A handling robot

Abstract

The present invention belongs to the technical field of intelligent warehousing, and particularly relates to a handling robot, comprising: a traveling mechanism; a placing table installed on the traveling mechanism for placing storage boxes; a lifting arm installed on the traveling mechanism, and the lifting arm is assembled to be capable of moving relative to the traveling mechanism at least in horizontal and vertical directions to drive the storage box to be transferred between the placing table and the ground; a pressing mechanism installed on the lifting arm, and the pressing mechanism is assembled such that when the weight of the storage box is loaded on the lifting arm, the pressing mechanism can press the upper cover of the storage box. By arranging the pressing mechanism on the lifting arm, the present invention can ensure that the materials will not be accidentally opened during the transfer process, and at the same time can prevent the materials from falling off the handling robot, improving the safety and reliability of the handling robot.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent warehousing, and particularly relates to a handling robot. Background Art

[0002] During the daily operation of a hospital, a large number of consumables such as drugs and medical devices are consumed, so material replenishment and scheduling are often required. At present, the conventional in-hospital material management mode is to establish a central warehouse and multiple secondary warehouses in the hospital respectively. The secondary warehouses directly correspond to the using units, such as each outpatient department, surgical department, inpatient department, etc. Therefore, the materials required by different secondary warehouses are not completely the same. When a secondary warehouse is out of stock, materials need to be replenished through the central warehouse.

[0003] For this reason, the prior art has designed a handling robot that can transfer materials between different warehouses. For example, a loading and unloading handling robot disclosed in a Chinese utility model patent with the patent number ZL202222983955.6 includes a body, a mobile chassis for driving the movement of the body, and a clamping and holding component arranged on the body. The mobile chassis can operate without a driver. The body has a loading platform fixed above the mobile chassis. The clamping and holding component can clamp and pick up materials, and the loading platform can support the materials. This loading and unloading handling robot picks up materials through the clamping and holding component arranged on the body and moves them onto the body to achieve automatic picking of materials, and can drive the materials to move through the mobile chassis to achieve automatic transportation of materials. The mobile chassis adopts a driverless operation scheme, so as to realize driverless distribution between the in-hospital central warehouse and the secondary warehouses.

[0004] However, the above-mentioned handling robot can only pick up and transfer materials, and cannot effectively protect the materials during transportation. Moreover, the flow of people in the hospital is relatively dense, and there is a risk of material loss during transportation. Summary of the Invention

[0005] In view of the above-mentioned disadvantages of the prior art, the purpose of the present invention is to provide a handling robot that can prevent the storage box from accidentally opening during the transfer of materials, and improve the safety and reliability of the handling robot.

[0006] To achieve the above purpose and other related purposes, the present invention provides a handling robot, including:

[0007] A walking mechanism;

[0008] A placing table, installed on the walking mechanism for placing a storage box;

[0009] A lifting arm, installed on the walking mechanism, and the lifting arm is assembled to be able to move relative to the walking mechanism at least in the horizontal and vertical directions to drive the storage box to be transferred between the placing table and the ground;

[0010] The pressing mechanism is installed on the lifting arm and is assembled such that when the weight of the storage box is loaded on the lifting arm, the pressing mechanism can press the upper cover of the storage box.

[0011] In an alternative embodiment of the present invention, the lifting arm is horizontally arranged, a floating plate is provided at the upper end of the lifting arm, the floating plate is movably connected to the lifting arm in the vertical direction, an elastic element is provided between the floating plate and the lifting arm, and the elastic element is assembled such that the elastic force acting on the floating plate is upward; the pressing mechanism includes a swing arm hinged to the lifting arm, a linkage mechanism is provided between the swing arm and the floating plate, and the linkage mechanism is assembled such that when the weight of the storage box is loaded on the floating plate and causes the floating plate to move downward, the linkage mechanism can drive the swing arm to swing so that the end of the swing arm presses the upper cover of the storage box.

