A warehouse robot

Abstract

This invention provides a warehouse robot, comprising: a movable support extending vertically and movable; a first transport mechanism for transporting a group of boxes above a target box or a group of boxes stacked above a position where the target box is to be stored, the group of boxes including at least one box; the first transport mechanism being disposed on a first side of the movable support; wherein a portion of the first transport mechanism is extendable relative to another portion in the vertical direction; a second transport mechanism for transporting the target box, the second transport mechanism being disposed on the first side of the movable support and located below the first transport mechanism; a first lifting mechanism for driving the first transport mechanism to move in the vertical direction; and a second lifting mechanism for driving the second transport mechanism to move independently of the first transport mechanism in the vertical direction.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of warehousing, and more particularly, to a warehousing robot. BACKGROUND

[0002] With the rapid development of artificial intelligence technology, automation technology, and information technology, the intelligent degree of terminal logistics is also continuously improved. Intelligent logistics terminal is the development trend of terminal logistics, and the warehousing robot is one of the main equipment that can realize intelligent logistics terminal and automatic handling operation. Through the warehousing robot, the heavy physical labor of human beings can be reduced, and the handling operation efficiency can be improved. The related warehousing robot handling flexibility is low, and the application range is narrow. SUMMARY

[0003] Therefore, the present application provides a warehousing robot to solve the technical problem of how to improve the handling flexibility of the warehousing robot.

[0004] The technical scheme of the present application is implemented as follows:

[0005] The present application provides a warehousing robot, comprising: a mobile support extending in a vertical direction and being movable; a first handling mechanism for handling a stack of bins above a target bin or a stack of bins above a position to be stored of the target bin, the stack of bins comprising at least one bin; the first handling mechanism is arranged on a first side of the mobile support; wherein a part of the first handling mechanism is telescopic relative to another part in the vertical direction; a second handling mechanism for handling the target bin, the second handling mechanism is arranged on the first side of the mobile support and below the first handling mechanism; a first lifting mechanism for driving the first handling mechanism to move in the vertical direction; a second lifting mechanism for driving the second handling mechanism to move in the vertical direction independently of the first handling mechanism.

[0006] In some embodiments, the first handling mechanism comprises: a first mounting connected with the first lifting mechanism to move in the vertical direction; two groups of first telescopic components arranged opposite to each other in a first direction below the first mounting, the first telescopic components being reciprocally translatable in a second direction relative to the first mounting, wherein the second direction is perpendicular to the first direction, and the first direction and the second direction are both in a horizontal direction; two first grabbing components respectively connected with corresponding first telescopic components, and each first grabbing component being telescopic in the vertical direction relative to the connected first telescopic component.

[0007] In some embodiments, each of the first telescopic assemblies comprises: a connecting telescopic arm extending in the second direction and connected to the first mounting member at one end; a first telescopic arm movably connected to the connecting telescopic arm and slidable in the second direction away from the one end of the connecting telescopic arm; and the first gripping member disposed below the first telescopic arm and movably connected to the first telescopic arm, wherein a minimum distance between the two first telescopic assemblies in the first direction is less than a maximum width of the second carrying mechanism in the first direction.

[0008] In some embodiments, the first telescopic arm is provided with a first through hole extending in the vertical direction, and the first gripping member comprises: a mounting portion spaced apart from the first telescopic arm in the vertical direction; a connecting portion movably sleeved in the first through hole, a lower end of the connecting portion being fixedly connected to the mounting portion; and a claw movably connected to the mounting portion to move between a position protruding out of the mounting portion in the first direction and a position retracted into the mounting portion.

[0009] In some embodiments, the second carrying mechanism comprises: a second mounting assembly connected to the second lifting mechanism to be lifted in the vertical direction; two groups of second telescopic assemblies disposed below the second mounting assembly and opposite to each other in the first direction, the second telescopic assemblies being telescopable in a positive direction and a negative direction of a length of the second telescopic assemblies relative to the second mounting assembly; and two second gripping members movably connected to the second telescopic assemblies, respectively.

[0010] In some embodiments, the second mounting assembly is provided with two second through holes extending in the vertical direction, the two second through holes being disposed at two ends of the second mounting assembly in the first direction, and the mounting portion of the first gripping member comprises: a first extension portion extending in the second direction, one end of the first extension portion in the vertical direction being fixedly connected to the connecting portion; and a second extension portion protruding at one end of the first extension portion away from the connecting portion, the claw being movably connected to the second extension portion, wherein in a state where the second carrying mechanism is close to the first carrying mechanism, the second extension portion can extend into the second through hole, and the second mounting assembly abuts against the first extension portion.

[0011] In some embodiments, the first telescopic assemblies are translational in a positive direction of the second direction and a negative direction of the second direction relative to the first mounting member, and each of the first telescopic assemblies further comprises: a first drag chain, a first end of the first drag chain being connected to the first mounting member, a second end of the first drag chain being connected to the first telescopic arm, the first end and the second end being opposite ends of the first drag chain in a length direction, and the first drag chain being capable of reciprocating in the second direction along with the first telescopic arm on both sides of the connecting telescopic arm in the second direction.

[0012] In some embodiments, the mobile support comprises: a column connecting the first carrying mechanism, the second carrying mechanism, the first lifting mechanism and the second lifting mechanism; and a base structure fixedly connected with one end of the column in the vertical direction, for driving the column to move.

[0013] In some embodiments, the base structure comprises: a base plate connected with the column; a driving assembly movably connected with the base plate, for driving the base plate to move; two groups of driven assemblies respectively arranged at two ends of the base plate in a first direction, for following the driving assembly to move; and a suspension mechanism connecting one group of driven assemblies and the driving assembly; wherein the base plate comprises, in the first direction, a buffer cavity and a containing cavity arranged in sequence, and the buffer cavity and the containing cavity are located at two sides of the column; the buffer cavity is close to the first carrying mechanism in the first direction, the containing cavity is away from the first carrying mechanism in the first direction, and the containing cavity is provided with the suspension mechanism.

[0014] In some embodiments, further comprising: a sensing assembly for detecting the relative position of the first carrying mechanism and the second carrying mechanism; and / or for detecting the relative position of the first carrying mechanism and the mobile support; and / or for detecting the relative position of the second carrying mechanism and the mobile support; and / or for detecting whether the first carrying mechanism has grasped a group of bins; and / or for detecting whether the second carrying mechanism has grasped a target bin.

