with the first upright 21 and the second upright 22 located on the same side of the stacking position 40. This allows the forks 30 to pass through the gap between the first upright 21 and the second upright 22 as they move closer to or away from the stacking position 40.

[0169] For example, there are two first moving mechanisms 60. The first slide rails 61 of the two first moving mechanisms 60 are respectively connected to the opposite surfaces of the first column 21 and the second column 22, and the two first sliders 62 are respectively disposed on the opposite side walls of the fork 30. In this way, by moving the first sliders 62 along the relative first slide rails 61, the fork 30 can move along the first horizontal direction through the gap between the first column 21 and the second column 22 to approach or move away from the stacking position 40.

[0170] In order to increase the moving stroke of the fork 30 when moving along the first horizontal direction, the first slide rail 61 comprises a first slide rail segment 611, a second slide rail segment 612 and a third slide rail segment 613, the first slide rail segment 611 is provided with a first track 6111, the second slide rail segment 612 is provided with a second track (not shown), and the third slide rail segment 613 is provided with a third track (not shown);

[0171] The side of the first slide rail segment 611 away from the first track 6111 is connected to the first upright column 21 and / or the second upright column 22, the second slide rail segment 612 is embedded in the first track 6111 and can slide along the first track 6111, and the third slide rail segment 613 is embedded in the second track and can slide along the second track; the first slide block 62 is embedded in the third track and can slide along the third track; the extension directions of the first track 6111, the second track and the third track are parallel to the first horizontal direction F. In this way, when the fork 30 approaches the upright column 20, the first slide block 62 slides along the third track, the third slide rail segment 613 slides along the second track, and the second slide rail segment 612 slides along the first track 6111, so that the third slide rail segment 613, the second slide rail segment 612 and the first slide rail segment 611 form a moving mode similar to a telescopic arm, and the fork 30 approaches the upright column 20.

[0172] When the fork 30 wants to pass through the interval between the first upright column 21 and the second upright column 22 to enter the area above the stacking position 40, on the basis of the above-mentioned action process, the second slide rail segment 612 continues to slide along the first track 6111, the third slide rail segment 613 continues to slide along the second track, and the first slide block 62 continues to slide along the third track, so that the fork 30 can be driven into the area above the stacking position 40. It can be understood that the process of driving the fork 30 away from the stacking position 40 by the first moving mechanism 60 is inverse to the above-mentioned process, which will not be described here.

[0173] In addition, in order to facilitate the lifting of the fork 30 along the vertical direction, the first upright column 21 and the second upright column 22 are further provided with a first sliding groove 23 for the end of the first slide rail 61 to slide, and the extension direction of the first sliding groove 23 is vertical, so that when the first slide rail 61 slides up and down along the first sliding groove 23, the fork 30 moves up and down accordingly.

[0174] Referring to Figure 3 , Figure 4 As another possible implementation, the first moving mechanism 60' comprises a first slide rail 61' and a first slide block 62' cooperating with each other, one of the first slide rail 61' and the first slide block 62' is arranged on the upright column 20, and the other is connected to the fork 30;

[0175] The rail of the first sliding rail 61' extends along the first horizontal direction F, and the first sliding block 62' is slidable relative to the first sliding rail 61', so that the fork 30 is movable relative to the column 20 along the first horizontal direction F.

[0176] In a specific implementation, the first moving mechanism 60' further includes a first cross beam 63 arranged on at least one column 20, for example, the first cross beam 63 is connected between the first column 21 and the second column 22, the first cross beam 63 is slidable along the extension direction of the column 20 to which it is connected, the first sliding rail 61' is connected to the bottom end face of the first cross beam 63, and the first sliding block 62' is arranged on the top end face of the fork body 31. It can be understood that the part of the first sliding rail 61' along the first horizontal direction F is located above the stacking position 40, so that the fork 30 can be conveniently moved above the stacking position 40.

[0177] In the embodiment of the application, in order to make the movement of the fork 30 more stable, the number of the first moving mechanism 60' can be multiple, the first sliding rails 61' in the multiple first moving mechanisms 60' are parallel to each other and are arranged on the first cross beam 63; and the first sliding blocks 62' in the multiple first moving mechanisms 60' are arranged on the top of the fork 30.

[0178] In addition, the column 20 to which the first cross beam 63 is connected is provided with a first sliding groove for the end of the first cross beam 63 to slide, and the extension direction of the first sliding groove is vertical. For example, when the first cross beam 63 is connected between the first column 21 and the second column 22, the first column 21 and the second column 22 are each provided with a first sliding groove for the end of the first cross beam 63 to slide.

[0179] Alternatively, it can also be referred to Figure 3 As shown in the figure, the two ends of the first cross beam 63 are provided with a connecting portion 23' connected in sliding fit with the column, and the connecting portion 23' is provided with an inner sliding groove slidable along the column, and the inner sliding groove extends along the vertical direction.

[0180] The structure of the carrying mechanism 50 will be described below.

[0181] Referring to Figure 1 , Figure 2aThe carrying mechanism 50 comprises a support frame 51 and a grabbing arm assembly 52, which is vertically movable relative to the support frame 51 to drive the stacked material boxes on the stacking position 40 to and from the support frame 51. The support frame 51 can be a frame-shaped member, which has an accommodating space 511 with an open bottom inside. The grabbing arm assembly 52 comprises a containing frame 622, which is provided with a positioning claw 521 at the bottom to match the material boxes and lock the material boxes accommodated in the containing frame 622. The containing frame 622 is slidably arranged in the accommodating space 511 of the support frame 51 and can move in and out of the accommodating space 511 through the opening of the accommodating space 511.

[0182] For the structure of the containing frame 622, as shown in Figure 1 , Figure 2a , the containing frame 622 comprises a top plate 6221 and four grabbing arms 6222 connected to the top plate 6221. The positioning claw 521 is rotatably connected to the bottom of the grabbing arm 6222 to grab and release the material boxes. The top plate 6221 can be sleeved on the frame body of the support frame 51 so as to be guided by the frame body of the support frame 51 when the top plate 6221 moves up and down.

