handling robots

Abstract

The present application provides a handling robot, including a walking platform and a grasping platform, wherein the walking platform includes an upper platform plate, and the electrical components of the walking platform are at least partially installed below the upper platform plate; the grasping platform includes a lower platform plate, and the electrical components of the grasping platform are all installed above the lower platform plate. In this way, the electrical components on the grasping platform and the material box are respectively located above and below the lower platform plate, and will not interfere with the materials in the material box. When debugging and maintaining the grasping platform, it is only necessary to lower the grasping platform to a certain height to operate the electrical components on the lower platform plate; when the grasping platform rises to the point where it returns to its original position between the walking platform, the electrical components below the upper platform plate and the electrical components above the lower platform plate are staggered or arranged in a high and low arrangement, so that the grasping platform and the moving platform can be at least partially nested in the original state, reducing the required height space and improving the utilization rate of the warehouse space.

Description

Technical Field

[0001] The present application relates to the field of automatic warehousing technology, and in particular to a transport robot. Background Art

[0002] With the development of automated high-bay warehouse technology, it has gradually been widely used due to its high storage efficiency and high warehouse utilization. In an automated warehouse, a handling robot is generally provided. The handling robot includes a walking platform that can be slidably mounted on a track and a grabbing platform for grabbing material boxes. The grabbing platform grabs the material boxes through a grabbing mechanism. A lifting mechanism is provided between the walking platform and the grabbing platform. The lifting mechanism generally realizes the lifting and lowering movement of the grabbing platform through lifting parts such as belts. After grabbing the material box or placing the material box, the grabbing platform needs to rise to return to its original position with the walking platform (that is, the grabbing platform rises to the minimum distance that can be reached from the walking platform and the return-to-origin sensor senses that the return to origin is successful). Then, the material boxes are moved in and out of the shelves, transferred, and stacked through the translation of the walking platform.

[0003] Regarding the structure of existing handling robots, the following problems were found during actual use: First, the electrical components are installed and fixed under the platform plate of the walking platform. Since the electrical components are exposed, they are likely to interfere with the materials in the material box during the process of the lower platform grabbing the material box, which has a great impact on the stability of the grabbing platform. On the other hand, if debugging and maintenance involve electrical components on the grabbing platform, it is necessary to lower the belt through the lifting mechanism and turn the grabbing platform upside down so that the electrical components under the platform plate are flipped upwards before more detailed debugging and troubleshooting can be carried out. On the other hand, due to the structural height of the mobile platform and the grabbing platform, the handling robot occupies a lot of clearance in the warehouse area, and there is also a need to save occupied space. Summary of the Invention

[0004] In order to solve the existing technical problems, the present application provides a handling robot to solve the problems that the electrical components of the grasping platform are easily interfered with the materials in the material box, which is not conducive to the debugging and maintenance of the grasping platform and occupies a large space.

[0005] To achieve the above objectives, the technical solution of the embodiment of the present application is implemented as follows:

[0006] An embodiment of the present application provides a handling robot, comprising a walking platform slidably mounted on a track and a gripping platform suspended below the walking platform in a liftable manner, wherein the walking platform comprises an upper platform plate, and electrical components of the walking platform are at least partially mounted below the upper platform plate; the gripping platform comprises a lower platform plate, and electrical components of the gripping platform are all mounted above the lower platform plate;

[0007] When the grabbing platform is raised to the position between the grabbing platform and the walking platform and returns to its original position, the electrical components below the upper platform plate and the electrical components above the lower platform plate are arranged in a staggered manner or in a high-low arrangement.

[0008] In one embodiment, the handling robot further includes an alignment component, the alignment component including an upper fixing member, a lower fixing member, and a buffer member, the upper fixing member extending downwardly from an edge of the upper platform plate in a vertical direction, the lower fixing member extending upwardly from an edge of the lower platform plate in a vertical direction, and the upper fixing member and the lower fixing member are spaced apart in a horizontal direction;

[0009] The upper fixing member is formed with an upper limit portion on a side facing the lower fixing member, and the lower fixing member is formed with a lower limit portion on a side facing the upper fixing member, and the buffer member is arranged on the upper limit portion or the lower limit portion; when the grabbing platform rises to a position between the grabbing platform and returns to its original position, the upper limit portion or the lower limit portion slides with the buffer member so that the upper limit portion and the lower limit portion are arranged relative to each other in the horizontal direction and abut against each other through the buffer member.