[0015] The embodiment of the present application provides a warehouse robot, which comprises a mobile support, a first carrying mechanism, a second carrying mechanism, a first lifting mechanism and a second lifting mechanism. The mobile support extends along a vertical direction and is movable, the first carrying mechanism is used for carrying a group of bins above a target bin, the second carrying mechanism is used for carrying the target bin, the first lifting mechanism is used for driving the first carrying mechanism to move along the vertical direction, and the second lifting mechanism is used for driving the second carrying mechanism to move along the vertical direction independently of the first carrying mechanism, wherein a part of the first carrying mechanism is telescopic relative to another part in the vertical direction, and in the case that the second carrying mechanism is close to the first carrying mechanism, the first carrying mechanism can be telescopic, so that the height of the first carrying mechanism in the vertical direction is lowered, and the second carrying mechanism can be lifted to a higher position to carry more target bins. On the one hand, the activity space of the second carrying mechanism in the vertical direction can be improved, and the limitation of the first carrying mechanism on the movement of the second carrying mechanism is reduced, so that the flexibility of the warehouse robot in carrying is improved; on the other hand, the second carrying mechanism can carry goods at a higher position, so that the storage capacity of goods in the warehouse is improved. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1A structure schematic view of a storage robot carrying a material box according to an embodiment of the present application;

[0017] Figure 2 A perspective view of a storage robot according to an embodiment of the present application;

[0018] Figure 3 A perspective view of a first carrying mechanism according to an embodiment of the present application;

[0019] Figure 4 A side view of a storage robot according to an embodiment of the present application;

[0020] Figure 5 A perspective view of a first telescopic assembly according to an embodiment of the present application;

[0021] Figure 6 A perspective view of a buffer mechanism according to an embodiment of the present application;

[0022] Figure 7 A front view of a storage robot according to an embodiment of the present application.

[0023] Explanation of reference numerals:

[0024] 1, moving support; 11, stand; 12, base structure; 121, base plate; 1211, buffer cavity; 1212, containing cavity; 122, driving assembly; 123, driven assembly; 124, suspension mechanism; 1241, elastic member; 1242, connecting arm; 2, first carrying mechanism; 21, first mounting member; 22, first telescopic assembly; 221, connecting telescopic arm; 2211, second telescopic arm; 2212, third telescopic arm; 222, first telescopic arm; 223, first through hole; 224, first drag chain; 2241, first end; 2242, second end; 225, second drag chain; 23, first grabbing member; 231, mounting portion; 2311, first extension portion; 2312, second extension portion; 232, connecting portion; 233, claw; 3, second carrying mechanism; 31, second mounting assembly; 311, second through hole; 32, second telescopic assembly; 33, second grabbing member; 4, first lifting mechanism; 5, second lifting mechanism; 6, buffer mechanism; 60, buffer rack; 61, limiting mechanism; 611, first limiting assembly; 612, second limiting assembly; 601, limiting area; 602, third end; 603, fourth end; 100, target material box; 100a, material box group. DETAILED DESCRIPTION

[0025] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application.

[0026] In the specific embodiments, various specific technical features described can be combined in any suitable manner, for example, different embodiments and technical solutions can be formed by combining different specific technical features, without contradiction. In order to avoid unnecessary repetition, various possible combinations of various specific technical features in the present application are not described again.

[0027] In the following description, the terms "first", "second", and the like are merely used to distinguish different objects, and do not mean that the objects have the same or related relationship. It should be understood that the positional description "upper", "lower", "outer", "inner", "left", "right" are the positions in the normal use state, and the "left" and "right" directions are the directions shown in the specific corresponding schematic diagram, which can be the left and right directions in the normal use state or not.

[0028] It should be noted that the terms "comprise", "contain" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitation, the element defined by the sentence "includes one" does not exclude the presence of another identical element in the process, method, article or device including the element. "Multiple" means greater than or equal to two.

[0029] The embodiment of the present application provides a warehousing robot for carrying warehousing goods. It should be noted that the goods stored by the embodiment of the present application do not need to rely on shelves for storage, and a plurality of goods can be directly stacked in a warehouse. The stacking means that the plurality of goods support each other. The stored goods can be stored in a material box and represented by a material box. During the warehouse-in and warehouse-out process of the goods, one or more of the stacked material boxes can be directly carried. The following describes the goods by using the material box, but it can be understood that the goods can also be stored without a material box or stored in other ways. The corresponding carrying mode is basically the same and will not be described again.

[0030] The warehousing robot of the embodiment of the present application comprises a moving support 1, a first carrying mechanism 2, a second carrying mechanism 3, a first lifting mechanism 4 and a second lifting mechanism 5.

[0031] The moving support 1 extends in the vertical direction and is movable. The direction in which the moving support 1 extends represents the maximum dimension direction of the moving support 1. In the embodiment of the present application, the maximum dimension direction of the moving support 1 represents the height direction of the moving support 1, that is, in the normal working state, the height direction of the moving support 1 extends along the vertical direction in the absolute coordinate system. The movable moving support 1 means that the moving support can move relative to the ground or other surface.

[0032] The first conveying mechanism 2 is used to convey the box group 100a above the target box 100 or the stacked box group above the position where the target box is to be stored. The box group 100a includes at least one box. Upon responding to the target box's outbound command, the mobile robot needs to move to a position close to the target box 100 according to the position information of the target box 100 in the outbound command. Then, the first conveying mechanism 2 lifts the box group 100a on the target box 100, causing the box group 100a to disengage from the target box 100, facilitating the removal of the target box 100. Upon responding to the target box 100's inbound command, the mobile robot needs to lift the box group 100a above the position where the target box 100 is to be stored, making the position vacant, facilitating the inbound of the target box 100. The first conveying mechanism 2 is located on the first side of the mobile support 1 (e.g., ...). Figure 1 (One side in the x-direction shown).

[0033] Combination Figure 1 and Figure 2 As shown, a portion of the first conveying mechanism 2 can be positioned relative to another portion in the vertical direction ( Figure 1 The extension and retraction in the z-direction (as shown) refers to the vertical movement of the first conveying mechanism 2. It should be noted that vertical extension and retraction signifies a change in the vertical height of the first conveying mechanism 2 under the influence of an external force; for example, the height of the first conveying mechanism 2 may decrease or increase. It should also be noted that this embodiment of the invention does not limit the triggering method for the vertical extension and retraction of the first conveying mechanism 2. For example, the first conveying mechanism 2 may retract upon detecting the approach of the second conveying mechanism 3, or the first conveying mechanism 2 may passively retract when the second conveying mechanism 3 pushes it against it. This triggering method for the extension and retraction of the first conveying mechanism 2 does not limit its function.

[0034] like Figure 1 As shown, the second conveying mechanism 3 is used to convey the target material box 100. The second conveying mechanism 3 is located on the first side of the movable support 1, that is, the first conveying mechanism 2 and the second conveying mechanism 3 are located on the same side of the movable support 1. Furthermore, the second conveying mechanism 3 is located below the first conveying mechanism 2. Here, "below" refers to the position of the warehouse robot under normal operating conditions. Figure 1 (below in the z-direction); By setting the second conveying mechanism 3 below the first conveying mechanism 2, during the process of the target material box 100 leaving the warehouse, at least one material box group 100a is stacked on top of the target material box 100. The material box group 100a above the target material box 100 can be lifted by the first conveying mechanism 2 so that the second conveying mechanism 3 can move the target material box 100 away separately.