[0183] Figure 3 As shown in Figure 1 , another structure of the containing frame 622' is different from that shown in , which is a frame-shaped member as a whole and is not provided with a top plate. The positioning claw is fixed to the bottom of the containing frame 622'. In addition, the working process and structure of the containing frame 622' are similar to those of the containing frame 622, which will not be described here.

[0184] Figure 2c , the support frame 51 and the stacking position 40 both have stacked material boxes. It should be noted that when the containing frame is moved into the support frame 51, the support frame 51 can also serve as a temporary storage device for the stacked material boxes.

[0185] The structure of the second moving mechanism 70 for driving the carrying mechanism 50 to move will be described below.

[0186] The carrying robot 100 comprises the second moving mechanism 70, which is used to drive the carrying mechanism 50 to move to the side of the carrying robot 100 or to drive the carrying mechanism 50 to move from the side of the carrying robot 100 to the stacking position 40.

[0187] In specific implementation, reference can be made to Figure 1 , Figure 2aThe second moving mechanism 70 is connected with the support frame 51 and is used to drive the support frame 51 to move along the second horizontal direction S, so as to drive the support frame 51 to move between the stacking position 40 and the side of the carrying robot 100.

[0188] Referring to Figure 1 As a possible implementation, the second moving mechanism 70 includes a second cross beam 71 arranged on the column 20; the second moving mechanism 70 further includes a second sliding block 72 cooperated with the second cross beam 71, the second sliding block 72 is arranged on the support frame 51, and the second sliding block 72 is provided with a sliding rail which is nested on the second cross beam 71 and can slide relative to the second cross beam 71 along the second horizontal direction S.

[0189] The second cross beam 71 extends along the second horizontal direction S, and the second sliding block 72 can slide relative to the second cross beam 71, so that the support frame 51 can move relative to the column 20 along the second horizontal direction S.

[0190] Referring to Figure 3 , Figure 4 As another possible implementation, the second moving mechanism 70' includes a second cross beam 71' arranged on the column 20; the second moving mechanism 70' further includes a second sliding block 72' cooperated with the second cross beam 71', the second sliding block 72' is arranged on the support frame 51, and the second sliding block 72' is provided with a sliding rail which is nested on the second cross beam 71' and can slide relative to the second cross beam 71' along the second horizontal direction S.

[0191] The second cross beam 71' extends along the second horizontal direction S, and the second sliding block 72' can slide relative to the second cross beam 71', so that the support frame 51 can move relative to the column 20 along the second horizontal direction S.

[0192] As described above, the size of the second cross beam 71 and the second sliding block 72 along the vertical direction H is greater than the size of the second cross beam 71' and the second sliding block 72' along the vertical direction. Figure 1 The cooperation of the second cross beam 71 and the second sliding block 72 is more stable, and the load-bearing performance is better.

[0193] The following describes the surrounding member 80 of the stacking position.

[0194] Figure 5 Another angle structure schematic view of the carrying robot provided by the embodiment of the present application.

[0195] Referring to Figure 1 , Figure 5The carrying robot 100 further comprises a surrounding member 80 arranged on the mobile chassis 10, which defines a positioning surface extending in the vertical direction, and which vertically surrounds the stacking position 40 and abuts against the side surface of each material box in the stack in the stacking position 40. Thus, the positioning surface can prevent the material boxes from being skewed during the stacking process.

[0196] In a specific implementation, the surrounding member 80 can comprise a plurality of stacking baffle plates 81, each of which is arranged around the stacking position, and the inner side surface 811 of each stacking baffle plate 81 forms the positioning surface.

[0197] In addition, in order to prevent the stacking baffle plates 81 from interfering with the stacking of the material boxes, each stacking baffle plate 81 can be lifted in the vertical direction H. For example, the stacking baffle plate 81 can comprise a plurality of sub-baffle plates 82, each of which can slide relative to the other in the vertical direction H, so that the extension and retraction of a single stacking baffle plate 81 can be achieved when each sub-baffle plate 82 slides in the vertical direction.

[0198] The side end portions of each stacking baffle plate 81 have a spacing 83 extending in the vertical direction therebetween, which corresponds to the corner portion of each material box stacked in the stacking position 40. For example, it can correspond to the position of the positioning claw 521, so as to facilitate the grasping operation of the positioning claw 521.

[0199] Based on the carrying robot described above, the embodiments of the present application further provide a material transfer method.

[0200] The action control method based on the forks comprises:

[0201] controlling the forks to move the material boxes on the shelves to the stacking position and stack them into a stack in the stacking position;

[0202] controlling the forks to disassemble the material boxes stacked into a stack in the stacking position and move the disassembled material boxes to the shelves.

[0203] The action control method based on the carrying mechanism comprises:

[0204] controlling the carrying mechanism to grasp the material boxes in the preset positions to the stacking position;

[0205] controlling the carrying mechanism to move the material boxes stacked in the stacking position to the side of the carrying robot;

[0206] controlling the carrying mechanism to transfer the material boxes between different preset positions;

[0207] controlling the carrying mechanism to grasp the material boxes in the preset positions or the material boxes in the stacking position and temporarily store them in the carrying mechanism.

[0208] The material transfer method can be obtained by matching the action of the fork and various possible action methods of the carrying mechanism in the embodiments of the present application.

[0209] That is, the delivery operation method of the carrying robot, the warehouse management operation method of the carrying robot, and

[0210] The delivery operation method of the carrying robot and the transfer operation method of the carrying robot between workstations.

[0211] Figure 6 A flowchart of the material box transfer method based on the carrying robot provided in the embodiments of the present application, Figure 7a A state diagram of the taking and placing of the material box between the fork and the shelf in the material box transfer method based on the carrying robot provided in the embodiments of the present application, Figure 7b A state diagram of the taking and placing of the material box between the fork and the shelf in the material box transfer method based on the carrying robot provided in the embodiments of the present application, Figure 7c A state diagram of the stacking or unstacking of the fork in the stacking position in the material box transfer method based on the carrying robot provided in the embodiments of the present application.

