Transport robot, transport system and transport method

Abstract

The present invention discloses a handling robot, a handling system, and a handling method. The handling robot includes a frame, a driving mechanism, a first loading platform, a pipe container, a robotic arm, and a control console. The driving mechanism is arranged on the frame to drive the frame to move; the first loading platform is arranged on the frame; the pipe container is detachably connected to at least one of the frame and the first loading platform, the pipe container and the first loading platform move synchronously, and the pipe container and the first loading platform cooperate to receive tubular materials; the robotic arm is rotatably arranged on at least one of the first loading platform and the frame, the robotic arm is equipped with a hook for lifting materials, and the robotic arm is retractable along its length; the control console cooperates with the driving mechanism to control the driving mechanism, and the control console cooperates with the robotic arm to control the movement of the robotic arm. The handling robot of the present invention can handle a variety of materials and can handle materials.

Description

Technical Field

[0001] The present invention relates to the technical field of underground coal mine transportation, and in particular to a transport robot, a transport system and a transport method. Background Art

[0002] During underground transportation in coal mines, materials need to pass through advance tunnels, where equipment trains and other equipment are installed. In other words, the space in the advance tunnel is small and there are many equipment. Explosion-proof trucks used for material transportation cannot enter the advance tunnel for transportation. In related technologies, handling robots are used to transport materials. The handling robots use external gas and power sources as power sources to transport materials in the advance tunnel to the outside of the tunnel.

[0003] However, the handling robots in the related art are limited by size and cannot handle longer tubular materials. In addition, the handling robots in the related art have a low degree of automation and cannot handle materials. Summary of the Invention

[0004] The present invention aims to solve one of the technical problems in the related art at least to a certain extent.

[0005] To this end, an embodiment of the present invention provides a transport robot that has high throughput, is capable of transporting a variety of materials, and is capable of transporting materials.

[0006] An embodiment of the present invention further provides a transport system including the transport robot according to the above embodiment.

[0007] An embodiment of the present invention further provides a transport method applied to the above transport system.

[0008] According to an embodiment of the present invention, a handling robot includes a frame, a drive mechanism, a first loading platform, a pipe container, a robotic arm, and a control console. The drive mechanism is provided on the frame to drive the frame to move; the first loading platform is provided on the frame, and the first loading platform is used to carry materials; the pipe container is detachably connected to at least one of the frame and the first loading platform, and the pipe container can move synchronously with the first loading platform, and the pipe container can cooperate with the first loading platform to receive tubular materials; the robotic arm is rotatably provided on at least one of the first loading platform and the frame, and a hook for lifting the materials is installed on the robotic arm, and the robotic arm is retractable along its length; the control console cooperates with the drive mechanism to control the drive mechanism, and the control console cooperates with the robotic arm to control the movement of the robotic arm.

[0009] The handling robot of the embodiment of the present invention realizes the handling of tubular and non-tubular materials in the advanced lane by providing a detachable pipe container, thereby realizing the handling of various materials. A control console and a robotic arm are provided so that the robotic arm can be controlled by the control console to handle the materials.

[0010] According to some embodiments of the present invention, the drive mechanism includes: a first crawler belt, a plurality of first track wheels, a second crawler belt, a plurality of second track wheels, a diesel engine, and a transmission device. The first crawler belt is located below the frame in the vertical direction, the first crawler belt is connected end to end to be sleeved on each of the first track wheels, and each of the first track wheels is in transmission connection with the first crawler belt; the second crawler belt is located below the frame in the vertical direction, the second crawler belt is connected end to end to be sleeved on each of the second track wheels, and each of the second track wheels is in transmission connection with the second crawler belt, and the second crawler belt and the first crawler belt are arranged opposite to each other in a first horizontal direction; the diesel engine is arranged on the frame, and is in transmission connection with each of at least one of the first track wheels and at least one of the second track wheels via the transmission device.

[0011] According to some embodiments of the present invention, the frame is provided with a first connecting hole passing through it in the up-down direction, the pipe container includes a connecting portion and a container body, the container body and the connecting portion are connected, the connecting portion is provided with a second connecting hole passing through it in the up-down direction, and the connecting pin is detachably inserted into the first connecting hole and the second connecting hole.