[0035] As Figure 1 shown, the first lifting mechanism 4 is used to drive the first carrying mechanism 2 to move in the vertical direction; the first carrying mechanism 2 can move relative to the moving support 1 in the vertical direction to realize the positioning of the first carrying mechanism 2 and the lowermost layer of the box group 100a. Wherein, the first lifting mechanism 4 can be installed on the moving support 1. The connection relationship between the first lifting mechanism 4 and the moving support 1 in the embodiment of the present application will not limit the function of the first lifting mechanism 4 to drive the first carrying mechanism 2 to move. Wherein, the first carrying mechanism 2 and the moving support 1 are movably connected, and the first lifting mechanism 4 can drive the first carrying mechanism 2 to move along the extension direction of the moving support 1 (z direction as shown) to realize the vertical movement of the first lifting mechanism 4. It should be noted that the specific form of the first lifting mechanism 4 is not limited in the embodiment of the present application, as long as the first lifting mechanism 4 can drive the first carrying mechanism 2 to move in the vertical direction. And the movement of the first carrying mechanism 2 means that the whole of the first carrying mechanism 2 moves in the vertical direction, that is, the first lifting mechanism 4 drives the speed of each part of the first carrying mechanism 2 to move uniformly. Figure 1

[0036] As Figure 1 shown, the second lifting mechanism 5 is used to drive the second carrying mechanism 3 to move in the vertical direction independently of the first carrying mechanism 2. Wherein, the second lifting mechanism 5 is independent of the first lifting mechanism 4, that is, the first lifting mechanism 4 and the second lifting mechanism 5 work independently, and the first lifting mechanism 4 and the second lifting mechanism 5 do not interfere with each other. That is, the movement of the first carrying mechanism 2 and the second carrying mechanism 3 in the vertical direction is independent of each other, for example, in the process of the movement of the first carrying mechanism 2, the second carrying mechanism 3 can not move; again, in the process of the stop of the first carrying mechanism 2, the second carrying mechanism 3 can move in the vertical direction. The movement between the first carrying mechanism 2 and the second carrying mechanism 3 can be different, and the movement between each other has no relevance. It should be noted that the specific form of the second lifting mechanism 5 is not limited in the embodiment of the present application, as long as the second lifting mechanism 5 can drive the second carrying mechanism 3 to move in the vertical direction.

[0037] ​This invention provides a warehouse robot, comprising a mobile support, a first transport mechanism, a second transport mechanism, a first lifting mechanism, and a second lifting mechanism. The mobile support extends vertically and is movable. The first transport mechanism transports a group of boxes above a target box, and the second transport mechanism transports the target box. The first lifting mechanism drives the first transport mechanism to move vertically, and the second lifting mechanism drives the second transport mechanism to move vertically independently of the first transport mechanism. A portion of the first transport mechanism is retractable vertically relative to another portion. When the second transport mechanism is close to the first transport mechanism, the first transport mechanism can retract, lowering its vertical height and allowing the second transport mechanism to rise to a higher position to transport more target boxes. This improves the vertical mobility of the second transport mechanism and reduces the restriction on its movement by the first transport mechanism. Furthermore, the second transport mechanism can transport goods stacked at higher positions, thereby increasing the storage capacity of the warehouse.

[0038] In some embodiments, such as Figure 2 As shown, the first conveying mechanism 2 includes a first mounting component 21, two sets of first telescopic components 22, and two first gripping components 23. The first mounting component 21 is connected to the first lifting mechanism 4, which drives the first mounting component 21 to move vertically. Both sets of first telescopic components 22 are connected to the first mounting component 21, and both sets of first telescopic components 22 are located below the first mounting component 21, meaning that the first telescopic components 22 grip the material box assembly from below the first mounting component 21. The two sets of first telescopic components 22 in the first direction ( Figure 2 The two sets of first telescopic components 22 are arranged relative to each other in the x-direction shown, where "relative" indicates that they are spaced apart in the first direction. The space formed between the two sets of first telescopic components 22 can hold the bottommost material box in the material box assembly. The first telescopic components 22 can be positioned relative to the first mounting member 21 in the second direction (x-direction shown). Figure 2 Synchronous reciprocating translation in the y-direction (as shown). The movable connection indicates that the first telescopic component 22 can extend and shorten along its own direction to achieve changes in its length. In other embodiments, the movable connection can also indicate that the first telescopic component 22 can move horizontally relative to the first mounting member 21, thereby enabling the first telescopic component 22 to transport the material box assembly. The extension or movement of the first telescopic component 22 can be achieved by a driving component. Both the first and second directions are horizontal directions. It should be noted that the horizontal direction includes the direction of any straight line in the horizontal plane; the first and second directions represent any two perpendicular straight lines in the horizontal plane.

[0039] Two first gripping members 23 are respectively connected to the corresponding first telescopic components 22. The first telescopic components 22 can drive the first gripping members 23 to reciprocate in the second direction, and each first gripping member 23 can extend and retract in the vertical direction relative to the first telescopic components 22 to which it is connected. In other words, the vertical extension and retraction of the first conveying mechanism 2 in this embodiment of the invention is manifested in the fact that the first gripper 23 can extend and retract relative to the first telescopic component 22 in the vertical direction. Specifically, the connection relationship between the first gripper 23 and the first telescopic component 22 includes, but is not limited to, the first gripper 23 being connected to the first telescopic component 22 in the vertical direction via an elastic element. When an external force is applied to the first gripper 23, the elastic element undergoes compression deformation at least in the vertical direction, causing the distance between the first gripper 23 and the first telescopic component 22 to change in the vertical direction, thereby realizing the vertical extension and retraction of the first gripper 23 and the first telescopic component 22. The first gripper 23 can also be slidably connected to the first telescopic component 22 in the vertical direction. When an external force is applied to the first gripper 23, the position of the first gripper 23 relative to the first telescopic component 22 in the vertical direction changes, which can also realize the vertical extension and retraction of the first gripper 23 relative to the first telescopic component 22.

[0040] In this embodiment of the invention, the first gripper is positioned below the first telescopic component, making the first gripper closer to the second transport mechanism relative to the first telescopic component. By having the second transport mechanism approach the first gripper, force can be directly applied to the first gripper, which helps to simplify the change of the relative position of the first gripper to the first telescopic component, thereby reducing the difficulty of telescopic movement of the first transport mechanism and improving the transport efficiency of the warehouse robot.