[0212] Figure 8 A state diagram of the stacking or unstacking of the carrying mechanism in the stacking position in the material box transfer method based on the carrying robot provided in the embodiments of the present application, Figure 9 A state diagram of the stacking or unstacking of the carrying mechanism on the pallet in the material box transfer method based on the carrying robot provided in the embodiments of the present application.

[0213] The above method will be described in detail as follows:

[0214] Referring to Figure 6 Corresponding to the delivery operation method of the carrying robot, the material box transfer method based on the carrying robot in the embodiments of the present application includes:

[0215] S10, controlling the fork to move the material box on the shelf to the stacking position and stack the material box in the stacking position.

[0216] S20, controlling the carrying mechanism or the fork to move the material box stacked in the stacking position to a preset position.

[0217] In the above scheme, the material box on the shelf can be stacked in the stacking position of the carrying robot, and the carrying mechanism is controlled to move the material box stacked in the stacking position to a preset position. The preset position can be a workstation or a Figure 9 The pallet 84 shown and the like, which corresponds to the delivery process of the material box.

[0218] In the above scheme, the material boxes on the shelves can also be stacked on the stacking position of the transfer robot, and the forks are controlled to move the stacked material boxes on the stacking position to a preset position, which can be another shelf, etc., which corresponds to the sorting of the material boxes. In this process, the transfer robot can complete the arrangement of the material boxes between different shelves.

[0219] Figure 10 The flow chart of the fork stacking on the stacking position in the material box transfer method based on the transfer robot provided by the embodiments of the present application.

[0220] Referring to Figure 10 , in specific implementation, the step S10 can include:

[0221] S101, control the forks to obtain the material boxes on the shelves, as shown in Figure 7a and Figure 7b .

[0222] S102, control the first moving mechanism to drive the forks to move along the first horizontal direction and the vertical direction until the forks reach the stacking position, as shown in the schematic diagram. Figure 7c , which is the case when the forks 30 with the material boxes reach the stacking position 40.

[0223] It should be noted that, referring to Figure 1 , the movement of the forks 30 along the vertical direction H can be achieved by driving the first sliding rail segment 611 to slide along the first sliding groove 23 on the first column 21 and the second column 22. The movement of the forks 30 along the first horizontal direction F can be achieved by driving the first sliding block 62 to move along the first horizontal direction F. For example, drive the first sliding block 62 to move towards the stacking position 40, at this time the first sliding block 62 slides along the third rail, the third sliding rail segment 613 slides along the second rail, the second sliding rail segment 612 slides along the first rail 6111, until the forks 30 reach above the stacking position 40, as shown in Figure 7c . And drive the first sliding block 62 to move away from the stacking position 40, at this time the first sliding block 62 slides along the third rail away from the stacking position 40, the third sliding rail segment 613 slides along the second rail away from the stacking position 40, the second sliding rail segment 612 slides along the first rail 6111 away from the stacking position 40, until the forks 30 leave the stacking position 40.

[0224] Referring to Figure 3The movement of the forks 30 along the vertical direction H can be achieved by driving the first slide rail 61' to slide along the connecting portion 23' on the first upright column 21 and the second upright column 22. The movement of the forks 30 along the first horizontal direction F can be achieved by driving the first slide block 62' to move along the first horizontal direction F. For example, the first slide block 62' is driven to move towards the direction close to the stacking position 40, at this time, the first slide block 62' slides along the first slide rail 61' until the forks 30 reach above the stacking position 40. While the first slide block 62' is driven to move towards the direction away from the stacking position 40, at this time, the first slide block 62' slides along the first slide rail 61' away from the stacking position 40 until the forks 30 leave the stacking position 40.

[0225] In addition, it should be noted that the driving of the first slide rail segment 611 and the driving of the sliding of the first slide block 62, 62' can be achieved by some known driving units, such as linear motors, ball screw mechanisms, etc.

[0226] S103, control the forks to release the material box therein to be stacked at the stacking position.

[0227] The above step S101 can specifically include: controlling the positioning plate to move to the opening of the accommodating cavity, and controlling the mechanical arm assembly to transport the material box on the shelf into the accommodating cavity. Specifically, referring to Figure 7a 、 Figure 7b The shelf 90 can be placed with a plurality of material boxes 92, and the mechanical arm assembly 34 extends to the preset position 91 on the shelf to pull the material box at the preset position 91 into the fork body.

[0228] In addition, in the above step S102, when the surrounding member is provided at the stacking position, the height of the surrounding member needs to be properly adjusted to prevent the surrounding member from interfering with the movement of the forks.

[0229] For example, as described above, the surrounding member includes a plurality of stacking baffle plates, and the step S102 can specifically include:

[0230] The height of each stacking baffle plate is controlled to be at a first preset height, and the first preset height is lower than the total height of all the material boxes stacked at the stacking position. In this way, the top end of the stacking baffle plate is set to be lower than the total height of the material boxes stacked at the stacking position.

[0231] After the position of the stacking baffle plate is adjusted, the first moving mechanism can be controlled to drive the forks to move along the vertical direction until the bottom end of the forks is higher than the first preset height, and then the first moving mechanism can be controlled to drive the forks to move along the first horizontal direction to the stacking position.

[0232] The step S103 can include: controlling the positioning plate to move to the outside of the opening of the accommodating cavity, so that the material box in the accommodating cavity is released to the stacking position for stacking.

[0233] After the material box is stacked on the stacking position by the forks in the embodiment of the present application, the forks or the carrying mechanism can be used to operate the stacked material box on the stacking position.

[0234] Figure 11 The flow chart of the process in which the forks move the stacked material box on the stacking position to the preset position in the material box transfer method based on the carrying robot provided by the embodiment of the present application is shown.

[0235] Specifically, referring to Figure 11 , the step S20 includes: controlling the forks to move the stacked material box on the stacking position to the preset position, and specifically includes:

[0236] S201, controlling the forks to obtain the material box stacked on the stacking position;

[0237] S202, controlling the first moving mechanism to move the material box to the rack;

[0238] S203, controlling the forks to release the material box in the forks to the rack.

