Transfer robot

Abstract

The invention provides a carrying robot which comprises a movable chassis, a stand column and a carrying device, the stand column is arranged on the movable chassis, the carrying device comprises a lifting part, a mounting frame and a goods taking and placing assembly, and the lifting part moves up and down relative to the stand column; the mounting frame comprises a connecting column and at least two supporting pieces, the at least two supporting pieces are connected through the connecting column, the at least two supporting pieces are connected with the lifting piece, and the at least two supporting pieces extend in the direction away from the stand column; the goods picking and placing assembly is connected with at least one of the at least two supporting pieces, the at least two supporting pieces are arranged in the height direction of the lifting piece so that the at least two supporting pieces can support the goods picking and placing assembly at different positions in the height direction of the goods picking and placing assembly, and the goods picking and placing assembly comprises at least one goods picking and placing mechanism. Therefore, when the lifting piece bears the acting force of the goods taking and placing assembly, the lifting piece has multiple stress bearing positions, and therefore the reliability and smoothness of lifting movement of the lifting piece are improved.

Description

Technical Field

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

[0002] With the development of artificial intelligence and automation technology, robots are widely used in the field of warehousing and logistics for picking up, transporting and sorting goods. In logistics systems, goods are usually stored on columns, and robots with corresponding functions pick up and place goods or complete cargo delivery tasks by docking with columns or conveyor lines.

[0003] In the related art, a warehousing system usually includes storage racks and a robot for picking up and placing goods. The robot can move in the aisles between the storage racks. The robot is usually provided with a fork for picking up and placing goods and a backpack for storing goods. The fork is usually cantilevered relative to the main body of the robot, and the fork is connected to the main body of the robot through a lifting unit, and can be lifted and lowered relative to the main body of the robot.

[0004] However, when the robot's fork is carrying goods, the lifting unit is subjected to a large force and has poor reliability. Summary of the invention

[0005] The present application provides a transport robot that can solve the technical problem that when the robot's fork carries goods, the lifting unit is subjected to a large force and has poor reliability.

[0006] The present application provides a transport robot, which includes a mobile chassis, a column and a transport device, wherein the column is arranged on the mobile chassis.

[0007] Among them, the handling device includes a lifting member, a mounting frame and a cargo pick-up and placement assembly, the lifting member is lifted and moved relative to the column; the mounting frame includes a connecting column and at least two supporting members, the at least two supporting members are connected by the connecting column, the at least two supporting members are connected to the lifting member, and the at least two supporting members extend in a direction away from the column; the cargo pick-up and placement assembly is connected to at least one of the at least two supporting members, and the at least two supporting members are arranged along the height direction of the lifting member so that the at least two supporting members support the cargo pick-up and placement assembly at different positions in the height direction of the cargo pick-up and placement assembly; the cargo pick-up and placement assembly includes at least one cargo pick-up and placement mechanism.

[0008] The handling robot provided in the present application supports different positions of the height direction of the cargo picking and placing component by arranging multiple supporting members on the mounting frame of the cargo picking and placing component, so that the lifting member has multiple force-bearing positions when bearing the force of the cargo picking and placing component, thereby improving the reliability and smoothness of the lifting and lowering movement of the lifting member.

[0009] As an optional embodiment, the support member may include a first support member and a second support member, the first support member is located on the side of the cargo picking and placing assembly facing the mobile chassis; the second support member is located on the side of the first support member away from the mobile chassis and has a distance from the first support member.

[0010] With such arrangement, the first support member can play a main supporting role below the cargo pick-up and placement assembly, and the second support member can play an auxiliary supporting role, thereby improving the reliability of the support structure of the cargo pick-up and placement assembly.

[0011] As an optional implementation, the first support member may be connected to an end of the lifting member facing the movable chassis, and the second support member may be connected to an end of the lifting member away from the movable chassis.

[0012] With such arrangement, when the lifting member is subjected to the force of the cargo picking and placing assembly, both ends of the lifting member can be subjected to force, thereby improving the smoothness of the lifting member during lifting and moving.

[0013] As an optional embodiment, the mounting frame may further include a first rotating member, which may be disposed on the first support member, and the picking and placing assembly may be rotatably connected to the first support member via the first rotating member; and / or, the mounting frame may further include a second rotating member, which may be disposed on the second support member, and the picking and placing assembly may be rotatably connected to the second support member via the second rotating member.

[0014] With such arrangement, the cargo picking and placing assembly can rotate relative to the first support member and the second support member to facilitate the cargo picking and placing operation.