[0041] In some embodiments, such as Figure 3 As shown, each first telescopic assembly 22 includes a connecting telescopic arm 221 and a first telescopic arm 222. The connecting telescopic arm 221 may be composed of multiple telescopic arms, which extend along the second direction ( Figure 3 As shown in the y-direction, the extension direction of the telescopic arm represents its length direction. In other words, the length direction of the telescopic arm is in the second direction, and multiple telescopic arms extend in the second direction (…). Figure 3 The connecting telescopic arms 221 are slidably connected in the y-direction (as shown). These telescopic arms can slide relative to each other. The extension of the connecting telescopic arm 221 is achieved by moving the arms away from each other, and the shortening of the connecting telescopic arm 221 is achieved by moving the arms closer together. This embodiment of the invention does not limit the number of telescopic arms; for example, the connecting telescopic arm can be formed by connecting two, three, or four telescopic arms. This embodiment of the invention allows adjustment of the distance at which the handling assembly can transport goods by adjusting the number of connecting telescopic arms 221.

[0042] like Figure 2As shown, one end of the connecting telescopic arm 221 is connected to the first mounting member 21. The first telescopic arm 222 is movably connected to the connecting telescopic arm 221, and the first telescopic arm 222 is in the second direction ( Figure 3 The first gripper 23 is slidable along the y-direction (as shown) to the side of the connecting telescopic arm 221 away from the first mounting member 21. The first gripper 23 is located below the first telescopic arm 222 and is slidably connected to it. In this embodiment of the invention, the sliding of the first gripper relative to the first telescopic arm enables the vertical extension and retraction of the first conveying mechanism.

[0043] In some embodiments, such as Figure 2 As shown, the first telescopic component 22 can be positioned relative to the first mounting member 21 in the positive direction of the second direction ( Figure 2 The direction indicated by the y-axis arrow) and the negative direction of the second direction ( Figure 2 Translation (in the direction opposite to the y-axis arrow), where, as shown... Figure 5 As shown, each group of first telescopic components 22 also includes a first cable chain 224. The first cable chain 224 is used to follow the movement of the second telescopic arm 2211 relative to the first mounting member 21. It should be noted that a cable chain refers to a device for securing connecting lines such as cables or wires to facilitate their rotation and movement. This cable chain not only allows for convenient and flexible movement but also protects the connecting lines, which helps improve the efficiency of the first handling mechanism and thus improves the efficiency of cargo handling.

[0044] like Figure 5 As shown, the first cable chain 224 has a first end 2241 and a second end 2242 opposite to each other along its length. The first end 2241 of the first cable chain 224 is connected to the first mounting member 21, that is, the first end 2241 is fixed relative to the first mounting member 21. The second end 2242 of the first cable chain 224 is connected to the first telescopic arm 222, and the second end 2242 can move with the first telescopic arm 222 relative to the first mounting member 21, that is, the second end 2242 can move relative to the first end 2241. The first telescopic arm 222 reciprocates on both sides of the second direction connected to the telescopic arm 221 to drive the first cable chain 224 to reciprocate in the second direction. In some embodiments, such as Figure 5 As shown, the connecting telescopic arm 221 is provided with two telescopic arms, including a second telescopic arm 2211 and a third telescopic arm 2212. The first telescopic arm 222, the second telescopic arm 2211, and the third telescopic arm 2212 together form the first telescopic assembly 22. The first telescopic arm 222 is a telescopic arm that moves away from the first mounting member 21 when the multiple telescopic arms are extended, and the third telescopic arm 2212 is a telescopic arm that moves closer to the first mounting member 21 when the multiple telescopic arms are extended. Figure 5The illustrated embodiment is a schematic diagram of multiple telescopic arms in their extended states. The second telescopic arm 2211 connects the first telescopic arm 222 and the third telescopic arm 2212. That is, the first telescopic arm 222 is slidably connected to the second telescopic arm 2211, and the second telescopic arm 2211 is slidably connected to the third telescopic arm 2212. The third telescopic arm 2212 is fixedly connected to the first mounting member 21.

[0045] like Figure 5 As shown, after the second end 2242 of the first cable chain 224 moves with the first telescopic arm 222 to the position furthest from the second telescopic arm 2211, the second end 2242 then moves together with the first telescopic arm 222 and the second telescopic arm 2211 relative to the third telescopic arm 2212 until the second telescopic arm 2211 moves to the position furthest from the third telescopic arm 2212, thus reaching the maximum extension state of the telescopic assembly. The second end 2242 can move with the first telescopic arm 222 towards both ends relative to the third telescopic arm 2212.

[0046] In this embodiment of the invention, the connecting telescopic arm is configured as a combination of multiple telescopic arms and a first cable chain. The first cable chain can move relative to the first telescopic arm. The first cable chain connects the first telescopic arm and the first mounting component, allowing other parts of the first telescopic arm to move relative to each other. The first cable chain does not limit the direction of movement of the first telescopic arm, simplifying the movement mode of the first telescopic arm and facilitating bidirectional telescopic extension of the telescopic component to improve the handling efficiency of the handling component.

[0047] In some embodiments, such as Figure 4 As shown, the two sets of first telescopic components 22 in the first direction ( Figure 4 The minimum distance L1 in the x-direction (as shown) is less than the maximum width L2 of the second conveying mechanism 3 in the first direction. In this embodiment of the invention, by ensuring that the distance between the two sets of first telescopic components in the first direction is less than the maximum width of the second conveying mechanism, the width of the second conveying mechanism is sufficiently wide during its movement towards the first conveying mechanism. This allows the second conveying mechanism to rest against the first telescopic component without moving between the two first telescopic components. The upward movement of the second conveying mechanism drives the first telescopic component 22 to extend and retract vertically, thereby achieving smooth extension and retraction of the first telescopic component. This simple structure helps reduce the cost of controlling the extension and retraction of the first telescopic component.

[0048] In some embodiments, such as Figure 3 As shown, the first telescopic arm 222 is provided in the vertical direction ( Figure 3 A first through hole 223 extends through the first telescopic arm 222 in the vertical direction (as shown in the z-direction). The first gripper 23 includes a mounting part 231, a connecting part 232, and a claw 233. The mounting part 231 and the first telescopic arm 222 are connected in the vertical direction (as shown in the z-direction). Figure 3(as shown in the z-direction) spaced upwards. The connecting part 232 is movably fitted within the first through hole 223. The lower end of the connecting part 232 is fixedly connected to the mounting part 231. During the process of the second transport mechanism approaching the first transport mechanism, the second transport mechanism first abuts against the mounting part 231, causing the mounting part 231 to move upwards. The mounting part 231 then causes the connecting part 232 to slide relative to the first through hole 223, causing the mounting part 231 to move towards the first telescopic arm 222. This reduces the vertical dimension of the first transport mechanism, increasing the vertical distance the second transport mechanism can move and reducing the restriction on the movement of the second transport mechanism by the first transport mechanism. In some embodiments, the first telescopic arm 222 may have multiple first through holes 223, and the first gripper 23 may have multiple connecting parts 232 corresponding to the first through holes 223. Each first through hole 223 has one connecting part 232 passing through it. Connecting the same first telescopic arm 222 and the mounting part 231 through multiple connecting parts 232 improves the stability of the mounting part connection.