[0239] Specifically, the step S201 can include:

[0240] controlling the first moving mechanism to drive the forks to move above the stacked material box on the stacking position along the first horizontal direction and the vertical direction.

[0241] After the forks move above the stacked material box on the stacking position, the first moving mechanism can be controlled to drive the forks to move to the bottom of the material box as the target to be taken along the vertical direction.

[0242] After the forks reach the position corresponding to the material, the positioning plate can be controlled to move to the opening of the accommodating cavity and support below the material box on the stacking position.

[0243] It should be noted that the movement of the forks along the vertical direction and the movement along the first horizontal direction by the first moving mechanism are similar to the movement modes described in the previous step S102, and will not be described here.

[0244] In addition, the step S203 can include: controlling the positioning plate to move to the outside of the opening of the accommodating cavity, so that the material box in the accommodating cavity is released to the rack.

[0245] Figure 12 The flow chart of the process in which the carrying mechanism moves the stacked material box on the stacking position to the preset position in the material box transfer method based on the carrying robot provided by the embodiment of the present application is shown.

[0246] Referring to Figure 12In step S20, the carrying mechanism is controlled to move the pallets stacked in the stacking position to a preset position, specifically including:

[0247] S204, the grabbing arm assembly is controlled to grab the pallets stacked in the stacking position into the support frame;

[0248] S205, the carrying mechanism is controlled to move to a preset position, and the grabbing arm assembly is controlled to release the pallets in the support frame for unstacking.

[0249] In the embodiments of the present application, as described above, the carrying robot includes a second moving mechanism for driving the carrying mechanism to move in a second horizontal direction.

[0250] In step S205, the carrying mechanism is controlled to move to a preset position, specifically including:

[0251] The second moving mechanism is controlled to drive the carrying mechanism to move in the second horizontal direction until the carrying mechanism moves to the preset position. Referring to Figure 1 Here, the movement of the second moving mechanism 70 driving the carrying mechanism 50 in the second horizontal direction S can include driving the second sliding block 72 to slide along the second cross beam 71 to drive the support frame 51 connected with the second sliding block 72 to displace in the second horizontal direction S.

[0252] Referring to Figure 3 Here, the movement of the second moving mechanism 70' driving the carrying mechanism 50 in the second horizontal direction S can include driving the second sliding block 72' to slide along the second cross beam 71' to drive the support frame 51 connected with the second sliding block 72' to displace in the second horizontal direction S.

[0253] In the embodiments of the present application, the preset position can include a third preset position and a fourth preset position arranged at intervals. The third preset position and the fourth preset position can be different positions of the pallet, or can be workstations located at different positions.

[0254] In step S205, the carrying mechanism is controlled to move to a preset position, and the grabbing arm assembly is controlled to release the pallets in the support frame for unstacking, specifically including:

[0255] The carrying mechanism is controlled to move above the third preset position, and the grabbing arm assembly is controlled to release the pallets in the support frame to the third preset position;

[0256] The grabbing arm assembly is controlled to grab part of the pallets stacked in the third preset position into the support frame, the carrying mechanism is moved above the fourth preset position, and the grabbing arm assembly is controlled to release the pallets in the support frame to the fourth preset position. In this way, the carrying mechanism can place part of the pallets in the third preset position and part of the pallets in the fourth preset position when unstacking. Referring to Figure 1The release or grabbing of the material box by the grabbing arm assembly can be achieved by rotating the positioning claws between different positions.

[0257] In addition, as mentioned above, the handling mechanism can also serve as a storage mechanism for the stacked material boxes. For example, the handling mechanism can be controlled to first lift the stacked material boxes, leaving the stacking position empty, or only leaving a certain number of material boxes in the stacking position, and then controlling the forks to continue stacking the material boxes in the stacking position. After the stacking position is stacked with a sufficient number of material boxes, the handling mechanism is controlled to unload the stack; and the handling mechanism is controlled to grab the stacked material boxes in the stacking position again for unloading operation.

[0258] In a specific implementation, in step S20, the handling mechanism is controlled to move the stacked material boxes in the stacking position to a preset position, specifically including:

[0259] controlling the grabbing arm assembly to grab the stacked material boxes in the stacking position into the support frame;

[0260] controlling the support frame to be lifted in the vertical direction;

[0261] controlling the forks to move the material boxes on the rack to the stacking position on the handling robot and stack them into a pile;

[0262] controlling the handling mechanism to move to the preset position, and controlling the grabbing arm assembly to release the material boxes in the support frame for unloading;

[0263] controlling the grabbing arm assembly to grab the stacked material boxes in the stacking position into the support frame, moving the handling mechanism to the preset position, and controlling the grabbing arm assembly to release the material boxes in the support frame for unloading.

[0264] It should be noted that in the above process, the grabbing and releasing of the material boxes by the grabbing arm assembly, the movement of the forks in the first horizontal direction and the vertical direction driven by the first moving mechanism, and the movement of the handling mechanism in the second horizontal direction driven by the second moving mechanism have been described in detail above, and will not be repeated here.

[0265] Figure 13 A flowchart of another embodiment of the material box transfer method based on the handling robot provided by the present application.

[0266] Referring to Figure 13 Corresponding to the warehousing operation method of the handling robot and the transfer operation method of the handling robot between the workstations, the material box transfer method based on the handling robot of the present application includes:

[0267] S30, controlling the handling mechanism to grab the material boxes on the preset position to the stacking position;

[0268] S40, control the fork to move the stacked material boxes on the stacking position to the shelf, or control the carrying mechanism to move the stacked material boxes on the stacking position to the fifth preset position.

[0269] In the above method, the carrying mechanism can be controlled to grasp the material boxes on the preset position to the stacking position, and the fork can be controlled to move the stacked material boxes on the stacking position to the shelf, which corresponds to the warehousing process of the material boxes. Among them, the preset position can be a pallet, or it can also be a workstation, etc.

[0270] In the above method, the carrying mechanism can be controlled to grasp the material boxes on the preset position to the stacking position, and the carrying mechanism can be controlled to move the stacked material boxes on the stacking position to the fifth preset position, where the fifth preset position and the preset position are different positions, for example, the fifth preset position and the preset position can be different positions of the pallet, or can be different positions of the workstation.