[0012] In an alternative embodiment of the present invention, the linkage mechanism includes a driving block, a lever and a connecting rod. The driving block is fixedly connected to the floating plate, a horizontal waist-shaped hole is provided on the driving block, the lever is hinged to the lifting arm, a guide pin is provided at the first end of the lever, the guide pin is slidably matched with the waist-shaped hole, the second end of the lever is hinged to the first end of the connecting rod, and the second end of the connecting rod is hinged to the swing arm.

[0013] In an alternative embodiment of the present invention, a roller is provided at the end of the swing arm.

[0014] In an alternative embodiment of the present invention, a locking mechanism is further included, and the locking mechanism is assembled such that when the lifting arm transfers the storage box above the placing table, the locking mechanism can keep the pressing mechanism in a pressed state.

[0015] In an alternative embodiment of the present invention, the locking mechanism includes a locking rod, a locking sleeve and a stop valve. The locking rod is fixedly connected to the floating plate in the vertical direction, the locking sleeve is fixedly connected to the lifting arm, a piston is provided on the locking rod, an oil chamber is provided in the locking sleeve, the piston is slidably arranged in the oil chamber in the vertical direction, the oil chamber is provided with a first oil port and a second oil port, the first oil port and the second oil port are respectively located on the upper and lower sides of the piston, the first oil port and the second oil port are respectively communicated with the two ports of the stop valve through pipelines. When the stop valve is closed, the oil chambers on the upper and lower sides of the piston are disconnected to prevent the floating plate from moving up and down relative to the lifting arm. When the stop valve is opened, the oil chambers on the upper and lower sides of the piston are communicated to enable the floating plate to move up and down relative to the lifting arm.

[0016] In an alternative embodiment of the present invention, the stop valve is a solenoid valve, the stop valve is electrically connected to the controller, a sensor for detecting the horizontal position of the lifting arm is provided on the traveling mechanism, the sensor is electrically connected to the controller, when the sensor detects that the lifting arm is above the storage table, the controller controls the stop valve to close, and when the sensor detects that the lifting arm is suspended outside the storage table, the controller controls the stop valve to open.

[0017] In an alternative embodiment of the present invention, a horizontal moving seat and a first driving mechanism for driving the horizontal moving seat to move are provided on the traveling mechanism; a vertical moving seat and a second driving mechanism for driving the vertical moving seat to move are provided on the horizontal moving seat; the lifting arm is installed on the vertical moving seat.

[0018] In an alternative embodiment of the present invention, there are two lifting arms, the two lifting arms are arranged in parallel, and the two lifting arms are arranged to open and close relatively.

[0019] In an alternative embodiment of the present invention, a third driving mechanism for driving the two lifting arms to open and close synchronously is provided on the vertical moving seat.

[0020] The technical effects of the present invention are as follows: The present invention provides a pressing mechanism on the lifting arm, which can ensure that the goods will not be accidentally opened during transportation, and at the same time can prevent the goods from falling off the handling robot, improving the safety and reliability of the handling robot; the present invention realizes the automatic pressing of the pressing mechanism through a simple link structure, avoiding the use of heavy driving elements and reducing the load of the lifting arm; the present invention is provided with a locking mechanism, when the storage box is on the storage table, the locking mechanism can keep the pressing mechanism in a pressed state, thereby preventing the storage box from being lifted manually; the hydraulic locking mechanism provided by the invention can lock the floating plate at any position, even if the specifications of the storage box change, the pressing mechanism can be locked in a state of seamless fit with the storage box. Description of the Drawings

[0021] Figure 1 is a perspective view of the handling robot provided by the embodiment of the present invention;

[0022] Figure 2 is Figure 1 a partial enlarged view of I of

[0023] Figure 3 is a perspective view of the handling robot in the use state provided by the embodiment of the present invention;

[0024] Figure 4 is a side view of the handling robot in the use state provided by the embodiment of the present invention;

[0025] Figure 5 is Figure 4 the A-A sectional view of;

[0026] Figure 6 is Figure 5 the enlarged partial view II of;

[0027] Figure 7 is Figure 4 the partial sectional view B-B of;