[0012] According to some embodiments of the present invention, the first loading platform is located above the frame in the up-down direction, and a third connecting hole is provided on the first loading platform passing through the first loading platform in the up-down direction. The connecting pin is detachably inserted into the first connecting hole, the second connecting hole and the third connecting hole, and the hook of the robotic arm is adapted to the connecting pin to install and remove the connecting pin.

[0013] According to some embodiments of the present invention, the container body includes: a second loading platform, a first wheel, and a second wheel. The length direction of the second loading platform is consistent with the length direction of the first loading platform, and one end of the second loading platform along the length direction is connected to the connecting portion; the first wheel and the second wheel are both rotatably mounted on the second loading platform, and the first wheel and the second wheel are arranged opposite to each other in the second horizontal direction.

[0014] According to some embodiments of the present invention, a lifting ring is provided at the other end of the second loading platform along its length direction, and the lifting hook of the robotic arm is adapted to the lifting ring to lift the second loading platform.

[0015] According to some embodiments of the present invention, the length direction of the control console, the length direction of the frame, the length directions of the first crawler and the second crawler, the length direction of the first loading platform and the length direction of the pipeline container are all consistent, the control console and the pipeline container are located on both sides of the first loading platform in the length direction of the first loading platform, the robotic arm is rotatably provided on the first loading platform, and the robotic arm is located at one end of the first loading platform close to the control console in the length direction of the first loading platform.

[0016] According to some embodiments of the present invention, a plurality of pillars are provided on the second loading platform, and a part and another part of the plurality of pillars are arranged in a one-to-one correspondence in the width direction of the second loading platform, and the part and another part of the plurality of pillars are arranged at intervals along the length direction of the second loading platform.

[0017] According to an embodiment of the present invention, the handling system includes an advance lane, a material storage rack, a palletizer, an equipment train, and a handling robot as described in the above embodiment. A material retrieving area is provided in the advance lane; the material storage rack is located in the material retrieving area and is used to store materials; the palletizer is used to store the materials and is located in the advance lane, adjacent to the exit of the advance lane; the equipment train is located in the advance lane, and the material storage rack and the palletizer are located on both sides of the equipment train in the extension direction of the advance lane; the handling robot moves between the material storage rack and the palletizer to transport the materials from the material storage rack to the palletizer.

[0018] The handling system of an embodiment of the present invention includes the handling robot of the above embodiment. By providing a detachable pipe container, it can carry tubular and non-tubular materials in the advanced laneway, thereby enabling the handling of a variety of materials. A control console and a robotic arm are provided, and the robotic arm is controlled by the console to carry the materials.

[0019] The handling method according to an embodiment of the present invention is applied to the handling system as described in the above embodiment, and the handling method includes: placing the handling robot adjacent to the material storage holder, and controlling the robotic arm through a console to lift the material; when transporting non-tubular materials, removing the pipe container, and placing the non-tubular materials on the first loading platform; when transporting tubular materials, installing the pipe container, and placing the tubular materials on the first loading platform and the pipe container; driving the driving mechanism through the console to move the handling robot from the material storage holder to the palletizing; and driving the robotic arm through the console to lift the material to place the material on the palletizing.

[0020] In the handling method of an embodiment of the present invention, a control console controls a robotic arm to handle materials during loading and unloading. Materials are placed on a loading platform. Tubular materials and pipe containers are placed on the loading platform for handling, enabling handling of tubular materials within the limited size of the handling robot's first loading platform. Non-tubular containers can also be placed on the loading platform for handling, thereby enabling handling of a variety of materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 4 is a front view of a transport robot according to an embodiment of the present invention.

[0022] Figure 2 4 is a side view of a transport robot according to an embodiment of the present invention.

[0023] Figure 3 Schematic diagram of a transport system according to an embodiment of the present invention.

[0024] Figure 4 4 is a flow chart of a transport method according to an embodiment of the present invention.