[0010] In one embodiment, the handling robot has a first horizontal direction and a second horizontal direction that are perpendicular to each other, the grabbing platform is connected to the walking platform in a liftable manner through a belt, the plane where the belt is located is set parallel to the first horizontal direction, and the lower fixing member is arranged at least on opposite sides of the lower platform plate in the second horizontal direction.

[0011] In one embodiment, the upper fixing member is located on a side of the lower fixing member away from the center of the grabbing platform; or, the upper fixing member is located on a side of the lower fixing member close to the center of the grabbing platform.

[0012] In one embodiment, the upper limit portion and the lower limit portion are both provided in plurality and are arranged in one-to-one correspondence; the plurality of upper limit portions are arranged at the same horizontal height, and the plurality of lower limit portions are arranged at the same horizontal height.

[0013] In one embodiment, the buffer member is provided on the upper limit portion, and the thickness of the buffer member in the horizontal relative direction of the upper limit portion and the lower limit portion gradually increases from the bottom end to the middle portion and remains consistent from the middle portion to the top end; or, the buffer member is provided on the lower limit portion, and the thickness of the buffer member in the horizontal relative direction of the upper limit portion and the lower limit portion gradually increases from the top end to the middle portion and remains consistent from the middle portion to the bottom end.

[0014] In one embodiment, a limiting column extending in a vertical direction is provided on the upper platform plate or the lower platform plate, and the limiting column is used to limit the minimum distance that can be achieved between the grabbing platform and the walking platform.

[0015] In one embodiment, the upper fixing member and the upper platform plate are an integrally formed structure or are fixedly connected by threaded fasteners; the lower fixing member and the lower platform plate are an integrally formed structure or are fixedly connected by threaded fasteners.

[0016] In one embodiment, guide wheel assemblies are provided on opposite sides of the grabbing platform, and the guide wheel assemblies are used to slide with the external vertical guide rails during the lifting and lowering process of the grabbing platform.

[0017] In one embodiment, the guide wheel assembly includes a first pulley and a second pulley, two first pulleys are provided and the two are arranged at an interval, and the second pulley is arranged between the two first pulleys; the extension direction of the rotating shaft of the first pulley is perpendicular to the extension direction of the rotating shaft of the second pulley.

[0018] The handling robot of the present application has at least the following beneficial effects: the handling robot of the present application, by setting the lower platform plate of the grasping platform at the bottom and fixing the electrical components above the lower platform plate, the electrical components on the grasping platform and the material box are respectively located above and below the lower platform plate, and will not cause any interference with the materials in the material box; when debugging and repairing the grasping platform, it is only necessary to lower the grasping platform to a certain height through the lifting structure to operate the electrical components on the lower platform plate; the electrical components above the lower platform plate can be staggered or arranged in a high-low combination with the electrical components below the upper platform plate, so that the grasping platform and the mobile platform can be at least partially nested in the original state, reducing the required height space and improving the utilization rate of the warehouse space. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the three-dimensional structure of a transport robot according to an embodiment of the present application;

[0020] Figure 2 for Figure 1 Enlarged view of point A in the middle;

[0021] Figure 3 for Figure 1 Enlarged view of point B in the middle;

[0022] Figure 4 for Figure 1 A schematic diagram of the structure of the handling robot in a working state;

[0023] Figure 5 for Figure 4A schematic diagram of the structure of the handling robot in another working state;

[0024] Figure 6 for Figure 5 Enlarged view of point C in the middle;

[0025] Figure 7 for Figure 4 Schematic diagram of the structure of the intermediate material box.

[0026] The components in the figure are numbered as follows: walking platform 100; upper platform plate 10; walking wheel 11; winder 12; belt 13; limiting column 14; grabbing platform 200; lower platform plate 20; gripper 21; first pulley 221; second pulley 222; upper fixing member 31; upper limit portion 311; lower fixing member 32; lower limit portion 321; buffer member 33; guide slope 331; track assembly 40; material box 50; groove 51; return to original position sensor 60. DETAILED DESCRIPTION

[0027] The technical solution of this application is further elaborated in detail below with reference to the accompanying drawings and specific embodiments.