[0271] Figure 14 The flow chart of the carrying mechanism grasping the material boxes on the preset position to the stacking position in the material box transfer method based on the carrying robot provided by the embodiment of the present application.

[0272] Referring to Figure 14 , in specific implementation, step S30, controlling the carrying mechanism to grasp the material boxes on the preset position to the stacking position, can specifically include:

[0273] S301: control the grabbing arm assembly to grasp the stacked material boxes on the preset position into the support frame, referring to Figure 1 , which can be achieved by controlling the positioning claw 521 to flip the corresponding buckle position locked at the bottom of the material box, and then driving the grabbing arm assembly 52 to move upward relative to the support frame 51.

[0274] S302: control the carrying mechanism to move to the stacking position, and control the grabbing arm assembly to release the material boxes in the support frame to the stacking position.

[0275] Controlling the grabbing arm assembly to release the material boxes in the support frame to the stacking position specifically includes: driving the grabbing arm assembly to move downward relative to the support frame, and controlling the positioning claw to flip and release the buckle on the bottom of the material box.

[0276] It can be understood that in the present application, the grabbing and releasing of the grabbing arm assembly to the material box are similar to the above process, which will not be described below.

[0277] In the above step S302, controlling the carrying mechanism to move to the stacking position specifically includes:

[0278] Controlling the second moving mechanism to drive the carrying mechanism to move along the second horizontal direction until the carrying mechanism moves to the stacking position.

[0279] The specific steps of controlling the second moving mechanism to drive the carrying mechanism to move along the second horizontal direction have been described in detail before, and will not be repeated here.

[0280] As described before, the preset positions can include the third preset position and the fourth preset position arranged at intervals, and the carrying mechanism can also be controlled to pick up the material boxes at two different positions into the support frame.

[0281] For example, in the step S301, the control of the grabbing arm assembly to pick up the material boxes stacked at the preset position into the support frame specifically includes:

[0282] The carrying mechanism is moved above the third preset position, and the grabbing arm assembly is controlled to pick up the material boxes stacked at the third preset position into the support frame.

[0283] The carrying mechanism is moved above the fourth preset position, and the grabbing arm assembly is controlled to place the material boxes stored in the support frame above the material boxes stacked at the fourth preset position to form a stack, and the grabbing arm assembly is controlled to pick up the material boxes stacked at the fourth preset position into the support frame.

[0284] The grabbing arm assembly is controlled to pick up part of the material boxes stacked at the third preset position into the support frame, the carrying mechanism is moved above the fourth preset position, and the grabbing arm assembly is controlled to release the material boxes in the support frame to the fourth preset position. The grabbing arm assembly is again controlled to pick up all the material boxes at the fourth preset position into the support frame, so that the carrying mechanism can simultaneously pick up the material boxes at the third preset position and the fourth preset position.

[0285] In the embodiment of the present application, with reference to Figure 14 In the S302, after the carrying mechanism is controlled to move to the stacking position and the grabbing arm assembly is controlled to release the material boxes in the support frame to the stacking position, the method further includes:

[0286] S303, controlling the second moving mechanism to drive the carrying mechanism to move along the second horizontal direction until the preset position.

[0287] S304, controlling the grabbing arm assembly to pick up the material boxes stacked at the preset position into the support frame. In this way, when there are already stacked material boxes at the stacking position, the carrying mechanism plays the role of a temporary storage device for the stacked material boxes.

[0288] Figure 15 The flowchart of the method for transferring material boxes based on a carrying robot provided in the embodiment of the present application.

[0289] With reference to Figure 15In some examples, after the support frame and the stacking position each have a stacked material box, the step S40 of controlling the forks to move the stacked material box on the stacking position to the shelf includes the following steps:

[0290] S401, controlling the forks to move the stacked material box on the stacking position to the shelf;

[0291] S402, controlling the grabbing arm assembly to release the material box in the support frame to the stacking position;

[0292] S403, controlling the forks to move the stacked material box on the stacking position to the shelf.

[0293] After the material boxes are stacked in the stacking position and the support frame as described above, the forks are used to unstack, so that more material boxes can be operated at one time.

[0294] Figure 16 The flow chart of the process of moving the stacked material box on the stacking position to the shelf by the forks in the material box transfer method based on the handling robot provided in the embodiments of the present application.

[0295] In the embodiments of the present application, with reference to Figure 16 , the step S40 of controlling the forks to move the stacked material box on the stacking position to the shelf can further include the following steps:

[0296] S404, controlling the forks to obtain the material box on the stacking position;

[0297] S405, controlling the first moving mechanism to drive the forks to move along the first horizontal direction and the vertical direction until the forks reach the position corresponding to the shelf;

[0298] S406, controlling the forks to release the material box therein to the shelf.

[0299] In the above steps, the movement of the forks along the first horizontal direction and the vertical direction controlled by the first moving mechanism, and the process of controlling the forks to release and obtain the material box have been described in detail in the previous embodiments, and will not be described here.

[0300] In the embodiments of the present application, before the step S404, the following steps are further included:

[0301] Controlling each stacking baffle to descend so that the material box on the stacking position as the storage target is exposed from the stacking baffle.

[0302] In addition, in the step S404, the forks are controlled to obtain the material box on the stacking position, which specifically includes the following steps:

[0303] Controlling the first moving assembly to drive the forks to move to the position corresponding to the target material box on the stacking position, controlling the positioning plate to move into the opening of the accommodation cavity and support under the target material box.

[0304] And step S406, control the fork to release the material box in it to the goods shelf, specifically including:

[0305] Control the positioning plate to move to the inside of the opening of the accommodation cavity, and control the mechanical arm assembly to transport the material box in the accommodation cavity to the goods shelf.