[0049] like Figure 3 As shown, in this embodiment of the invention, the claw 233 is movably connected to the mounting portion 231. "Movable" means that the claw 233 can rotate and / or translate relative to the mounting portion 231, allowing the mounting portion 231 to rotate in a first direction (…). Figure 3 The gripper 233 moves between a position protruding from the mounting portion 231 (shown in the x-direction) and a position retracted into the mounting portion 231. During the process of the first gripper 23 gripping the material box assembly, the gripper 233 protrudes from the mounting portion 231 in the first direction. The protruding gripper 233 can support the bottom of the material box assembly, thereby improving the stability of the first gripper in handling the material box assembly. When the first gripper is not gripping the material box assembly, the gripper 233 can retract into the mounting portion 231 in the first direction. That is, the gripper 233 does not protrude from the mounting portion 231 in the first direction, which helps to reduce the volume of the first gripper during non-gripping processes, thereby improving the ease of movement of the first gripper.

[0050] In some embodiments, such as Figure 5 As shown, the mounting part 231 can be connected to the first telescopic arm 222 via a second cable chain 225. The second cable chain 225 can move vertically to follow the vertical movement of the mounting part 231 relative to the first telescopic arm 222. Specifically, when the sensor detects that the second handling mechanism is approaching the first handling mechanism, the second cable chain can follow the mounting part to move towards the first telescopic arm, and the first handling mechanism retracts. When the sensor detects that the second handling mechanism is moving away from the first handling mechanism, the second cable chain can follow the mounting part to move away from the first telescopic arm. This embodiment of the invention, by employing a second cable chain to follow the extension and retraction of the first handling mechanism, helps to improve the automation level of the warehouse robot.

[0051] In some embodiments, such as Figure 2 As shown, the second conveying mechanism 3 includes a second mounting assembly 31, two sets of second telescopic assemblies 32, and two second gripping members 33. The second mounting assembly 31 is connected to the second lifting mechanism 5, and the second lifting mechanism 5 can drive the second mounting assembly 31 along the vertical direction (…). Figure 2 (as shown in the z-direction) Lifting and lowering. The two sets of second telescopic components 32 are located below the second mounting component 31 (…). Figure 2 (as shown below in the z-direction), and the two second telescopic components 32 in the first direction ( Figure 2 The second telescopic component 32 is positioned relative to the second mounting component 31 along its own length direction (in the x direction shown). Figure 2 The y-axis direction (as shown by the arrow) and the negative direction of its own length ( Figure 2 (The direction shown by the arrow on the y-axis is opposite to the direction indicated by the arrow). The two second gripping members 33 are movably connected to the second telescopic assembly 32. "Movable" means that the two second gripping members 33 can move relative to the second telescopic assembly 32 between a position protruding in the first direction and a position retracted into the second telescopic assembly 32. (Combined) Figure 1 As shown, during the outbound process of the target material box 100, after the first conveying mechanism 2 lifts the material box group 100a above the target material box 100, the second conveying mechanism 3 drives the second telescopic component 32 to extend to connect with the target material box 100. The second conveying mechanism 3 lifts the second telescopic component 32, the second telescopic component 32 shortens and moves the target material box 100 to the bottom of the second mounting component 31. By driving the second mounting component 31 to rotate 90 degrees and then driving the second telescopic component 32 to extend, the target material box 100 can pass through the moving bracket 1 and be placed on the buffer rack.

[0052] In some embodiments, such as Figure 2 As shown, the second mounting component 31 has two through holes 311 extending vertically, and the two through holes 311 are located at both ends of the second mounting component 31 in the first direction. The second through holes 311 penetrate the upper and lower ends of the second mounting component 31 in the vertical direction. Figure 3 As shown, the mounting portion 231 of the first gripper 23 includes a first extension 2311 and a second extension 2312. The first extension 2311 extends along a second direction ( Figure 3 The first extension 2311 extends in the vertical direction (as shown in the y-direction). Figure 3 One end of the first extension 2311 (in the z-direction shown) is fixedly connected to the connecting part 232. The second extension 2312 protrudes from the end of the first extension 2311 away from the connecting part 232, and the claw 233 is movably connected to the second extension 2312.

[0053] Among them, combined Figure 2 , Figure 3and Figure 7 As shown, when the second transport mechanism 3 is close to the first transport mechanism 2, the second extension 2312 can extend into the second through hole 311, and the second mounting assembly 31 abuts against the first extension 2311. As the second transport mechanism 3 continues to move vertically upward, the second mounting assembly 31 moves upward against the first extension 2311. The distance between the two second through holes 311 in the first direction is equal to the distance between the two first telescopic assemblies 22 in the first direction. This allows the second extension 2312 of the two first telescopic assemblies 22 to just extend into the two second through holes 311. By enabling the second extension of the first transport mechanism to extend vertically into the second through hole of the second transport mechanism, this embodiment of the invention helps to further reduce the distance between the first and second transport mechanisms, thereby further increasing the movable space of the second transport mechanism.

[0054] In some embodiments, such as Figure 4 As shown, the warehouse robot also includes a buffer mechanism 6. The buffer mechanism 6 is fixed to the second side of the movable support 1, opposite to the first side; that is, the buffer mechanism 6 and the first transport mechanism 2 are respectively located on both sides of the movable support 1. The buffer mechanism 6 is used to store the target boxes transported by the second transport mechanism 3. In other words, after the second transport mechanism 3 transports a target box from multiple stacked boxes, it can place the target box in the buffer mechanism 6. This allows the second transport mechanism 3 to start transporting the next target box without immediately moving it to the designated location, thus improving the efficiency of box transport.

[0055] In some embodiments, such as Figure 4 As shown, the cache mechanism 6 includes multiple cache racks 60 and a limiting mechanism 61. The multiple cache racks 60 are arranged vertically (...). Figure 4 The buffer rack 60 is spaced apart in the z-direction (as shown), and has a first direction ( Figure 4 The third end 602 and the fourth end 603 (shown in the x-direction) are opposite each other. The third end 602 is connected to the movable support 1. It should be noted that the embodiment of the present invention does not limit the form of connection between the buffer mechanism 6 and the movable support 1. For example, the buffer rack 60 can be permanently fixed to the movable support 1 by welding, or the buffer rack 60 can be detachably connected to the movable support 1 by snap-fit ​​or other connecting parts, as long as the buffer rack 60 can remain relatively stationary with the movable support 1. The buffer rack 60 is used to place the target material box to be transferred. Therefore, by fixing the buffer rack 60 to the movable support 1, the stability of the goods placement can be improved.