[0028] Figure 8 is the perspective view of the lifting arm driving structure provided by the embodiment of the present invention;

[0029] Figure 9 is the perspective view of the lifting arm provided by the embodiment of the present invention;

[0030] Description of reference numerals: 1, storage box; 2, upper cover; 10, traveling mechanism; 11, sensor; 20, placing table; 30, horizontal moving seat; 31, detecting piece; 40, vertical moving seat; 50, lifting arm; 51, floating plate; 52, elastic element; 53, driving block; 531, waist-shaped hole; 54, lever; 541, guide pin; 55, connecting rod; 56, locking rod; 561, piston; 57, locking sleeve; 571, piston chamber; 58, cut-off valve; 60, pressing mechanism; 61, swing arm; 62, roller. Detailed implementation manners

[0031] The following illustrates the implementation manners of the present invention through specific specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0032] It should be noted that the drawings provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner. Therefore, only the components related to the present invention are shown in the drawings, rather than being drawn according to the number, shape, and size of the components in actual implementation. The type, quantity, and ratio of each component in actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0033] The handling robot provided by the present invention can be applied, for example, to the field of storage and transportation of medical supplies. In the field of storage and transportation of medical supplies, the conventional in-hospital supply management mode is to establish a central in-hospital warehouse and multiple secondary warehouses respectively. The secondary warehouses directly correspond to the using units, such as each outpatient department, operating department, inpatient department, etc. The supplies required by different secondary warehouses are not completely the same. When a secondary warehouse is out of stock, supplies need to be replenished through the central warehouse. The handling robot provided by the present invention can be used to transfer medical supplies between the central warehouse and the secondary warehouses. It should be understood that the flow of people in a hospital is generally relatively dense, and there is a risk of loss of supplies during transportation. Therefore, the present invention has set corresponding safety measures on the lifting arm 50 of the handling robot, which can ensure that the supplies will not be accidentally opened during transportation, and at the same time can prevent the supplies from falling off the handling robot, improving the safety and reliability of the handling robot.

[0034] Please refer to Figure 1-9 as shown below. The technical solutions of the present invention will be described in detail with reference to specific embodiments:

[0035] Please refer to Figure 1 、 3 as shown. The handling robot provided by the embodiment of the present invention includes a traveling mechanism 10, a placement table 20, a lifting arm 50, and a pressing mechanism 60.

[0036] Please refer to Figure 1 、 3 、4, 5 as shown. In a specific embodiment, the traveling mechanism 10 can be, for example, a wheeled traveling mechanism, which includes a chassis and traveling wheels, and at least some of the traveling wheels are connected to a driving element. It should be noted that the traveling mechanism 10 needs to have certain navigation and obstacle avoidance functions. The specific implementation of the navigation and obstacle avoidance functions can be selected from the prior art. The specific implementation principle of navigation and obstacle avoidance is not the key point protected by the present invention, so it will not be elaborated here. It should be understood that as the carrier of the handling robot, the specific structural form of the traveling mechanism 10 is not limited to the illustrated embodiment. In some other embodiments, the traveling mechanism 10 can also be, for example, a chain-type traveling mechanism or a bionic traveling mechanism.

[0037] Please refer to Figure 1 、 3 、4, 5, 8 as shown. The placement table 20 is installed on the traveling mechanism 10 and is used to place the storage box 1; in a specific embodiment, the surface of the placement table 20 can be a flat surface, or can be provided with grooves matching the storage box 1 to improve the stability of the storage box 1, or some anti-slip structures can be provided on the surface of the placement table 20, such as rubber pads or anti-slip patterns.