[0028] In the description of this application, it should be understood that the terms "center," "up," "down," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inside," "outside," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of this application and simplify the description. They do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limiting this application. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0029] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to direct connections, indirect connections through an intermediate medium, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0030] The present application provides a transport robot that can be used in the transportation, stacking, storage and retrieval of boxes in an automatic logistics storage system. Figure 1 、 Figure 4 and Figure 5The storage system may include a track assembly 40, shelves, several bins 50, and a handling robot according to an embodiment of the present application. The handling robot according to an embodiment of the present application includes a walking platform 100 and a grabbing platform 200. The walking platform 100 includes an upper platform plate 10, which provides a mounting base for the electrical components of the walking platform 100. The grabbing platform 200 includes a lower platform plate 20, which provides a mounting base for the electrical components of the grabbing platform 200. The track assembly 40 is fixedly mounted above or within the shelves. The walking platform 100 is slidably mounted on the track assembly 40. The grabbing platform 200 is suspended and raised below the walking platform 100 and can grab the bins 50. The bins 50 are used to hold goods to be stored or handled. The grabbing platform 200 grabs the bins 50 and moves them vertically, while the walking platform 100 drives the grabbing platform 200 to move horizontally, enabling operations such as loading, unloading, transporting, and stacking the bins 50 on the shelves.

[0031] Specifically, the shelf as a whole can be a three-dimensional frame structure formed by assembling structural parts such as columns and beams. The shelf can be provided with multiple layers, and the number of layers can be designed accordingly based on factors such as the height of the warehouse, the load-bearing capacity of the shelf, the weight type of the goods, and the number of layers of boxes on each layer. The bottom of each layer of the shelf is divided into multiple box storage areas for stacking boxes. By layering and zoning the shelf, the overall space of the shelf can be divided, which facilitates coordinate management of boxes in each area. A track assembly 40 can be fixed on the top of each layer of the shelf through structures such as columns and beams, and the boxes 50 of this layer can be picked up, placed, and stacked by a handling robot.

[0032] The track assembly 40 can be two parallel and spaced track tubes, with walking wheels 11 provided on both sides of the walking platform 100, and a driving device for driving the walking wheels 11 to roll provided in the middle of the top side; the four walking wheels 11 are arranged on both sides of the walking platform 100, two on each side, and the two walking wheels 11 on one side run on the bottom edge of one guide rail tube of the track assembly 40, and the two walking wheels 11 on the other side run on the bottom edge of the other guide rail tube of the track assembly 40. The walking wheels 11 are driven to roll by the internal driving device, and the walking platform 100 can move along the guide rail tube.

[0033] See also Figure 7The material box 50 has a rectangular box structure, including four side walls and a bottom wall. The side walls and the bottom wall enclose a storage space for storing goods. The upper end of the material box 50 forms an opening facing the bottom wall, and the bottom surface of the bottom wall forms a boss. The shape of the boss is consistent with the shape of the opening. When multiple material boxes 50 are stacked vertically, the boss of the upper material box 50 is accommodated in the opening of the next material box 50, ensuring that the stacked material boxes 50 do not move relative to each other in the horizontal plane and are stacked neatly in the vertical direction. Two opposing side walls of the material box 50 are each provided with a groove 51. The top wall of the groove 51 forms a gripping position for the gripping platform 200 to grasp.

[0034] A lifting mechanism is provided between the walking platform 100 and the grabbing platform 200 for lifting and lowering the grabbing platform 200. The lifting mechanism may include a lifting bar and a lifting drive device. The upper end of the lifting bar is connected to the lifting drive device, and the lower end of the lifting bar is fixed to the grabbing platform 200. The lifting and lowering of the grabbing platform 200 can be achieved by pulling the lifting bar upward or lowering the lifting bar downward by the lifting drive device. In the illustrated embodiment, the lifting drive device is arranged on the bottom side of the upper platform plate 10, and may specifically include a drive motor and a winder 12 connected to the drive motor. The lifting bar may be a belt 13, the upper end of the belt 13 is wound on the winder 12, and the winder 12 performs a winding action under the drive of the drive motor, thereby achieving the pulling and lowering action of the belt 13.