[0025] Reference numerals:

[0026] 100. Handling robot; 200. Handling system;

[0027] 1. Frame;

[0028] 2. Drive mechanism; 21. First crawler track; 22. First crawler wheel; 23. Second crawler track;

[0029] 3. The first loading platform;

[0030] 4. Pipe container; 41. Connecting part; 42. Container body;

[0031] 421, second loading platform; 422, first wheel;

[0032] 4211, lifting ring; 4212, support;

[0033] 5. Robotic arm;

[0034] 6. Console;

[0035] 7. Advance laneway;

[0036] 8. Material storage bracket;

[0037] 9. Palletizing;

[0038] 10. Equipment train. DETAILED DESCRIPTION

[0039] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0040] The following describes a transport robot 100, a transport system 200, and a transport method according to embodiments of the present invention with reference to the accompanying drawings.

[0041] like Figure 3 As shown, the handling system 200 according to an embodiment of the present invention includes an advance lane 7, a stocking rack 8, a palletizer 9, an equipment train 10, and a handling robot 100. A material-retrieving area is provided in the advance lane 7; the stocking rack 8 is located in the material-retrieving area and is used to store materials; the palletizer 9 is used to store materials and is located in the advance lane 7, adjacent to the exit of the advance lane 7; the equipment train 10 is located in the advance lane 7, and the stocking rack 8 and the palletizer 9 are located on both sides of the equipment train 10 in the extension direction of the advance lane 7; the handling robot 100 moves between the stocking rack 8 and the palletizer 9 to transport materials from the stocking rack 8 to the palletizer 9.

[0042] like Figure 1 and Figure 2 As shown, the handling robot 100 according to an embodiment of the present invention includes a frame 1, a drive mechanism 2, a first loading platform 3, a pipe container 4, a robotic arm 5, and a control console 6. The drive mechanism 2 is arranged on the frame 1 to drive the frame 1 to move. The first loading platform 3 is arranged on the frame 1, and the first loading platform 3 is used to carry materials. The pipe container 4 is detachably connected to at least one of the frame 1 and the first loading platform 3, and the pipe container 4 can move synchronously with the first loading platform 3. The pipe container 4 can cooperate with the first loading platform 3 to receive tubular materials; the robotic arm 5 is rotatably arranged on at least one of the first loading platform 3 and the frame 1, and a hook for lifting materials is installed on the robotic arm 5. The robotic arm 5 is retractable along its length to facilitate the handling of materials. The control console 6 cooperates with the drive mechanism 2 to control the drive mechanism 2, and the control console 6 cooperates with the robotic arm 5 to control the movement of the robotic arm 5.

[0043] When transporting non-tubular materials, the pipe container 4 is disassembled, and the robot arm 5 is controlled by the console 6 to lift and transport the non-tubular materials, so as to transport the non-tubular materials from the storage bracket 8 to the first loading platform 3 and from the first loading platform 3 to the stacking 9, so as to realize the transportation of non-tubular materials.

[0044] When transporting tubular materials, the pipe container 4 is installed, and the robotic arm 5 is controlled by the console 6 to lift and transport the tubular materials, so as to transport the tubular materials from the material storage bracket 8 to the first loading platform 3 and from the first loading platform 3 to the pallet 9. When the tubular material is on the first loading platform 3, the pipe container 4 receives a part of the tubular material to prevent the tubular material from slipping from the first loading platform 3, thereby realizing the transportation of tubular materials when the size of the first loading platform 3 of the transport robot 100 is limited, and realizing the transportation of pipe materials.

[0045] In addition, the tubular materials stored on the storage bracket 8 are usually formed by connecting multiple pipe monomers in sequence. In order to facilitate the transportation of the tubular materials, the tubular materials need to be disassembled so that the multiple tubular monomers forming the tubular materials are separated from each other. The control console 6 controls the robotic arm 5 to lift the tubular materials, so that the tubular materials are suspended in mid-air to facilitate the disassembly personnel to disassemble the tubular materials, so as to further realize the lifting of the pipeline materials.

[0046] The handling robot of the embodiment of the present invention realizes the handling of tubular and non-tubular materials in the advanced lane by providing a detachable pipe container, thereby realizing the handling of various materials. A control console and a robotic arm are provided so that the robotic arm can be controlled by the control console to handle the materials.

[0047] like Figure 4 As shown, the transport method according to an embodiment of the present invention includes:

[0048] Place the handling robot close to the material storage bracket and control the robotic arm through the console to lift the material so that the material can be handled during the loading process.