[0038] Please refer to Figure 1 、 3As shown in Figures 4, 5, 8, and 9, the lifting arm 50 is installed on the traveling mechanism 10, and the lifting arm 50 is assembled to be able to move relative to the traveling mechanism 10 at least in the horizontal and vertical directions; it should be understood that in order to transfer the storage box 1 between the placement table 20 and the ground, the lifting arm 50 should at least have two motion states, namely horizontal motion and vertical motion. Therefore, a corresponding driving mechanism needs to be provided between the lifting arm 50 and the traveling mechanism 10 to achieve the above two motion states. The specific form of this driving mechanism is not particularly limited. In the illustrated embodiment, two sets of linear driving slide rails perpendicular to each other can be used to drive the lifting arm 50 to move; in some other embodiments, the linear driving slide rails can also be replaced by multiple rotating joints. For example, a six-axis robotic arm can be used. Considering cost factors, the present invention preferably adopts the form of double linear slide rails to achieve the movement of the lifting arm 50; it should be understood that in order to adapt the lifting arm 50 to the flange on the side of the storage box 1, the lifting arm 50 should have a horizontal support surface. And in a preferred embodiment, in order to keep the storage box 1 balanced during the transfer process, during the movement of the lifting arm 50, its horizontal support surface should also be kept as horizontal as possible.

[0039] Please refer to Figure 1 、 3 As shown in Figures 4, 5, 8, and 9, in an alternative embodiment of the present invention, a horizontal moving seat 30 and a first driving mechanism for driving the horizontal moving seat 30 to move are provided on the traveling mechanism 10; a vertical moving seat 40 and a second driving mechanism for driving the vertical moving seat 40 to move are provided on the horizontal moving seat 30; the lifting arm 50 is installed on the vertical moving seat 40; there are two lifting arms 50, the two lifting arms 50 are arranged in parallel, and the two lifting arms 50 are arranged to open and close relatively; a third driving mechanism for driving the two lifting arms 50 to open and close synchronously is provided on the vertical moving seat 40. The first driving mechanism, the second driving mechanism, and the third driving mechanism of the present invention can be, for example, a lead screw mechanism or a synchronous pulley mechanism.

[0040] Please refer to Figure 3-6As shown, the pressing mechanism 60 is installed on the lifting arm 50, and the pressing mechanism 60 is assembled such that when the weight of the storage box 1 is loaded on the lifting arm 50, the pressing mechanism 60 can press the upper cover 2 of the storage box 1; it should be noted that the pressing mechanism 60 can automatically press the upper cover 2 of the storage box 1 when the lifting arm 50 lifts the storage box 1. The pressing mechanism 60 can be electrically controlled or can be achieved only by mechanical transmission; for the electrically controlled method, for example, an independent driving element can be provided on the lifting arm 50 to drive the pressing mechanism 60, and at the same time, a pressure sensor is used to detect whether the lifting arm 50 has lifted the storage box 1, and the controller controls the action of the pressing mechanism 60 according to the detection signal of the pressure sensor; it should be noted that in a specific embodiment, the lifting arm 50 is set to be cantilever-shaped. In order to eliminate unnecessary loads as much as possible, it should be avoided to set heavy components such as motors on the lifting arm 50. Therefore, the present invention preferably adopts a mechanical transmission method to realize the automatic pressing of the pressing mechanism 60. The following embodiments will describe the pressing mechanism 60 of the mechanical transmission method in detail.