[0035] The gripping platform 200 is also provided with a gripper 21 and a gripper 21 driving device. Two grippers 21 are provided and are located on opposite sides of the gripping platform 200. The gripper 21 driving device is connected to the fixed end of the gripper 21 to drive the gripper 21 to move between the gripping position and the release position.

[0036] To address the issues of the electrical components of the grabbing platform 200 interfering with the materials in the bin 50, hindering commissioning and maintenance of the grabbing platform 200 and occupying a large amount of space, the handling robot of the present application can install at least a portion of the electrical components of the walking platform 100 below the upper platform 10, while all the electrical components of the grabbing platform 200 are installed above the lower platform 20. For example, the lifting drive device, winder 12, and other electrical components are bolted to the bottom of the upper platform 10, while the gripper 21, gripper drive device, and batteries that power the gripper drive device are bolted to the top of the lower platform 20. When the grabbing platform 200 rises to its original position between the walking platform 100 and returns to its original position, the electrical components below the upper platform 10 and above the lower platform 20 are staggered or arranged in a staggered arrangement. In this way, the grabbing platform 200 and the moving platform 100 can be at least partially nested in their original position, reducing the required height space, thereby increasing the number of bins 50 stacked and improving shelf space utilization. At the same time, the electrical components of the grabbing platform 200 and the material box 50 are respectively located above and below the lower platform plate 20, and will not interfere with the materials in the material box 50; when debugging and maintaining the grabbing platform 200, it is only necessary to lower the grabbing platform 200 to a certain height through the lifting mechanism, and then the electrical components on the lower platform plate 20 can be operated.

[0037] In existing transport robots, the electrical components of the mobile platform 100 are arranged above the upper platform plate 10, and the electrical components of the grabbing platform 200 are arranged below the lower platform plate 20. Since the upper platform plate 10 is adjacent to the lower platform plate 20, a sheet metal member extends from the upper platform plate 10 and cooperates with the lower platform plate 20 to guide the mobile platform 100 back to its original position. In the transport robot of the present application, in order to overcome the relative lateral shaking of the grabbing platform 200 during the process of rising and returning to its original position and to ensure that the mobile platform 100 can smoothly return to its original position, guide wheel assemblies are provided on opposite sides of the grabbing platform 200. The shelf also includes guide rails arranged in the vertical direction. During the process of rising and lowering the grabbing platform 200, the guide wheel assemblies on both sides slide and cooperate with the vertical guide rails to make the grabbing platform 200 rise or fall along the vertical guide rails, thereby limiting the horizontal shaking of the grabbing platform 200, thereby allowing the grabbing platform 200 to accurately align with the material box 50 for pick-and-place operations, and facilitating the grabbing platform 200 to rise to the mobile platform 100 and align and return to its original position.

[0038] Specifically, see Figure 1 and Figure 3 The transport robot has a first horizontal direction and a second horizontal direction perpendicular to each other. Figure 1Taking the angle shown in the figure for the transport robot as an example, the x-axis direction (i.e., the length direction of the lower platform plate 20) is defined as the first horizontal direction, the y-axis direction (i.e., the width direction of the lower platform plate 20) is defined as the second horizontal direction, and the z-axis direction is defined as the vertical direction. The guide wheel assembly includes a first pulley 221 and a second pulley 222. Two first pulleys 221 are provided and spaced apart. The second pulley 222 is disposed between the two first pulleys 221. The rotation axis of the first pulley 221 extends perpendicularly to the rotation axis of the second pulley 222. The guide rail can be a grooved plate structure, including a web and two wing plates arranged perpendicular to the web. The rotating shaft of the first pulley 221 is arranged along the y-axis direction, and the wheel surfaces of the two first pulleys 221 respectively contact and slide with the two wing plates of the guide rail to limit the shaking of the grabbing platform 200 in the x-axis direction; the rotating shaft of the second pulley 222 is arranged along the x-axis direction, and the outermost end of the second pulley 222 contacts and slides with the web of the guide rail. The second pulleys 222 of the two guide wheel assemblies cooperate to limit the shaking of the grabbing platform 200 in the y-axis direction, thereby making the lifting process of the grabbing platform 200 more stable. After the grabbing platform 200 rises and leaves the guide rail, it is aligned and restored with the walking platform 100. By providing the guide wheel assembly, the grabbing platform 200 and the walking platform 100 can be accurately aligned when returning to the original position, which is conducive to the recovery process.