[0049] When carrying non-tubular materials, the pipe container is disassembled and the non-tubular materials are placed on the first loading platform.

[0050] When transporting tubular materials, a pipe container is installed and the tubular materials are placed on the first loading platform and the pipe container to prevent the tubular materials from sliding off the loading platform, thereby realizing the transportation of tubular materials under the condition that the size of the first loading platform of the transport robot is limited.

[0051] The control console drives the driving mechanism to move the handling robot from the material storage bracket to the palletizing position to realize the transfer of materials.

[0052] The control console drives the robotic arm to lift the material and place it on the pallet so that the material can be handled during the unloading process.

[0053] The handling method of an embodiment of the present invention controls a robotic arm to handle materials during loading and unloading, using a console. Materials are placed on a loading platform. Tubular materials are placed on a first loading platform and pipe containers for handling, enabling handling of tubular materials within the limited size of the handling robot's first loading platform. Non-tubular containers can also be placed on the first loading platform for handling, thereby enabling handling of a variety of materials.

[0054] The road surface in the advance tunnel is difficult to harden, resulting in complex road environments such as mud in the advance tunnel. The transport robots in related technologies have poor passability and are difficult to pass through complex road environments. In addition, the air pipes and cables in related technologies that provide air sources for the transport robots need to move synchronously with the transport robots, further reducing the passability of the transport robots. During movement, the air pipes and cables are prone to entanglement and scratching with the equipment in the advance tunnel, affecting the normal operation of the transport robots and other equipment in the advance tunnel, and easily causing safety hazards.

[0055] like Figure 1 and Figure 2 As shown, according to some embodiments of the present invention, the drive mechanism 2 includes a first track 21, a plurality of first track wheels 22, a second track 23, a plurality of second track wheels, a diesel engine, and a transmission device. The first track 21 is located below the frame 1 in the vertical direction. The first track 21 is connected end to end to be sleeved on each first track wheel 22, and each first track wheel 22 is in transmission connection with the first track 21. The second track 23 is located below the frame 1 in the vertical direction. The second track 23 is connected end to end to be sleeved on each second track wheel, and each second track wheel is in transmission connection with the second track 23. The second track 23 and the first track 21 are arranged opposite each other in a first horizontal direction. The diesel engine is disposed in the frame 1 and is in transmission connection with each of the at least one first track wheel 22 and the at least one second track wheel via the transmission device. In other words, the diesel engine is in transmission connection with the at least one first track wheel 22 via the transmission device, and the diesel engine is in transmission connection with the at least one second track wheel via the transmission device.

[0056] The first crawler 21 is driven by the first crawler wheel 22, and the second crawler 23 is driven by the second crawler wheel to drive the frame 1 to move. The first crawler 21 and the second crawler 23 have a large contact area with the ground, are not easy to slip relative to the ground, and are easy to pass through muddy and other roads with complex environments, thereby increasing the passability of the transport robot 100 according to the embodiment of the present invention.

[0057] The diesel engine is used as a power source to drive the frame 1, eliminating the need for external air pipes and cables, thereby increasing the maneuverability of the handling robot according to the present invention. This prevents equipment in the forward lane from becoming entangled or scratched when handling materials, thereby improving the safety of the handling robot 100 according to the present invention.

[0058] In addition, the ignition point of the diesel in the diesel engine is relatively high, and it is not easy to be ignited and exploded due to unexpected circumstances, thereby further improving the safety performance of the transfer robot 100 according to the embodiment of the present invention.

[0059] According to some embodiments of the present invention, a first connecting hole is provided on the rack 1 and passes through it in the up-down direction. The pipe container 4 includes a connecting portion 41 and a container body 42. The container body 42 is connected to the connecting portion 41. The connecting portion 41 is provided with a second connecting hole that passes through it in the up-down direction. The connecting pin is detachably inserted into the first connecting hole and the second connecting hole so that the pipe container 4 can be detachably connected to the rack 1, thereby facilitating the installation and disassembly between the pipe container 4 and the rack 1.