[0041] Please refer to Figure 6 、 9 As shown, in an alternative embodiment of the present invention, a floating plate 51 is provided at the upper end of the lifting arm 50. The floating plate 51 is movably connected to the lifting arm 50 in the vertical direction. An elastic element 52 is provided between the floating plate 51 and the lifting arm 50, and the elastic element 52 is assembled such that the elastic force acting on the floating plate 51 is upward; the pressing mechanism 60 includes a swing arm 61 hinged to the lifting arm 50. A linkage mechanism is provided between the swing arm 61 and the floating plate 51. The linkage mechanism is assembled such that when the weight of the storage box 1 is loaded on the floating plate 51 and causes the floating plate 51 to move downward, the linkage mechanism can drive the swing arm 61 to swing, so that the end of the swing arm 61 presses the upper cover 2 of the storage box 1; specifically, the linkage mechanism includes a driving block 53, a lever 54, and a connecting rod 55. The driving block 53 is fixedly connected to the floating plate 51. A horizontal waist-shaped hole 531 is provided on the driving block 53. The lever 54 is hinged to the lifting arm 50. A guide pin 541 is provided at the first end of the lever 54, and the guide pin 541 is slidably engaged with the waist-shaped hole 531. The second end of the lever 54 is hinged to the first end of the connecting rod 55, and the second end of the connecting rod 55 is hinged to the swing arm 61. It should be understood that in order to ensure that the swing arm 61 presses the upper cover 2, the downward swing speed of the swing arm 61 should be faster than the downward sinking speed of the floating plate 51, which can be achieved by adjusting the force arm lengths of the two ends of the lever 54 to the fulcrum. Specifically, the distance between the fulcrum of the lever 54 and the first end should be less than the distance between the fulcrum and the second end. The present invention realizes the automatic pressing of the pressing mechanism 60 through a simple connecting rod 55 structure, avoids using heavy driving elements, and reduces the load on the lifting arm 50.

[0042] Please refer to Figure 6 and 9 As shown, in an alternative embodiment of the present invention, a roller 62 is provided at the end of the swing arm 61 to prevent rubbing between the swing arm 61 and the upper cover 2.

[0043] Please refer to Figure 7 and 9 As shown, in an alternative embodiment of the present invention, a locking mechanism is further included. The locking mechanism is configured such that when the lifting arm 50 transfers the storage box 1 above the placement table 20, the locking mechanism can keep the pressing mechanism 60 in a pressed state. It should be understood that since the above embodiment uses a mechanical transmission method to achieve the pressing of the pressing mechanism 60, its pressing force mainly depends on the gravity of the storage box 1. This results in the release of the pressing mechanism 60 when the storage box 1 is manually lifted. To avoid this situation, the present invention provides a locking mechanism. When the storage box 1 is located on the placement table 20, the locking mechanism can keep the pressing mechanism 60 in a pressed state, thereby preventing the storage box 1 from being manually lifted.

[0044] Please refer to Figure 7 and 9 As shown, in an alternative embodiment of the present invention, the locking mechanism includes a locking rod 56, a locking sleeve 57, and a cut-off valve 58. The locking rod 56 is fixedly connected to the floating plate 51 in the vertical direction. The locking sleeve 57 is fixedly connected to the lifting arm 50. A piston 561 is provided on the locking rod 56. An oil chamber is provided in the locking sleeve 57. The piston 561 is slidably arranged in the oil chamber in the vertical direction. The oil chamber is provided with a first oil port and a second oil port. The first oil port and the second oil port are respectively located on the upper and lower sides of the piston 561. The first oil port and the second oil port are respectively connected to two ports of the cut-off valve 58 through conduits. When the cut-off valve 58 is closed, the oil chambers on the upper and lower sides of the piston 561 are disconnected to prevent the floating plate 51 from moving up and down relative to the lifting arm 50. When the cut-off valve 58 is opened, the oil chambers on the upper and lower sides of the piston 561 are connected to enable the floating plate 51 to move up and down relative to the lifting arm 50. It should be noted that the specifications of the storage box 1 carried by the handling robot may vary. Therefore, when the pressing mechanism 60 is pressed, the sinking distance of the floating plate 51 is uncertain. The hydraulic locking mechanism provided by the present invention can lock the floating plate 51 at any position. Even if the specifications of the storage box 1 change, the pressing mechanism 60 can be locked in a state of seamless fit with the storage box 1.

[0045] Please refer to Figure 1 and 2As shown in FIGS. 9, in an alternative embodiment of the present invention, the stop valve 58 is a solenoid valve. The stop valve 58 is electrically connected to the controller. A sensor 11 for detecting the horizontal position of the lifting arm 50 is provided on the traveling mechanism 10. The sensor 11 is electrically connected to the controller. When the sensor 11 detects that the lifting arm 50 is above the storage table 20, the controller controls the stop valve 58 to close. When the sensor 11 detects that the lifting arm 50 is suspended outside the storage table 20, the controller controls the stop valve 58 to open.