[0056] like Figure 4As shown in the drawings, the angle θ between the extension direction of each cache shelf 60 and the horizontal direction is greater than 0 degrees and less than or equal to 5 degrees, wherein the extension direction of the cache shelf 60 can be understood as the direction in which the third end 602 and the fourth end 603 of the cache shelf 60 are connected. And the fourth end 603 is higher than the third end 602. It should be noted that the horizontal direction and the vertical direction described in the embodiment of the application are the direction of the horizontal plane and the direction of the vertical plane in the absolute coordinate system. Through the embodiment of the application, the angle between the cache shelf and the horizontal direction is limited within a certain range, and the fourth end is higher than the third end. The target bin is placed in the state of the cache shelf. Due to the inclined arrangement of the cache shelf relative to the horizontal direction, the gravity of the target bin has a component in the direction of the surface of the cache shelf. The gravity component makes the target bin on the cache shelf tend to move in the direction of the third end. The moving support can support the target bin, so that the target bin can stably abut against the support frame. In the process of movement of the warehouse robot, the warehouse robot may be affected by the goods on the cache shelf due to the gravity component of the goods abutting against the moving support. Therefore, the warehouse robot needs greater external force to overcome the gravity component of the goods. Therefore, the difficulty of shaking the target bin on the cache shelf is increased, thereby improving the stability of the target bin placed on the cache shelf.

[0057] The embodiment of the application limits the angle between the cache shelf and the horizontal direction within a certain range, which can improve the stability of the target bin on the cache shelf and improve the efficiency of the target bin in the warehouse robot.

[0058] As shown in the drawings, the limiting mechanism 61 is protrudingly arranged along the circumference of the cache shelf 60, in combination with Figure 4 As shown in the drawings, the limiting mechanism 61 is protrudingly arranged along the circumference of the cache shelf 60, in combination with Figure 6As shown, the limiting mechanism 61 and the buffer rack 60 form a limiting area 601. It should be noted that the circumferential direction represents the four sides of the buffer rack 60, and the limiting mechanism 61 in the embodiment of the present application can be arranged on at least one side of the circumferential direction of the buffer rack 60, that is, the limiting mechanism 61 can not completely surround the four sides of the buffer rack 60 as long as the limiting mechanism 61 is arranged on the circumferential direction of the buffer rack 60. The limiting mechanism 61 and the buffer rack 60 form a limiting area 601. As shown, the limiting mechanism 61 protrudes relative to the upper surface of the buffer rack 60, and the circumferential direction of the goods placed in the limiting area 601 is blocked by the limiting mechanism 61. In the process of the warehouse robot being jolted by external force, the protruding limiting mechanism 61 can block the circumferential direction of the goods, reducing the shaking of the goods relative to the surface of the buffer rack. The second carrying mechanism on the warehouse robot can carry the target bin into the limiting area 601, and the limiting mechanism 61 can limit the target bin, reducing the risk of the target bin shaking on the buffer rack 60 and improving the stability of the target bin carrying.

[0059] The first direction of the buffer rack in the warehouse robot is inclined relative to the horizontal direction, so that the target bin on the buffer rack has a movement trend close to the support frame direction, reducing the risk of the target bin falling off the buffer rack. The limiting mechanism is further protrudingly arranged on the circumferential direction of the buffer rack, and the limiting mechanism can block the circumferential direction of the target bin, reducing the risk of the target bin shaking on the buffer rack and further improving the stability of the warehouse robot carrying the target bin.

[0060] In some embodiments, as Figure 6 As shown, the limiting mechanism 61 includes a first limiting component 611 and a second limiting component 612. The first limiting component 611 protrudes relative to the buffer rack 60 in the vertical direction (z direction) and is arranged close to the third end 602 of the buffer rack 60. Figure 6 As shown, the second limiting component 612 is arranged on the third end 602 of the buffer rack 60 and protrudes relative to the buffer rack 60 in the vertical direction (z direction). The second limiting component 612 is arranged on the third end 602 of the buffer rack 60, and the first limiting component 611 is arranged close to the third end 602 of the buffer rack 60, so that the first limiting component 611 and the second limiting component 612 can form a limiting area 601 on the third end 602 of the buffer rack 60.

[0061] As shown, the second limiting component 612 is arranged on the third end 602 of the buffer rack 60 and protrudes relative to the buffer rack 60 in the vertical direction (z direction). The second limiting component 612 is arranged on the third end 602 of the buffer rack 60, and the first limiting component 611 is arranged close to the third end 602 of the buffer rack 60, so that the first limiting component 611 and the second limiting component 612 can form a limiting area 601 on the third end 602 of the buffer rack 60. Figure 6 As shown, the second limiting component 612 is arranged on the third end 602 of the buffer rack 60 and protrudes relative to the buffer rack 60 in the vertical direction (z direction). The second limiting component 612 is arranged on the third end 602 of the buffer rack 60, and the first limiting component 611 is arranged close to the third end 602 of the buffer rack 60, so that the first limiting component 611 and the second limiting component 612 can form a limiting area 601 on the third end 602 of the buffer rack 60. Figure 6The second limiting component 612 protrudes from the buffer rack 60 in the first direction (as shown in the z-direction), and is disposed on at least one side of the buffer rack 60, wherein the side is on both sides of the buffer rack 60 in the first direction. It should be noted that, in this embodiment of the invention, the buffer rack 60 protrudes from the buffer rack 60 in the first direction (as shown in the z-direction). Figure 6 Two relative positions in the x-direction (as shown) are defined as the two ends of the buffer rack 60, and the buffer rack 60 is positioned perpendicular to the first direction (as shown). Figure 6 The two relative positions in the y-direction (as shown) are positioned as the two sides of the buffer rack 60. The second limiting component 612 can be provided on only one side of the buffer rack 60, or two second limiting components 612 can be provided, with the two second limiting components 612 positioned on opposite sides of the buffer rack 60, and the opposite direction of the two second limiting components 612 being perpendicular to the first direction. By providing the second limiting components on at least one side of the buffer rack, this embodiment of the invention can limit the side of the target material box placed on the buffer rack, thereby improving the stability of the target material box on the buffer rack.

[0062] In some embodiments, such as Figure 2 As shown, the movable support 1 includes a column 11 and a base structure 12. The column 11 is along the vertical direction ( Figure 2 Extending in the z-direction (as shown), column 11 connects the first conveying mechanism 2, the second conveying mechanism 3, the first lifting mechanism 4, and the second lifting mechanism 5. The base structure 12 is connected to one end of column 11 in the vertical direction (…). Figure 2 The lower end (as shown) is fixedly connected, and the base structure 12 is used to drive the column 11 to move. It should be noted that in this embodiment of the invention, the base structure 12 can drive the column 11 to move in the front-back direction, or it can drive the column 11 to move in all directions (front-back, left-right). Upon responding to the inbound or outbound command of the target material box, the base structure 12 can be driven to move, causing the warehouse robot to move to a position close to the target material box or near the position where the target material box is to be inbound, according to the position information in the command. It can be understood that under normal operating conditions, the ground or other surface on which the base structure 12 moves is a horizontal plane or an inclined plane.