[0039] To further guide the grabbing platform 200 and the moving platform 100 back to their original positions, please refer to Figure 2 and Figure 3 The handling robot also includes a positioning assembly. The positioning assembly includes an upper fixing member 31, a lower fixing member 32, and a buffer member 33. The upper fixing member 31 extends downward from the edge of the upper platform plate 10 in the vertical direction, and the lower fixing member 32 extends upward from the edge of the lower platform plate 20 in the vertical direction. The upper fixing member 31 and the lower fixing member 32 are spaced apart in the horizontal direction. An upper limit portion 311 is formed on the side of the upper fixing member 31 facing the lower fixing member 32, and a lower limit portion 321 is formed on the side of the lower fixing member 32 facing the upper fixing member 31. The buffer member 33 is provided on the upper limit portion 311 or the lower limit portion 321. Please refer to Figure 6 When the grabbing platform 200 rises to the position between it and the walking platform 100 and returns to its original position, the upper limit portion 311 or the lower limit portion 321 slides with the buffer 33 so that the upper limit portion 311 and the lower limit portion 321 are arranged relative to each other in the horizontal direction and abut against each other through the buffer 33.

[0040] By setting up the alignment component, the upper limit portion 311 of the upper fixing member 31 and the lower limit portion 321 of the lower fixing member 32 restrict each other in the horizontal direction, so that the grabbing platform 200 remains stable during the rising process after leaving the guide rail limit, and is accurately aligned with the walking platform 100 and returns to its original position, and the grabbing platform 200 will not shake when the walking platform 100 moves on the track assembly 40; at the same time, by setting up a buffer member 33 on the upper limit portion 311 or the lower limit portion 321, a certain amount of space margin can be provided for the grabbing platform 200 to return to its original position during slight shaking, which is conducive to the return process.

[0041] In the illustrated embodiment, the lower fixing member 32 is disposed on opposite sides of the lower platform plate 20 in the y-axis direction, and correspondingly, the upper fixing member 31 is disposed on opposite sides of the upper platform plate 10 in the y-axis direction. Because the two guide rail tubes of the guide rail assembly extend along the y-axis, that is, the walking platform 100 drives the grabbing platform 200 to move horizontally along the y-axis direction, the grabbing platform 200 is prone to shaking in the y-axis direction. At the same time, the grabbing platform 200 is connected to the walking platform 100 in a liftable manner via a belt 13. The plane on which the belt 13 is located is arranged parallel to the x-axis direction, making the belt 13 more resistant to bending in the x-axis direction, and the grabbing platform 200 is less likely to shake in the x-axis direction. In this way, by disposing the lower fixing member 32 at least on opposite sides of the lower platform plate 20 in the horizontal direction of the y-axis, it is ensured that the grabbing platform 200 will not shake when returning to its original position. The guide wheel assembly can be arranged on the lower fixing member 32, and the two grippers 21 can be arranged on opposite sides of the gripping platform 200 in the y-axis direction, so that when the grippers 21 rotate between the gripping position and the release position, it will not affect the sliding of the guide wheel assembly on the vertical guide rail.