[0306] In the material box transfer method of the embodiment of the application, step S40 controls the carrying mechanism to move the stacked material boxes on the stacking position to the fifth preset position, specifically including:

[0307] Control the grabbing arm assembly to grab the stacked material boxes on the stacking position into the support frame;

[0308] Control the carrying mechanism to move to the fifth preset position, and control the grabbing arm assembly to release the material boxes in the support frame to the fifth preset position. Wherein, the fifth preset position is a position different from the preset position, so that the stacked material boxes can be transferred between different workstations or different positions of the pallet.

[0309] In the description of the embodiments of the application, it should be pointed out that, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood in a broad sense, for example, it can be fixedly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the embodiments of the application can be understood according to the specific circumstances.

[0310] The terms "first", "second", "third", "fourth" and the like (if any) in the specification and claims of the embodiments of the application and the above-described drawings are used to distinguish similar objects, and do not necessarily have to describe a specific order or sequence.

[0311] Finally, it should be pointed out that: the above embodiments are only used to illustrate the technical solutions of the embodiments of the application, and not to limit them; although the embodiments of the application have been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the application.

Claims

1. A transport robot, characterized in that, The moving chassis is provided with a stacking position, the column is arranged on the moving chassis, and the fork and the carrying mechanism are arranged on the column. The fork is used for moving the material box close to the stacking position and stacking the material box on the stacking position, and the fork is also used for disassembling the stacked material box on the stacking position and moving the material box away from the stacking position. The carrying mechanism is used for carrying the stacked material box on the stacking position to the side of the carrying robot, and the carrying mechanism is also used for carrying the material box on the side of the carrying robot to the stacking position and stacking the material box on the stacking position. The carrying mechanism is also used for grabbing and temporarily storing the stacked material box on the stacking position, and the carrying mechanism comprises a support frame and a grabbing arm assembly. The support frame has an accommodating space with an open bottom, and the grabbing arm assembly comprises a containing frame provided with a positioning claw matched with the material box to lock the material box in the containing frame.

2. The transport robot of claim 1, wherein, The fork comprises a fork body, and a containing cavity with an open bottom is formed in the fork body.

3. The transport robot of claim 2, wherein, A first moving mechanism is arranged on the column, and the first moving mechanism is slidable along the extension direction of the column to move the fork vertically.

4. The transport robot according to claim 3, characterized in that, The first moving mechanism comprises a first slide rail and a first slide block matched with each other. The first slide rail is arranged on the column, and the first slide block is connected to the fork.

5. The transport robot of claim 4, wherein, The track of the first slide rail extends along the first horizontal direction, and the first slide block is slidable relative to the first slide rail to move the fork relative to the column along the first horizontal direction.

6. The transport robot of claim 5, wherein, The first moving mechanism further comprises a first cross beam arranged on at least one column.

7. The transport robot of claim 5, wherein, The first cross beam is slidable along the extension direction of the column connected thereto.

8. The transport robot of claim 4, wherein, The first slide rail is connected to the bottom end face of the first cross beam, and the first slide block is arranged on the top end face of the fork body. The first moving mechanism comprises a plurality of first moving mechanisms. The first slide rail of the first moving mechanism is parallel to each other and arranged on the first cross beam. The first slide block of the first moving mechanism is arranged on the top of the fork. The two ends of the first cross beam are provided with connecting parts slidable with the column. The column comprises a first column and a second column arranged at intervals. The first column and the second column are located on the same side of the stacking position. The first moving mechanism is two in number, and first sliding rails of the two first moving mechanisms are respectively connected to opposite surfaces of the first column and the second column, and two first sliding blocks are respectively arranged on opposite side walls of the forks.

9. The transport robot of claim 8, wherein, The first sliding rail comprises a first sliding rail segment, a second sliding rail segment and a third sliding rail segment, the first sliding rail segment is provided with a first track, the second sliding rail segment is provided with a second track, and the third sliding rail segment is provided with a third track. The side of the first sliding rail segment away from the first track is connected to the first column and / or the second column, the second sliding rail segment is embedded in the first track and can slide along the first track, and the third sliding rail segment is embedded in the second track and can slide along the second track; the first sliding block is embedded in the third track and can slide along the third track; the extension directions of the first track, the second track and the third track are parallel to the first horizontal direction.

10. The transport robot of claim 9, wherein, The first column and the second column are provided with first sliding grooves for the end portions of the first sliding rail to slide, and the extension direction of the first sliding groove is vertical.

11. The transport robot of claim 1, wherein, The second moving mechanism is further arranged on the column, is connected with the support frame, and is used to drive the support frame to move along a second horizontal direction, so as to drive the support frame to move between the stacking position and the side of the carrying robot.

12. The transport robot of claim 11, wherein, The second moving mechanism comprises a second cross beam arranged on the column. The second moving mechanism further comprises a second sliding block matched with the second cross beam, the second sliding block is arranged on the support frame, and the second sliding block is provided with a sliding rail, the sliding rail is nested on the second cross beam and can move along the second horizontal direction relative to the second cross beam, so that the support frame can move along the second horizontal direction relative to the column.

13. A handling robot according to any of claims 1-12, characterized in that The enclosure is further arranged on the moving chassis, and defines a positioning surface extending in a vertical direction, the positioning surface vertically surrounds the stacking position and abuts against the side surfaces of the stacked material boxes in the stacking position.

14. The transport robot of claim 13, wherein, The enclosure comprises a plurality of stacking baffle plates, each stacking baffle plate is arranged around the stacking position, and the inner side surface of each stacking baffle plate forms the positioning surface.

15. The transport robot of claim 14, wherein, Each stacking baffle plate can be lifted along the vertical direction; and / or The side end portions of each stacking baffle plate have a spacing extending in the vertical direction, and the position of the spacing corresponds to the corner portions of the stacked material boxes in the stacking position.