[0015] As an optional embodiment, the first rotating member may include a first outer ring and a first inner ring rotating relative to the first outer ring, the first outer ring is connected to the first support member, and the first inner ring is connected to the pick-up and placement assembly; and / or, the second rotating member may include a second outer ring and a second inner ring rotating relative to the second outer ring, the second outer ring is connected to the second support member, and the second inner ring is connected to the pick-up and placement assembly.

[0016] Such an arrangement ensures the reliability of the support member supporting the cargo pick-up and placement assembly through the two rotating members while realizing the rotation of the cargo pick-up and placement assembly.

[0017] As an optional embodiment, the cargo picking and placing assembly may include a connecting mechanism and at least two cargo picking and placing mechanisms, the at least two cargo picking and placing mechanisms are connected by the connecting mechanism, and the at least two cargo picking and placing mechanisms are arranged along the height direction of the lifting member; at least one of the at least two cargo picking and placing mechanisms is located between the first support member and the second support member.

[0018] With such an arrangement, the cargo picking and placing component can have a double-layer cargo picking and placing space, thereby improving the cargo picking and placing efficiency of the transport robot.

[0019] As an optional embodiment, the at least two picking up and placing cargo mechanisms may include a first picking up and placing cargo mechanism and a second picking up and placing cargo mechanism. The first picking up and placing cargo mechanism may be located on a side of the first support member facing away from the mobile chassis, and the second picking up and placing cargo mechanism may be located on a side of the first picking up and placing cargo mechanism facing away from the mobile chassis; the connecting mechanism is connected to the second rotating member so that the connecting mechanism can support the second picking up and placing cargo mechanism.

[0020] With such an arrangement, there can be two layers of cargo picking space, the upper and lower layers, and the two cargo picking and placing mechanisms are connected to each other, ensuring that the double-layer structure of the cargo picking and placing assembly has a high structural stability.

[0021] As an optional embodiment, the pick-up and release assembly may further include a rotary drive mechanism, the rotary drive mechanism including a first drive member and a first transmission member, the first drive member is arranged on the first pick-up and release mechanism, and the first drive member is used to drive the first transmission member so that the first transmission member drives the first pick-up and release mechanism to rotate relative to the first support member.

[0022] Such an arrangement can realize the relative rotation of the cargo picking and placing assembly with respect to the mounting frame, and improve the driving efficiency of the rotation of the cargo picking and placing assembly.

[0023] As an optional implementation, the second support member may be located between the first picking and placing mechanism and the second picking and placing mechanism, and the distance between the first support member and the second support member matches the height of the storage space above the first picking and placing mechanism.

[0024] With such arrangement, the second support member can play a supporting role at the middle position in the height direction of the cargo picking and placing assembly, thereby improving the reliability of the support structure.

[0025] As an optional embodiment, the second picking and placing mechanism can be located on the side of the second support member away from the first picking and placing mechanism; the connecting mechanism is connected between the first picking and placing mechanism and the second picking and placing mechanism, and the connecting mechanism is connected to the second picking and placing mechanism through a second rotating member, so that the first picking and placing mechanism and the second picking and placing mechanism rotate synchronously relative to the mounting frame.

[0026] With such arrangement, the second cargo picking and placing mechanism and the first cargo picking and placing mechanism can be relatively fixed as a whole, and the weight is jointly borne by the first support member and the second support member, thereby improving the structural stability.

[0027] As an optional embodiment, the connecting column includes a first connecting column, the connecting mechanism may include a first connecting plate, the first end of the first connecting column can be connected to the first picking and releasing mechanism, the second end of the first connecting column faces the second picking and releasing mechanism, the first connecting plate can be connected to the second end of the first connecting column, and the first connecting plate is connected to the second rotating member.

[0028] Such an arrangement improves the reliability of the connection structure between the first cargo picking and placing mechanism and the second cargo picking and placing mechanism.

[0029] As an optional embodiment, there can be multiple first connecting columns, which are distributed on both sides of the width direction of the cargo picking and placing component, are parallel to each other, and the second ends of the multiple first connecting columns can be connected to the first connecting plate.

[0030] With such arrangement, the first connecting plate can be used as a connecting transition component between the first cargo picking and placing mechanism and the second cargo picking and placing mechanism, thereby ensuring a high structural strength between the two.

[0031] As an optional embodiment, the second support member can be located on the side of the second picking and placing mechanism away from the first picking and placing mechanism, and the distance between the first support member and the second support member can match the sum of the heights of the storage space above the first picking and placing mechanism and the storage space above the second picking and placing mechanism.