[0042] More specifically, upper fixing members 31 extend downward from the bottom edge of upper platform plate 10. Four upper fixing members 31 are provided, with two upper fixing members 31 positioned on either side of upper platform plate 10 in the y-axis direction. The two upper fixing members 31 on the same side are spaced apart in the x-axis direction. Lower fixing members 32 extend upward from the top edge of lower platform plate 20. Lower fixing members 32 can be flat-plate structures, and are positioned on opposite sides of lower platform plate 20 in the y-axis direction. In the y-axis direction, the upper fixing member 31 is located on the side of the lower fixing member 32 away from the center of the grasping platform 200. The bottom end of each upper fixing member 31 forms an upper limit portion 311, and the top end of each lower fixing member 32 extends to both sides along the x-axis direction to form two lower limit portions 321. The four upper limit portions 311 are arranged in a one-to-one correspondence with the four lower limit portions 321, and the side of the upper limit portion 311 facing the lower limit portion 321 and the side of the lower limit portion 321 facing the upper limit portion 311 form vertical planes parallel to each other. The buffer member 33 can be fixed to the upper limit portion 311 by welding, bolting, etc. In this way, by providing multiple upper limit portions 311 and lower limit portions 321, the stability of the alignment and return process is improved. As the gripping platform 200 rises to disengage the vertical guide rails and dock with the walking platform 100, the multiple lower limiters 321 slide into contact with the corresponding buffers 33 on the upper limiters 311. The lower limiters 321 ascend along the surfaces of the buffers 33 until they align horizontally with the upper limiters 311, completing the alignment process. The upper limiter 311 faces the lower limiter 321, and the lower limiter 321 faces the upper limiter 311, forming parallel vertical planes. This allows the gripping platform 200 to move vertically as a whole without deflection, effectively limiting horizontal movement of the gripping platform 200.

[0043] Preferably, the plurality of upper limit portions 311 are disposed at the same level, and the plurality of lower limit portions 321 are disposed at the same level. This allows the plurality of lower limit portions 321 to simultaneously contact and slide with the buffer member 33 during the alignment and return process of the gripping platform 200, further improving the accuracy and stability of the alignment and return process.

[0044] The buffer member 33 can be a wedge-shaped block structure. In the illustrated embodiment, the buffer member 33 is disposed on the upper limit portion 311. The thickness of the buffer member 33 in the horizontal relative direction between the upper limit portion 311 and the lower limit portion 321 (i.e., the y-axis shown in the figure) gradually increases from the bottom to the middle and remains consistent from the middle to the top. This results in the buffer member 33 forming a guide slope 331 on the lower half of the side where it slides in contact with the lower limit portion 321, while the upper half forms a vertical plane. The guide slope 331 serves as a guide for the lower limit portion 321 and provides a certain amount of space margin for any wobbling of the gripping platform 200 in the y-axis direction. The lower limit portions 321 on either side of the lower platform plate 20 can slide upward along the guide slope 331 to between the upper limit portions 311 on either side of the upper platform plate 10. The provision of the guide slope 331 ensures a smooth and fluid alignment process, while also preventing deformation or wear of the gripping platform 200 caused by rigid collisions between the upper and lower fixing members 31 and 32 due to wobbling. The buffer 33 is preferably made of beryllium bronze, spring steel or the like. The thickness of the upper half of the buffer 33 can be equal to or slightly smaller than the relative distance between the upper limit portion 311 and the lower limit portion 321 in the y-axis direction. Relying on the elasticity of the buffer 33 itself, the lower limit portion 321 can be firmly attached in the horizontal direction, so that the grabbing platform 200 will not shake. Moreover, after one alignment is completed and the next alignment is performed, the buffer 33 can still maintain a clearance fit with the lower limit portion 321, thereby avoiding the wear of the lower limit portion 321 and the buffer 33, which causes the buffer 33 to become thinner and a gap to form between the lower limit portion 321, thereby causing the grabbing platform 200 to shake.