[0060] According to some embodiments of the present invention, the first loading platform 3 is vertically positioned above the frame 1. A third connecting hole is provided on the first loading platform 3 extending vertically therethrough, and a connecting pin is detachably inserted through the first, second, and third connecting holes. In other words, the pipe container 4 is connected to each of the frame 1 and the first loading platform 3. The hook of the robotic arm 5 is adapted to fit the connecting pin for installation and removal. The robotic arm 5 is controlled by the console 6 to cause the hook to install and remove the connecting pin, thereby enabling automated installation and removal of the pipe container 4 and further facilitating installation and removal of the pipe container 4 from the frame 1.

[0061] like Figure 1 As shown, according to some embodiments of the present invention, the container body 42 includes: a second loading platform 421, a first wheel 422, and a second wheel. The length direction of the second loading platform 421 is consistent with the length direction of the first loading platform 3 to accommodate tubular materials. The second loading platform 421 is connected to the connecting portion 41 at one end along its length. The first wheel 422 and the second wheel are both rotatably mounted on the second loading platform 421. The first wheel 422 and the second wheel are arranged opposite to each other in the second horizontal direction. The first wheel 422 and the second wheel enable the second loading platform 421 to move synchronously with the first loading platform 3 to transport the tubular materials.

[0062] In addition, the first wheel 422 and the second wheel have high flexibility, and the first track 21 and the second track 23 have high passability, so that the transport robot according to the embodiment of the present invention has both high flexibility and high passability.

[0063] Optionally, the first horizontal direction may be the same as the second horizontal direction, or may be different from the second horizontal direction.

[0064] According to some embodiments of the present invention, a lifting ring 4211 is provided at the other end of the second loading platform 421 along its length direction, and the hook of the robot arm 5 is adapted to the lifting ring 4211 to lift the second loading platform 421 .

[0065] In some cases, the second loading platform 421 is hoisted by the robotic arm 5 to facilitate the passage of the pipeline container 4 through complex terrain, further improving the passability of the transport robot according to the embodiment of the present invention.

[0066] The presence of an equipment train in the advance lane reduces the space available near the equipment train in the advance lane, and it is difficult for the transport robot in related technologies to pass by the equipment train.

[0067] According to some embodiments of the present invention, the length direction of the control console 6, the length direction of the frame 1, the length direction of the first crawler 21 and the second crawler 23, the length direction of the first loading platform 3 and the length direction of the pipe container 4 are all consistent, so as to facilitate the transportation of tubular materials and reduce the width direction size of the handling robot 100 of the embodiment of the present invention, so that the handling robot 100 of the embodiment of the present invention can pass by the equipment train 10.

[0068] The console 6 and the pipeline container 4 are located on both sides of the first loading platform 3 in the length direction of the first loading platform 3. The robotic arm 5 is rotatably arranged on the first loading platform 3. The robotic arm 5 is located at one end of the first loading platform 3 close to the console 6 in the length direction of the first loading platform 3 to reduce the distance between the console 6 and the pipeline container 4, so as to facilitate the console 6 to control the pipeline container 4.

[0069] According to some embodiments of the present invention, a plurality of pillars 4212 are provided on the second loading platform 421, and a part and another part of the plurality of pillars 4212 are arranged in a one-to-one correspondence in the width direction of the second loading platform 421, and the part and the other part of the plurality of pillars 4212 are arranged at intervals along the length direction of the second loading platform 421 to position the pipeline material and prevent the pipeline material from sliding down from the width direction of the second loading platform 421.

[0070] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0071] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0072] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0073] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0074] In the present invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples" mean that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification, as well as features of different embodiments or examples, unless they are mutually inconsistent.

[0075] Although the above embodiments have been shown and described, it is understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. Changes, modifications, substitutions and variations of the above embodiments by those skilled in the art are all within the scope of protection of the present invention.