[0046] In summary, by providing the pressing mechanism 60 on the lifting arm 50, the present invention can ensure that the goods will not be accidentally opened during transportation, and at the same time can prevent the goods from falling off the handling robot, improving the safety and reliability of the handling robot. The present invention realizes the automatic pressing of the pressing mechanism 60 through a simple connecting rod 55 structure, avoiding the use of heavy driving elements and reducing the load on the lifting arm 50. The present invention is provided with a locking mechanism. When the storage box 1 is on the storage table 20, the locking mechanism can keep the pressing mechanism 60 in a pressed state, thereby preventing the storage box 1 from being manually lifted. The hydraulic locking mechanism provided by the invention can lock the floating plate 51 at any position. Even if the specification of the storage box 1 changes, the pressing mechanism 60 can be locked in a state of seamless fit with the storage box 1.

[0047] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed by the present invention should still be covered by the claims of the present invention.

[0048] In the description herein, numerous specific details are provided, such as examples of components and / or methods, to provide a complete understanding of embodiments of the present invention. However, those skilled in the art will recognize that embodiments of the present invention may be practiced without one or more of the specific details or with other devices, systems, components, methods, components, materials, parts, etc. In other instances, well-known structures, materials, or operations are not specifically shown or described in detail to avoid obscuring aspects of embodiments of the present invention.

[0049] Throughout the specification, the phrases "one embodiment", "an embodiment", or "a specific embodiment" are meant to imply that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention and not necessarily in all embodiments. Thus, appearances of the phrases "in one embodiment", "in an embodiment", or "in a specific embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Additionally, the particular features, structures, or characteristics of any specific embodiment of the present invention may be combined in any suitable manner with one or more other embodiments. It is to be understood that other variations and modifications of the embodiments of the invention described and shown herein may be made in accordance with the teachings herein and will be considered part of the spirit and scope of the present invention.

[0050] It should also be understood that one or more of the elements shown in the figures can also be implemented in a more separated or more integrated manner, or even removed in some cases where they are inoperable or provided because they can be useful for a particular application.

[0051] Furthermore, unless otherwise expressly specified, any of the marker arrows in the figures should be considered merely exemplary and not limiting. Additionally, unless otherwise indicated, the term "or" as used herein is generally intended to mean "and / or". Where the term is anticipated to be unclear due to the ability to provide separation or combination, the combination of components or steps will also be considered to be specified.

[0052] As used in the description herein and throughout the claims below, unless otherwise indicated, the terms "a", "an", and "the" include plural references. Also, as used in the description herein and throughout the claims below, unless otherwise indicated, the phrase "in" means "in" and "on".

[0053] The above description of the embodiments shown of the present invention (including what is described in the abstract of the specification) is not intended to be exhaustive or to limit the invention to the precise forms disclosed herein. Although specific embodiments of the invention and examples of the invention have been described herein for illustrative purposes only, various equivalent modifications will be apparent to and can be made by those skilled in the art within the spirit and scope of the present invention. As noted, these modifications can be made to the present invention in accordance with the above description of the embodiments of the invention described herein, and these modifications will be within the spirit and scope of the present invention.

[0054] The present disclosure has generally described systems and methods to facilitate an understanding of the details of the present invention. In addition, various specific details have been given to provide a general understanding of embodiments of the present invention. However, those skilled in the relevant art will recognize that embodiments of the present invention may be practiced without one or more of the specific details, or with other devices, systems, components, methods, materials, parts, etc. In other instances, well-known structures, materials, and / or operations have not been shown or described in detail to avoid obscuring aspects of the embodiments of the present invention.

[0055] Accordingly, while the present invention has been described herein with reference to its specific embodiments, modifications, various changes, and substitutions are also within the above disclosure, and it should be understood that in some instances, some features of the present invention may be employed without corresponding use of other features, without departing from the scope and spirit of the claimed invention. Thus, many modifications may be made to adapt a particular environment or material to the essential scope and spirit of the present invention. The present invention is not intended to be limited to the specific terms and / or the specific embodiments disclosed as the best mode contemplated for carrying out the present invention, but the present invention will include any and all embodiments and equivalents falling within the scope of the appended claims. Accordingly, the scope of the present invention will be determined only by the appended claims.