[0045] It can be understood that this embodiment is only a preferred example of the position and structure of the upper fixing member 31, the lower fixing member 32, the upper limit portion 311, the lower limit portion 321 and the buffer member 33. In other embodiments, the upper fixing member 31 and the lower fixing member 32 can also be correspondingly arranged on both sides of the upper platform plate 10 and the lower platform plate 20 in the x-axis direction to limit the shaking of the gripping platform 200 on all four sides. Alternatively, the upper fixing member 31 located on one side of the upper platform plate 10 and the lower fixing member 32 located on one side of the lower platform plate 20 can be provided with one or more, and each upper fixing member 31 and each lower fixing member 32 can be formed with one or more upper limit portions 311 and lower limit portions 321, and precise alignment and restoration can be achieved through the one-to-one corresponding upper limit portions 311 and lower limit portions 321. Alternatively, in the horizontal direction, the upper fixing member 31 can be located on the side of the lower fixing member 32 closer to the center of the grasping platform 200, that is, the distance between the two opposing upper fixing members 31 is smaller than the distance between the two opposing lower fixing members 32, which can also achieve the effect of the above-mentioned embodiment. Alternatively, the buffer member 33 can be installed on the lower limit portion 321 by welding, bonding, etc. In this case, the thickness of the buffer member 33 gradually increases from the bottom to the middle and remains consistent from the middle to the top, so that the upper half of the side of the buffer member 33 that slides in contact with the upper limit portion 311 forms a guiding inclined surface 331, and the lower half is a vertical plane, which can also achieve a guiding and buffering effect during the alignment and return process.

[0046] In order to prevent the belt 13 from over-contracting and causing the electrical components below the upper platform 10 to collide with the electrical components above the lower platform 20, a limiting column 14 extending in the vertical direction is provided on the upper platform 10 or the lower platform 20. Figure 6 In the illustrated embodiment, the limiting post 14 can be a cylindrical structure. The limiting post 14 is provided at the bottom edge of the upper platform plate 10 and is arranged corresponding to the lower fixing member 32 in the z-axis direction. Four limiting posts 14 are provided, with two limiting posts 14 provided on opposite sides of the upper platform plate 10. By pre-designing the length of the limiting posts 14, the minimum distance that can be achieved between the grasping platform 200 and the walking platform 100 can be limited, thereby avoiding interference between the walking platform 100 and the components of the grasping platform 200. Specifically, when the grasping platform 200 rises until the top end of the lower fixing member 32 abuts the bottom end of the limiting post 14, the minimum distance between the grasping platform 200 and the walking platform 100 is reached, and the return process is completed.

[0047] Furthermore, a return-to-origin sensor 60 is provided on the upper fixing member 31 and / or the lower fixing member 32 for sensing the relative position of the upper limit portion 311 and the lower limit portion 321. In the illustrated embodiment, the return-to-origin sensor 60 may be an infrared sensor, specifically comprising a transmitter and a receiver. The transmitter is provided on the upper fixing member 31, and the receiver is provided on the lower fixing member 32. When the gripping platform 200 rises to a minimum distance from the walking platform 100, i.e., when the gripping platform 200 has returned to its original position, the receiver receives the signal from the transmitter and transmits the signal to the lifting drive mechanism, which then stops the lifting action of the belt 13. The provision of the return-to-origin sensor 60 allows staff to monitor the rising process of the gripping platform 200, facilitating their control of the operating status of the transport robot. It also prevents the lifting drive mechanism from continuing to lift the belt 13 despite being obstructed by the limit post 14, potentially damaging the lifting drive mechanism or the belt 13.

[0048] The lifting and transportation process of the handling robot for the material box 50 is as follows: the walking platform 100 controls the belt 13 to be lowered, and the grabbing platform 200 accurately enters the vertical guide rail under the restriction of the positioning component and moves along the vertical guide rail to above the material box 50 to be grabbed, and grabs the material box 50 through the gripper 21; after the grabbing is completed, the walking platform 100 controls the belt 13 to lift, and the grabbing platform 200 moves upward along the vertical guide rail. In the process of the grabbing platform 200 rising to break away from the vertical guide rail and returning to its original position between the walking platform 100, the lower limit part 321 slides along the guide slope 331 of the buffer 33 to correspond to the upper limit part 311 and multiple lower limit parts 321 are all in contact with the horizontal outer buffer 33, completing the precise positioning and restoration process of the grabbing platform 200. By locating the electrical components of the grabbing platform 200 and the material box 50 above and below the lower platform plate 20 respectively, there will be no interference with the materials in the material box 50; after returning to the original state, the electrical components below the upper platform plate 10 and the electrical components above the lower platform plate 20 are staggered or arranged in a high-low arrangement, which can reduce the height space required for the handling robot and improve the space shelf utilization rate; when debugging and repairing the grabbing platform 200, it is only necessary to lower the grabbing platform 200 to a certain height through the lifting mechanism, and then the electrical components on the lower platform plate 20 can be operated, which effectively solves the problem in the prior art that the electrical components of the grabbing platform 200 are easy to interfere with the materials in the material box 50, which is not conducive to the debugging and maintenance of the grabbing platform 200 and occupies a large space.