[0063] In some embodiments, such as Figure 4 As shown, the base structure 12 includes a chassis 121, a drive assembly 122, two sets of driven assemblies 123, and a suspension mechanism 124. The chassis 121 is connected to the column 11. The chassis 121 provides support for the entire base structure. The drive assembly 122 and the chassis 121 are connected in the first direction ( Figure 4The midpoint of the x direction) is movably connected, it should be noted that the movable drive assembly 122 means that the drive assembly 122 is at least partially movable relative to the chassis 121, and the drive assembly 122 is used to drive the chassis 121 to move, wherein the base structure 12 can be used to be arranged at the bottom of the warehouse robot, and the movement of the base structure 12 drives the warehouse robot to move, and the drive assembly 122 is at least partially in contact with the ground. By moving the drive assembly 122 relative to the ground, the drive assembly 122 drives the base structure 12 to move relative to the ground.

[0064] Two groups of driven assemblies 123 are arranged at both ends of the chassis 121 in the first direction to follow the movement of the drive assembly 122. The two groups of driven assemblies 123 are arranged at both ends of the chassis 121 in the first direction Figure 4 The x direction), wherein the first direction can be used to represent the movement direction of the base structure 12, and one end of the base structure 12 in the first direction Figure 4 The x-axis arrow direction) can be regarded as the front of the base structure 12, and the other end of the base structure 12 in the first direction Figure 1 The direction opposite to the x-axis arrow direction) can be regarded as the rear of the base structure 12, and the base structure 12 can move in the direction indicated by the x-axis arrow Figure 4 During the movement of the base structure 12, the drive assembly 122 drives the chassis 121 to move, and the driven assembly 123 follows the movement of the chassis 121, so as to indirectly follow the movement of the drive assembly 122. By arranging the driven assembly at both ends of the chassis 121 in the first direction, the stability of the base structure is improved, and the efficiency of the movement of the base structure is improved.

[0065] As Figure 4 shown, the suspension mechanism 124 connects a group of driven assemblies 123 and the drive assembly 122. For example, in the embodiment of the application, the driven assembly 123 includes a first driven assembly and a second driven assembly, wherein the first driven assembly is located at one end of the front end of the base structure Figure 4 The x-axis arrow direction), and the second driven assembly is located at the rear end of the base structure. The suspension mechanism 124 connects the first driven assembly, and the suspension mechanism 124 is used to increase the friction between the base structure 12 and the ground to adapt to different degrees of inclination of the ground, thereby improving the ground adaptation performance and the stability of the operation of the base structure.

[0066] As Figure 4As shown, the chassis 121 includes a buffer cavity 1211 and a receiving cavity 1212 arranged sequentially in a first direction, and the buffer cavity 1211 and the receiving cavity 1212 are located on both sides of the column 11; the buffer cavity 1211 is close to the first conveying mechanism 2 in the first direction, and the receiving cavity 1212 is far away from the first conveying mechanism 2 in the first direction, and the receiving cavity 1212 is provided with a suspension mechanism 124. The buffer cavity 1211 is used to store the material box to be conveyed.

[0067] In this embodiment of the invention, by setting the buffer cavity and the receiving cavity on both sides of the drive assembly, and setting the suspension mechanism in the receiving cavity, the distribution of the support members on both sides of the drive assembly helps to improve the stability of the base structure, reduce the risk of the base structure tipping over, and the suspension mechanism can increase the friction between the base structure and the ground, thereby improving the ground adaptability and parallel stability of the base structure during operation.

[0068] In some embodiments, such as Figure 4 As shown, the suspension mechanism 124 includes a connecting arm 1242 and an elastic element 1241. The connecting arm 1242 is along a first direction ( Figure 4 Extending in the x-direction (as shown), the connecting arm 1242 is hinged to the chassis 121 at its connection point, meaning that the connecting arm 1242 can rotate relative to the chassis 121 about the connection point. The connecting arm 1242 extends in the first direction (x-direction). Figure 4 The connecting arm 1242 has two opposing ends in the x-direction shown. One end of the connecting arm 1242 is connected to the first driven component, and the other end of the connecting arm 1242 is connected to the drive component 122. The connection point is located between the two ends of the connecting arm 1242, so that the connecting arm 1242 forms a lever structure. Figure 4 As shown, the elastic element 1241 can extend and retract along its own length direction. That is, the elastic element 1241 has the ability to deform and recover its deformation along its length. Under the compression of an external force, the elastic element 1241 can contract, and after the external force disappears, the elastic element 1241 can return to its natural state. The elastic element 1241 in this embodiment includes, but is limited to, components such as springs and elastic balls. The following description uses a spring as an example. The length direction of the elastic element 1241 is in the vertical direction, where vertical refers to the up-down direction in an absolute coordinate system. One end of the elastic element 1241 in the vertical direction (… Figure 4 The upper end shown is connected to the chassis 121, and the other end of the elastic element 1241 (shown above) is connected to the chassis 121. Figure 4 The lower end (as shown) is connected to the connecting arm 1242.

[0069] Combination Figure 4 The working principle of the suspension mechanism 124 is explained below:

[0070] In the positive direction of the first direction of the base structure 12 ( Figure 4If the ground is a horizontal plane, the first driven assembly and the driving assembly 122 are located on the same horizontal plane during the process of the movement of the x-axis arrow. If the ground is a downhill section, the first driven assembly in the base structure 12 moves downward, and the first driven assembly drives one end of the connecting arm 1242 (the end close to the first driven member) to rotate clockwise around the connection, and correspondingly drives the other end of the connecting arm 1242 (the end close to the driving assembly 122) to rotate clockwise, and the other end rotating clockwise can drive the driving assembly 122 to move upward. Since the driving assembly 122 moves upward to press the elastic member 1241, the compressed elastic member 1241 has a restoring force to restore the deformation, and the restoring force is in the downward direction and abuts against the driving assembly 122 to increase the contact friction between the driving assembly 122 and the ground, thereby reducing the risk of slipping of the driving assembly 122 during the downhill process.

[0071] If the ground is an uphill section, the first driven assembly in the base structure 12 moves upward, and the first driven assembly drives one end of the connecting arm 1242 to rotate counterclockwise around the connection, and correspondingly drives the other end of the connecting arm 1242 to rotate counterclockwise, and the other end rotating counterclockwise can drive the driving assembly 122 to move downward, thereby increasing the contact friction between the driving assembly 122 and the ground, and further enhancing the climbing ability of the base structure.