Claims

1. A handling robot, characterized in that, Comprising: A traveling mechanism; A placement table, installed on the traveling mechanism for placing a storage box; A lifting arm, installed on the traveling mechanism, and the lifting arm is assembled to be able to move relative to the traveling mechanism at least in horizontal and vertical directions to drive the storage box to be transferred between the placement table and the ground; A pressing mechanism, installed on the lifting arm, and the pressing mechanism is assembled so that when the weight of the storage box is loaded on the lifting arm, the pressing mechanism can press the upper cover of the storage box; The lifting arm is horizontally arranged, a floating plate is provided at the upper end of the lifting arm, the floating plate is movably connected to the lifting arm in the vertical direction, and an elastic element is provided between the floating plate and the lifting arm. The elastic element is assembled so that the elastic force acting on the floating plate is upward; the pressing mechanism includes a swing arm hinged to the lifting arm, and a linkage mechanism is provided between the swing arm and the floating plate. The linkage mechanism is assembled so that when the weight of the storage box is loaded on the floating plate and causes the floating plate to move downward, the linkage mechanism can drive the swing arm to swing so that the end of the swing arm presses the upper cover of the storage box; The linkage mechanism includes a driving block, a lever and a connecting rod. The driving block is fixedly connected to the floating plate, a horizontal waist-shaped hole is provided on the driving block, the lever is hinged to the lifting arm, a guide pin is provided at the first end of the lever, the guide pin is slidably matched with the waist-shaped hole, the second end of the lever is hinged to the first end of the connecting rod, and the second end of the connecting rod is hinged to the swing arm; A roller is provided at the end of the swing arm; It further includes a locking mechanism, and the locking mechanism is assembled so that when the lifting arm transfers the storage box above the placement table, the locking mechanism can keep the pressing mechanism in a pressed state; The locking mechanism includes a locking rod, a locking sleeve and a stop valve. The locking rod is fixedly connected to the floating plate in the vertical direction, the locking sleeve is fixedly connected to the lifting arm, a piston is provided on the locking rod, an oil chamber is provided in the locking sleeve, the piston is slidably arranged in the oil chamber in the vertical direction, the oil chamber is provided with a first oil port and a second oil port, the first oil port and the second oil port are respectively located on the upper and lower sides of the piston, and the first oil port and the second oil port are respectively communicated with the two ports of the stop valve through pipelines. When the stop valve is closed, the oil chambers on the upper and lower sides of the piston are disconnected to prevent the floating plate from moving up and down relative to the lifting arm. When the stop valve is opened, the oil chambers on the upper and lower sides of the piston are communicated so that the floating plate can move up and down relative to the lifting arm.

2. The handling robot according to claim 1, characterized in that, The stop valve is a solenoid valve, which is electrically connected to the controller. A sensor for detecting the horizontal position of the lifting arm is provided on the traveling mechanism, and the sensor is electrically connected to the controller. When the sensor detects that the lifting arm is above the placement table, the controller controls the stop valve to close. When the sensor detects that the lifting arm is suspended outside the placement table, the controller controls the stop valve to open.

3. The handling robot according to claim 1, wherein a horizontal moving seat and a first driving mechanism for driving the horizontal moving seat to move are provided on the traveling mechanism; a vertical moving seat and a second driving mechanism for driving the vertical moving seat to move are provided on the horizontal moving seat; and the lifting arm is mounted on the vertical moving seat.

4. The handling robot according to claim 3, wherein there are two lifting arms, the two lifting arms are arranged in parallel, and the two lifting arms are arranged to open and close relatively.

5. The handling robot according to claim 4, wherein a third driving mechanism for driving the two lifting arms to open and close synchronously is provided on the vertical moving seat.

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