[0049] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0050] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A handling robot comprising a walking platform slidably mounted on a track and a grabbing platform suspended escalably below the walking platform, characterized in that: The walking platform includes an upper platform plate, and the electrical components of the walking platform are at least partially installed below the upper platform plate. The grabbing platform includes a lower platform plate, and the electrical components of the grabbing platform are all installed above the lower platform plate. When the grabbing platform is raised to the position between the grabbing platform and the walking platform and returns to its original position, the electrical components below the upper platform plate and the electrical components above the lower platform plate are arranged in a staggered or high-low arrangement; The handling robot further includes an alignment component, the alignment component including an upper fixing member, a lower fixing member and a buffer member, the upper fixing member extending downwardly from an edge of the upper platform plate in a vertical direction, the lower fixing member extending upwardly from an edge of the lower platform plate in a vertical direction, and the upper fixing member and the lower fixing member are spaced apart in a horizontal direction; The upper fixing member is formed with an upper limit portion on a side facing the lower fixing member, and the lower fixing member is formed with a lower limit portion on a side facing the upper fixing member, and the buffer member is arranged on the upper limit portion or the lower limit portion; when the grabbing platform rises to a position between the grabbing platform and returns to its original position, the upper limit portion or the lower limit portion slides with the buffer member so that the upper limit portion and the lower limit portion are arranged relative to each other in the horizontal direction and abut against each other through the buffer member.

2. The transport robot according to claim 1, characterized in that: The handling robot has a first horizontal direction and a second horizontal direction that are perpendicular to each other. The grabbing platform is connected to the walking platform in a liftable manner through a belt. The plane where the belt is located is set parallel to the first horizontal direction. The lower fixing member is at least arranged on opposite sides of the lower platform plate in the second horizontal direction.

3. The transport robot according to claim 2, characterized in that: The upper fixing member is located on a side of the lower fixing member away from the center of the grabbing platform; or, the upper fixing member is located on a side of the lower fixing member close to the center of the grabbing platform.

4. The transport robot according to claim 3, characterized in that: There are multiple upper limit parts and multiple lower limit parts, and the two are arranged in a one-to-one correspondence; the multiple upper limit parts are arranged at the same horizontal height, and the multiple lower limit parts are arranged at the same horizontal height.

5. The transport robot according to claim 1, characterized in that: The buffer component is arranged on the upper limit portion, and the thickness of the buffer component in the horizontal relative direction of the upper limit portion and the lower limit portion gradually increases from the bottom end to the middle portion and remains consistent from the middle portion to the top end; or, the buffer component is arranged on the lower limit portion, and the thickness of the buffer component in the horizontal relative direction of the upper limit portion and the lower limit portion gradually increases from the top end to the middle portion and remains consistent from the middle portion to the bottom end.

6. The transport robot according to claim 1, characterized in that: The upper platform plate or the lower platform plate is provided with a limit column extending in a vertical direction, and the limit column is used to limit the minimum distance that can be achieved between the grabbing platform and the walking platform.

7. The transport robot according to claim 1, characterized in that: The upper fixing member and the upper platform plate are an integrally formed structure or are fixedly connected by threaded fasteners; the lower fixing member and the lower platform plate are an integrally formed structure or are fixedly connected by threaded fasteners.

8. The transport robot according to claim 1, wherein: Guide wheel assemblies are provided on opposite sides of the grabbing platform, and the guide wheel assemblies are used to slide with the external vertical guide rails during the lifting and lowering process of the grabbing platform.

9. The transport robot according to claim 8, characterized in that: The guide wheel assembly includes a first pulley and a second pulley, two first pulleys are provided and the two are arranged at an interval, and the second pulley is arranged between the two first pulleys; the extension direction of the rotation axis of the first pulley is perpendicular to the extension direction of the rotation axis of the second pulley.

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