[0072] In some embodiments, as shown in FIG. 1, the base structure 1 further includes a sensing assembly for detecting the relative position of the first carrying mechanism 2 and the second carrying mechanism 3. That is, a proximity sensor can be added between the first carrying mechanism 2 and the second carrying mechanism 3, and the sensor detects before the first carrying mechanism 2 and the second carrying mechanism 3 collide, and the detection of whether the first carrying mechanism 2 can be retracted is added to prevent the first carrying mechanism 2 from colliding with the second carrying mechanism 3 when it is retracted. Figure 4

[0073] In some embodiments, the sensing assembly is used to detect the relative position of the first carrying mechanism 2 and the moving bracket 1. And / or, the sensing assembly is used to detect the relative position of the second carrying mechanism 3 and the moving bracket 1. The embodiment of the application can add a limit sensor at the two end limit positions of the lifting and telescoping of the first carrying mechanism 2 and the second carrying mechanism 3, and add an origin sensor, so that the warehouse robot can automatically find zero after it is powered on according to the information of the limit sensor.

[0074] ​In some embodiments, the sensing assembly is configured to detect whether the first carrying mechanism 2 has grasped the bin set. And / or, the sensing assembly is configured to detect whether the second carrying mechanism 3 has grasped the target bin. The embodiments of the present application are configured to monitor the state of each moving part of the warehouse robot by means of the sensing assembly, so as to prevent the warehouse robot from malfunctioning and being abnormal. The position where the first carrying mechanism 2 and the second carrying mechanism 3 grasp the bin is provided with a bin detection sensor, which can be configured to detect whether the bin is normally grasped and released.

[0075] The above merely describes the preferred embodiments of the present application, but is not used to limit the protection scope of the present application.

Claims

1. A warehouse robot, characterized in that, The utility model relates to a kind of material box storage and retrieval system, comprising: Mobile support, extend in vertical direction and can move; First carrying mechanism, for carrying target material box above material box group or target material box to be stored in the position above the material box group stacked, the material box group includes at least one material box;The first carrying mechanism is arranged at the first side of the mobile support;Wherein, a part of the first carrying mechanism can be telescopic in the vertical direction relative to another part; Second carrying mechanism, for carrying the target material box, the second carrying mechanism is arranged at the first side of the mobile support and is located below the first carrying mechanism; First lifting mechanism, for driving the first carrying mechanism to move along the vertical direction; Second lifting mechanism, for driving the second carrying mechanism to move along the vertical direction independently of the first carrying mechanism; Wherein, in the case that the second carrying mechanism is close to the first carrying mechanism, the first carrying mechanism can be contracted, so that the size of the first carrying mechanism in vertical direction becomes smaller, to be able to increase the distance of the second carrying mechanism moving in vertical direction.

2. The warehouse robot of claim 1, wherein, The first carrying mechanism includes: First mounting piece, connected with the first lifting mechanism to move along the vertical direction; Two groups of first telescopic components, located below the first mounting piece and oppositely arranged in the first direction, the first telescopic component can reciprocate horizontally relative to the first mounting piece along the second direction, wherein the second direction is perpendicular to the first direction, and the first direction and the second direction are both in horizontal direction; Two first grabbing pieces, respectively connected with corresponding first telescopic components, and each first grabbing piece can be telescopic in the vertical direction relative to the connected first telescopic component.

3. The warehouse robot of claim 2, wherein, Each group of first telescopic components includes: Connecting telescopic arm, extending along the second direction and one end connected with the first mounting piece; First telescopic arm, movably connected with the connecting telescopic arm and slidable to the side of the connecting telescopic arm away from the first mounting piece in the second direction;The first grabbing piece is arranged below the first telescopic arm, and is slidably connected with the first telescopic arm; Wherein, the minimum distance of the two groups of first telescopic components in the first direction is less than the maximum width of the second carrying mechanism in the first direction.

4. The warehouse robot of claim 3, wherein, The first telescopic arm is provided with a first through hole penetrating in the vertical direction;The first grabbing piece includes: Mounting part, spaced from the first telescopic arm in the vertical direction; Connecting part, movably sleeved in the first through hole, the lower end of the connecting part is fixedly connected with the mounting part; Claw, movably connected with the mounting part, to move between the position protruding the mounting part in the first direction and the position retracted into the mounting part.

5. The warehouse robot of claim 4, wherein, The second carrying mechanism includes: Second mounting assembly, connected with the second lifting mechanism to lift along the vertical direction; Two groups of second telescopic components, located below the second mounting assembly and oppositely arranged in the first direction, the second telescopic component can be telescopic relative to the second mounting assembly along the positive direction and the negative direction of its length direction; Two second grabbing pieces, respectively movably connected with the second telescopic components.

6. The warehouse robot of claim 5, wherein, The second mounting assembly is provided with two second through holes penetrating in the vertical direction, and the two second through holes are arranged at two ends of the second mounting assembly in the first direction; The mounting part of the first grabbing member comprises: A first extension part extending in the second direction, and one end of the first extension part in the vertical direction is fixedly connected with the connecting part; A second extension part protruding at one end of the first extension part away from the connecting part, and the claw is movably connected with the second extension part; Wherein, in the state that the second carrying mechanism approaches the first carrying mechanism, the second extension part can extend into the second through hole, and the second mounting assembly abuts against the first extension part.

7. The warehouse robot according to any of claims 3-6, characterized by, The first telescopic assembly can move in the positive direction of the second direction and the negative direction of the second direction relative to the first mounting member, wherein each group of the first telescopic assembly further comprises: A first drag chain, a first end of the first drag chain is connected with the first mounting member, a second end of the first drag chain is connected with the first telescopic arm, the first end and the second end are opposite ends of the first drag chain in the length direction, and the first drag chain can reciprocate on both sides of the second direction of the connecting telescopic arm along with the first telescopic arm in the second direction.

8. The warehouse robot according to any one of claims 1-6, characterized in that, The moving support comprises: A stand connecting the first carrying mechanism, the second carrying mechanism, the first lifting mechanism and the second lifting mechanism; A base structure fixedly connected with one end of the stand in the vertical direction for driving the stand to move.

9. The warehouse robot of claim 8, wherein, The base structure comprises: A base plate connected with the stand; A driving assembly movably connected with the base plate for driving the base plate to move; Two groups of driven assemblies arranged at two ends of the base plate in the first direction for following the movement of the driving assembly; A suspension mechanism connecting a group of driven assemblies and the driving assembly; Wherein, the base plate comprises a buffer cavity and a containing cavity arranged in the first direction in sequence, and the buffer cavity and the containing cavity are located on both sides of the stand; the buffer cavity is close to the first carrying mechanism in the first direction, the containing cavity is away from the first carrying mechanism in the first direction, and the containing cavity is provided with the suspension mechanism.

10. The warehouse robot according to any one of claims 1-6, characterized in that, Further comprising: A sensing assembly for detecting the relative position of the first carrying mechanism and the second carrying mechanism; And / or, for detecting the relative position of the first carrying mechanism and the moving support; And / or, for detecting the relative position of the second carrying mechanism and the moving support; And / or, for detecting whether the first carrying mechanism grabs the group of material boxes; And / or, for detecting whether the second carrying mechanism grabs the target material box.

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