16. A handling robot according to any of claims 1-12, characterized in that The forks comprise a fork body, and a receiving cavity with an opening in the lower portion is formed in the fork body, and a positioning plate movable between a first preset position and a second preset position is arranged at the edge of the opening, when the positioning plate is located at the first preset position, the positioning plate is arranged below the opening to lock the material box in the receiving cavity; when the positioning plate is located at the second preset position, the positioning plate is located aside the fork body to release the material box in the receiving cavity. ​ 17. A method for transferring a material box based on a handling robot, characterized by The carrying robot comprises a moving chassis provided with a stacking position, and forks and a carrying mechanism provided on the moving chassis, the carrying mechanism being used for grabbing and temporarily storing material boxes stacked on the stacking position, the carrying mechanism comprising a support frame and a grabbing arm assembly, the grabbing arm assembly being capable of lifting vertically relative to the support frame to bring the material boxes in and out of the support frame, the support frame being internally provided with a containing space with an open bottom, the grabbing arm assembly comprising a containing frame, the containing frame being provided at the bottom with a positioning claw matched with the material box to lock the material box contained in the containing frame, the containing frame being slidably arranged in the containing space of the support frame and being capable of moving in and out of the containing space along the opening of the containing space, and the material box transfer method comprising: controlling the forks to move the material boxes on the shelves to the stacking position and stack them into a stack on the stacking position; controlling the carrying mechanism or the forks to move the material boxes stacked on the stacking position to a preset position; wherein the control of the carrying mechanism to move the material boxes stacked on the stacking position to the preset position specifically comprises: controlling the grabbing arm assembly to grab the material boxes stacked on the stacking position into the support frame; controlling the carrying mechanism to move to the preset position and controlling the grabbing arm assembly to release the material boxes in the support frame for unstacking.

18. The material box transfer method according to claim 17, wherein, The carrying robot further comprises a stand provided on the moving chassis and a first moving mechanism provided on the stand, the first moving mechanism being used for driving the forks to move along a first horizontal direction and a vertical direction, wherein the first horizontal direction is towards the stacking position; the control of the forks to move the material boxes on the shelves to the stacking position and stack them into a stack on the stacking position specifically comprises: controlling the forks to obtain the material boxes on the shelves; controlling the first moving mechanism to drive the forks to move along the first horizontal direction and the vertical direction until the forks reach the stacking position; controlling the forks to release the material boxes therein to stack them into a stack on the stacking position.

19. The material box transfer method according to claim 18, wherein, The positions corresponding to the stacking positions on the moving chassis are provided with a plurality of liftable stacking baffle plates, each of the stacking baffle plates being arranged around the side of the material boxes stacked on the stacking position to prevent tilting; the control of the first moving mechanism to drive the forks to move along the first horizontal direction and the vertical direction until the forks reach the stacking position specifically comprises: controlling each of the stacking baffle plates to lift so that the top end of the stacking baffle plate is located at a first preset height; wherein the first preset height is lower than the total height of all the material boxes stacked on the stacking position; controlling the first moving mechanism to drive the forks to move along the vertical direction until the bottom end of the forks is higher than the first preset height; controlling the first moving mechanism to drive the forks to move along the first horizontal direction to the stacking position.

20. The material box transfer method of claim 18, wherein, The fork includes a fork body and a mechanical arm assembly, the mechanical arm assembly is telescopic relative to the fork body, a lower opening accommodating cavity is formed in the fork body, a movable positioning plate is arranged at the edge of the opening to release or lock the material box in the accommodating cavity; The control of the fork to obtain the material box on the shelf specifically includes: Control the positioning plate to move to the opening of the accommodating cavity, and control the mechanical arm assembly to transport the material box on the shelf into the accommodating cavity; and / or The control of the fork to release the material box in it to stack on the stacking position specifically includes: Control the positioning plate to move to the outside of the opening of the accommodating cavity, so that the material box in the accommodating cavity is released to the stacking position for stacking.

21. The material box transfer method according to claim 18 or 19, wherein, The control of the fork to move the material box stacked on the stacking position to the preset position specifically includes: Control the fork to obtain the material box stacked on the stacking position; Control the first moving mechanism to move the material box to the shelf; Control the fork to release the material box in it to the shelf.

22. The material box transfer method according to claim 21, wherein, The fork includes a fork body, a lower opening accommodating cavity is formed in the fork body, a movable positioning plate is arranged at the edge of the opening to release or lock the material box in the accommodating cavity; The control of the fork to obtain the material box stacked on the stacking position specifically includes: Control the first moving mechanism to drive the fork to move above the material box stacked on the stacking position along the first horizontal direction and the vertical direction; Control the first moving mechanism to drive the fork to move to the vertical direction until the positioning plate is flush with the bottom of the material box as the target to be taken; Control the positioning plate to move to the opening of the accommodating cavity, and support the material box below the stacking position; and / or The control of the fork to release the material box in it to the shelf specifically includes: Control the positioning plate to move to the outside of the opening of the accommodating cavity, so that the material box in the accommodating cavity is released to the shelf.

23. The material box transfer method according to any one of claims 17-20, wherein, The transport robot further includes a column arranged on the moving chassis and a second moving mechanism arranged on the column, the second moving mechanism is used to drive the transport mechanism to move along a second horizontal direction, wherein the second horizontal direction is towards the stacking position; The control of the transport mechanism to move to the preset position specifically includes: Control the second moving mechanism to drive the transport mechanism to move along the second horizontal direction until the transport mechanism moves to the preset position.

24. The material box transfer method according to any one of claims 17-20, wherein, The preset position includes a third preset position and a fourth preset position arranged at intervals; Control the transport mechanism to move to the preset position, and control the grabbing arm assembly to release the material box in the support frame for unstacking, specifically including: Control the transport mechanism to move above the third preset position, and control the grabbing arm assembly to release the material box in the support frame to the third preset position; The control device controls the grabbing arm assembly to grab the part of the third preset position stacked material box into the support frame, moves the carrying mechanism above the fourth preset position, and controls the grabbing arm assembly to release the material box in the support frame to the fourth preset position.

25. The material box transfer method of any one of claims 17-20, wherein, The control device controls the carrying mechanism to move the material box stacked in the stacking position to a preset position, specifically comprising: controlling the grabbing arm assembly to grab the material box stacked in the stacking position into the support frame; controlling the support frame to lift along the vertical direction; controlling the forks to move the material box on the shelf to the stacking position on the carrying robot, and stack the material box in the stacking position into a stack; controlling the carrying mechanism to move to the preset position, and controlling the grabbing arm assembly to release the material box in the support frame for unstacking; controlling the grabbing arm assembly to grab the material box stacked in the stacking position into the support frame, moving the carrying mechanism to the preset position, and controlling the grabbing arm assembly to release the material box in the support frame for unstacking.