Claims

1. A transport robot, characterized in that: include: frame; a driving mechanism, the driving mechanism being arranged on the frame to drive the frame to move; a first loading platform, the first loading platform being arranged on the frame and being used for loading materials; a pipe container, the pipe container being detachably connected to at least one of the frame and the first loading platform, the pipe container being capable of synchronous movement with the first loading platform, and the pipe container being capable of cooperating with the first loading platform to receive tubular materials; a robotic arm, the robotic arm being rotatably disposed on at least one of the first loading platform and the frame, the robotic arm being provided with a hook for lifting the material, and the robotic arm being retractable along its length; a control console, wherein the control console cooperates with the driving mechanism to control the driving mechanism, and the control console cooperates with the robotic arm to control the movement of the robotic arm; The driving mechanism comprises: a first crawler belt and a plurality of first crawler wheels, wherein the first crawler belt is located below the frame in the vertical direction, the first crawler belt is connected end to end to be sleeved on each of the first crawler wheels, and each of the first crawler wheels is transmission-connected to the first crawler belt; a second crawler belt and a plurality of second crawler wheels, wherein the second crawler belt is located below the frame in the up-down direction, the second crawler belt is connected end to end to be sleeved on each of the second crawler wheels, each of the second crawler wheels is transmission-connected to the second crawler belt, and the second crawler belt and the first crawler belt are arranged opposite to each other in a first horizontal direction; a diesel engine and a transmission device, wherein the diesel engine is arranged on the frame, and the diesel engine is transmission-connected to each of at least one of the first track wheel and at least one of the second track wheel via the transmission device; The frame is provided with a first connection hole penetrating therethrough in the vertical direction, the pipe container comprises a connection portion and a container body, the container body and the connection portion are connected, and the connection portion is provided with a second connection hole penetrating therethrough in the vertical direction; The first loading platform is located above the frame in the up-down direction, and a third connecting hole is provided on the first loading platform which passes through the first loading platform in the up-down direction. A connecting pin is detachably inserted into the first connecting hole, the second connecting hole and the third connecting hole, and the hook of the robotic arm is adapted to the connecting pin for installing and removing the connecting pin.

2. The transport robot according to claim 1, characterized in that: The container body comprises: a second loading platform, wherein the length direction of the second loading platform is consistent with the length direction of the first loading platform, and one end of the second loading platform along the length direction is connected to the connecting portion; A first wheel and a second wheel, wherein the first wheel and the second wheel are both rotatably disposed on the second loading platform, and the first wheel and the second wheel are disposed opposite to each other in a second horizontal direction.

3. The transport robot according to claim 2, characterized in that: The second loading platform is provided with a lifting ring at the other end along the length direction thereof, and the lifting hook of the robotic arm is adapted to the lifting ring to lift the second loading platform.

4. The transport robot according to claim 1, wherein: The length direction of the control console, the length direction of the frame, the length directions of the first crawler and the second crawler, the length direction of the first loading platform and the length direction of the pipeline container are all consistent. The control console and the pipeline container are located on both sides of the first loading platform in the length direction of the first loading platform. The robotic arm is rotatably provided on the first loading platform. The robotic arm is located at one end of the first loading platform close to the control console in the length direction of the first loading platform.

5. The transport robot according to claim 2, characterized in that: A plurality of pillars are provided on the second loading platform, and a part and another part of the plurality of pillars are arranged in a one-to-one correspondence in the width direction of the second loading platform, and the part and another part of the plurality of pillars are arranged at intervals along the length direction of the second loading platform.

6. A transport system, characterized in that: include: An advance tunnel, wherein a material taking area is provided in the advance tunnel; A material storage bracket, located in the material taking area, and used for storing materials; Palletizing, the palletizing being used to store the materials, the palletizing being located in the advance laneway, and the palletizing being adjacent to the exit of the advance laneway; An equipment train, wherein the equipment train is located in the advance lane, and the stockpile support and the pallet are located on both sides of the equipment train in the extension direction of the advance lane; The handling robot according to any one of claims 1 to 5, wherein the handling robot moves between the material storage holder and the palletizer to transport the material from the material storage holder to the palletizer.

7. A method of transporting, characterized in that: Applied to the transport system according to claim 6, the transport method comprises: Place the handling robot adjacent to the material storage support, and control the robotic arm through a console to lift the material; When transporting non-tubular materials, the pipe container is disassembled and the non-tubular materials are placed on the first loading platform; When transporting tubular materials, the pipe container is installed, and the tubular materials are placed on the first loading platform and the pipe container; The driving mechanism is driven by the control console to move the transport robot from the material storage support to the palletizing; The control console drives the robotic arm to lift the material so as to place the material on the pallet.

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