[0032] In this way, the second support member can be arranged above the cargo picking and placing assembly, and the second support member can assist the first support member in bearing the force of the cargo picking and placing assembly, thereby improving the structural strength.

[0033] As an optional embodiment, the connecting column includes a second connecting column, and the connecting mechanism may include a second connecting plate. The first end of the second connecting column is connected to the first picking and releasing mechanism, the second end of the second connecting column faces the second picking and releasing mechanism, and the second connecting column is connected to the second picking and releasing mechanism; the second connecting plate is connected to the second end of the second connecting column, and the second connecting plate is connected to the second rotating member.

[0034] With such arrangement, the cargo picking and placing assembly can realize rotation relative to the second supporting member through the second rotating member, and the second supporting member can bear the force of the cargo picking and placing assembly.

[0035] As an optional embodiment, there can be multiple second connecting columns, which are distributed on both sides of the width direction of the cargo picking and placing assembly, and the second ends of at least some of the second connecting columns extend to the side of the second cargo picking and placing mechanism away from the first cargo picking and placing mechanism; the second connecting plate is connected between the second connecting columns on both sides of the cargo picking and placing assembly.

[0036] Such an arrangement can improve the reliability of the connection structure between the first cargo picking and placing mechanism and the second cargo picking and placing mechanism.

[0037] As an optional embodiment, the first picking and placing mechanism may include a first substrate, a first telescopic member and a first picking member, the first substrate is rotatably connected to the first supporting member via a first rotating member, the first telescopic member slides relative to the first substrate, and the first picking member is arranged on the first telescopic member; the second picking and placing mechanism may include a second substrate, a second telescopic member and a second picking member, the second substrate may be connected to the first substrate via a connecting mechanism, the second telescopic member slides relative to the second substrate, and the second picking member is arranged on the second telescopic member.

[0038] With such arrangement, the base plate between the two picking and placing mechanisms can be relatively fixed, and telescopic picking and placing operations can be performed independently.

[0039] As an optional embodiment, the first picking-up and releasing mechanism includes a first driving unit, the first driving unit is arranged on the first picking-up member, the first telescopic member is provided with a first rack, the first picking-up member is provided with a first gear, the first gear is meshed with the first rack, and the output end of the first driving unit is connected to the first gear, so that the first driving unit drives the first picking-up member to move relative to the first telescopic member; and / or,

[0040] The second picking and releasing mechanism includes a second driving unit, which is arranged on the second picking piece, a second rack is provided on the second telescopic piece, a second gear is provided on the second picking piece, the second gear is meshed with the second rack, and the output end of the second driving unit is connected to the second gear so that the second driving unit drives the second picking piece to move relative to the second telescopic piece.

[0041] As an optional embodiment, the first picking up piece includes a first sliding plate and a first cargo hook, the first telescopic piece is provided with a first guide rail, the first sliding plate is slidably set on the first guide rail, and the first cargo hook is connected to the first sliding plate; the second picking up piece includes a second sliding plate and a second cargo hook, the second telescopic piece is provided with a second guide rail, the second sliding plate is slidably set on the second guide rail, and the second cargo hook is connected to the second sliding plate.

[0042] As an optional embodiment, the first cargo hook is slidably connected to the first sliding plate, and the first pickup member further includes a first tension spring, one end of the first tension spring is connected to the first sliding plate, and the other end of the first tension spring is connected to the first cargo hook; and / or,

[0043] The second cargo hook is slidably connected to the second sliding plate, and the second cargo pickup member also includes a second tension spring, two ends of the second tension spring are connected to the second sliding plate, and the other end of the second tension spring is connected to the second cargo hook.

[0044] As an optional embodiment, the first cargo hook is slidably connected to the first sliding plate, and the first pickup unit further includes a third driving unit, which is disposed on the first sliding plate and is used to drive the first cargo hook to move in a vertical direction; and / or,

[0045] The second cargo hook is slidably connected to the second sliding plate. The second cargo pickup also includes a fourth driving unit. The fourth driving unit is arranged on the second sliding plate. The fourth driving unit is used to drive the second cargo hook to move in a vertical direction.

[0046] As an optional embodiment, the lifting member may include a lifting body and a roller group, the roller group may include multiple rollers, the multiple rollers are rotatably connected to the lifting body, and the multiple rollers may be distributed at different positions in the height direction of the lifting member; the multiple rollers are all abutted against the column.

[0047] Such an arrangement can improve the smoothness of the lifting member when it moves up and down relative to the column.