26. A method of transferring a material box based on a handling robot, characterized by The carrying robot comprises a moving chassis provided with a stacking position, and forks and a carrying mechanism arranged on the moving chassis, the carrying mechanism being used to grab and temporarily store the material box stacked in the stacking position, the carrying mechanism comprising a support frame and a grabbing arm assembly, the grabbing arm assembly being capable of lifting along a vertical direction relative to the support frame to bring the material box in and out of the support frame, the support frame having an accommodating space with an open bottom inside, the grabbing arm assembly comprising a containing frame, the containing frame being provided at the bottom with a positioning claw matched with the material box to lock the material box accommodated in the containing frame; the containing frame being slidably arranged in the accommodating space of the support frame and being capable of moving in and out of the accommodating space along the opening of the accommodating space; the material box transfer method comprising: controlling the carrying mechanism to grab the material box in the preset position to the stacking position; controlling the forks to move the material box stacked in the stacking position to a shelf, or controlling the carrying mechanism to move the material box stacked in the stacking position to a fifth preset position; wherein the control device controls the carrying mechanism to grab the material box in the preset position to the stacking position, specifically comprising: controlling the grabbing arm assembly to grab the material box stacked in the preset position into the support frame; controlling the carrying mechanism to move to the stacking position, and controlling the grabbing arm assembly to release the material box in the support frame to the stacking position.

27. The tote transfer method of claim 26, wherein, The carrying robot further comprises a column arranged on the moving chassis and a second moving mechanism arranged on the column, the second moving mechanism being used to drive the carrying mechanism to move along a second horizontal direction, wherein the second horizontal direction is towards the stacking position; The control device controls the carrying mechanism to move to the stacking position, specifically comprising: controlling the second moving mechanism to drive the carrying mechanism to move along the second horizontal direction until the carrying mechanism moves to the stacking position.

28. The tote transfer method of claim 26, wherein, The preset positions include a third preset position and a fourth preset position arranged at intervals; The control of the grabbing arm assembly to grab the material boxes stacked on the preset positions into the support frame specifically includes: Moving the carrying mechanism above the third preset position and controlling the grabbing arm assembly to grab the material boxes stacked on the third preset position into the support frame; Moving the carrying mechanism above the fourth preset position and controlling the grabbing arm assembly to place the material boxes stored in the support frame above the material boxes stacked on the fourth preset position to form a stack and controlling the grabbing arm assembly to grab the material boxes stacked on the fourth preset position into the support frame.

29. The tote transfer method of claim 26, wherein, The carrying robot further includes a column arranged on the moving chassis and a second moving mechanism arranged on the column, the second moving mechanism being used to drive the carrying mechanism to move in a second horizontal direction or a vertical direction, wherein the second horizontal direction is towards the stacking position; The control of the carrying mechanism to move to the stacking position and the control of the grabbing arm assembly to release the material boxes in the support frame to the stacking position further includes: Controlling the second moving mechanism to drive the carrying mechanism to move in the second horizontal direction until a preset position; Controlling the grabbing arm assembly to grab the material boxes stacked on the preset position into the support frame.

30. The tote transfer method of claim 29, wherein, After the support frame and the stacking position both have the stacked material boxes, the control of the forks to move the material boxes stacked on the stacking position to the rack further includes: Controlling the forks to move the material boxes stacked on the stacking position to the rack; Controlling the grabbing arm assembly to release the material boxes in the support frame to the stacking position; Controlling the forks to move the material boxes stacked on the stacking position to the rack.

31. The material box transfer method according to any one of claims 26-29, wherein, The carrying robot further includes a column arranged on the moving chassis and a first moving mechanism arranged on the column, the first moving mechanism being used to drive the forks to move in a first horizontal direction and a vertical direction, wherein the first horizontal direction is towards the stacking position; The control of the forks to move the material boxes stacked on the stacking position to the rack specifically includes: Controlling the forks to obtain the material boxes on the stacking position; Controlling the first moving mechanism to drive the forks to move in the first horizontal direction and the vertical direction until the forks reach a position corresponding to the rack; Controlling the forks to release the material boxes therein to the rack.

32. The tote transfer method of claim 31, wherein, A plurality of liftable stacking baffle plates are arranged on the moving chassis at positions corresponding to the stacking position, each of the stacking baffle plates being arranged around the side of the stacked material boxes on the stacking position to prevent tilting; Before the control of the forks to obtain the material boxes on the stacking position, the control further includes: Controlling each of the stacking baffle plates to descend so that the material boxes on the stacking position as the target for storage are exposed from the stacking baffle plates.

33. The tote transfer method of claim 31, wherein, The forks include a fork body and a mechanical arm assembly, the mechanical arm assembly being retractable relative to the fork body, a receiving cavity with an opening at the bottom being formed in the fork body, and a movable positioning plate being arranged at the edge of the opening to release or lock the material boxes in the receiving cavity; The control of the fork to obtain the material box on the stacking position, specifically comprises: Control the first moving mechanism to drive the fork to move to the position corresponding to the target material box on the stacking position, control the positioning plate to move to the opening of the accommodating cavity, and support under the target material box; and / or Control the fork to release the material box in it to the goods shelf, specifically comprising: Control the positioning plate to move to the inside of the opening of the accommodating cavity, and control the mechanical arm assembly to transport the material box in the accommodating cavity to the goods shelf.

34. The material box transfer method according to any one of claims 26-29, wherein, The control of the carrying mechanism to move the stacked material boxes on the stacking position to the fifth preset position, specifically comprising: Control the grabbing arm assembly to grab the stacked material boxes on the stacking position into the support frame; Control the carrying mechanism to move to the fifth preset position, and control the grabbing arm assembly to release the material boxes in the support frame to the fifth preset position.

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