[0048] As an optional implementation, the column includes a fixed column and a movable column, the fixed column is connected to the movable chassis, the movable column is connected to the fixed column and can move along the height direction of the fixed column, and the lifting member is connected to the movable column.

[0049] As an optional implementation, the handling robot further includes a plurality of temporary storage units, which are arranged at intervals along the height direction of the column; the handling device and the temporary storage units are respectively located on opposite sides of the column.

[0050] The present application provides a handling robot, comprising a mobile chassis, a column and a handling device, the column being arranged on the mobile chassis, the handling device comprising a lifting member, a mounting frame and a cargo pick-up and placement assembly, the lifting member being connected to the side of the column, and the lifting member being lifted and moved relative to the column; the mounting frame comprising a connecting column and at least two supporting members, the at least two supporting members being connected by the connecting column, the at least two supporting members being connected to the lifting member, and the at least two supporting members being extended in a direction away from the column; the cargo pick-up and placement assembly being connected to at least one of the at least two supporting members, and the at least two supporting members being arranged along the height direction of the lifting member, so that the at least two supporting members support the cargo pick-up and placement assembly at different positions in the height direction of the cargo pick-up and placement assembly, so that the lifting member has multiple force-bearing positions when bearing the force of the cargo pick-up and placement assembly, thereby improving the reliability and smoothness of the lifting and lowering movement of the lifting member.

[0051] In addition to the technical problems solved by the embodiments of the present application described above, the technical features that constitute the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions, other technical problems that can be solved by the handling robot provided by the present application, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further described in detail in the specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0053] Figure 1 A schematic diagram of the first structure of the handling robot provided in an embodiment of the present application;

[0054] Figure 2 A schematic diagram of the structure of the transport device in the first structure of the transport robot provided in the embodiment of the present application Figure 1 ;

[0055] Figure 3 A schematic diagram of the structure of the transport device in the first structure of the transport robot provided in the embodiment of the present application Figure 2 ;

[0056] Figure 4 A side view of the transport device in the first structure of the transport robot provided in the embodiment of the present application Figure 1 ;

[0057] Figure 5 A side view of the transport device in the first structure of the transport robot provided in the embodiment of the present application Figure 2 ;

[0058] Figure 6 A schematic diagram of the bottom of a transport device in a first structure of a transport robot provided in an embodiment of the present application;

[0059] Figure 7 A schematic diagram of the structure of a lifting member in a first structure of a handling robot provided in an embodiment of the present application;

[0060] Figure 8 A second structural schematic diagram of the transport robot provided in an embodiment of the present application;

[0061] Fig. 9 A schematic diagram of the structure of the transport device in the second structure of the transport robot provided in the embodiment of the present application Figure 1 ;

[0062] Fig.10 A schematic diagram of the structure of the transport device in the second structure of the transport robot provided in the embodiment of the present application Figure 2 ;

[0063] Fig.11 A side view of the transport device in the second structure of the transport robot provided in the embodiment of the present application Figure 1 ;

[0064] Fig.12 A side view of the transport device in the second structure of the transport robot provided in the embodiment of the present application Figure 2 ;

[0065] Fig.13 A schematic diagram of the bottom of a transport device in a second structure of a transport robot provided in an embodiment of the present application;

[0066] Fig.14 A schematic diagram of the structure of a lifting member in the second structure of the handling robot provided in an embodiment of the present application;

[0067] Fig.15 A side view of the transport robot in an extended state provided by an embodiment of the present application;

[0068] Fig.16 A schematic diagram of the structure of the transport robot in a retracted state provided by an embodiment of the present application;

[0069] Fig.17 A schematic diagram of the coordination between the picking piece and the telescopic piece in the handling robot provided in an embodiment of the present application;

[0070] Fig.18 A schematic diagram of the structure of the transport robot for picking up goods provided in the embodiment of the present application Figure 1 ;

[0071] Fig.19 for Fig.18 A front view of

[0072] Fig. 20 A schematic diagram of the structure of the transport robot for picking up goods provided in the embodiment of the present application Figure 2 .

[0073] Description of reference numerals:

[0074] 100-mobile chassis;

[0075] 200-column; 210-temporary storage unit;

[0076] 300-handling device; 310-lifting member; 311-lifting body; 312-roller group; 320-mounting frame; 321-support member; 321a-first support member; 321b-second support member; 322-first rotating member; 323-second rotating member; 330-pick-up and release assembly; 331-first pick-up and release mechanism; 3311-first base plate; 3312-first telescopic member; 3313-first pick-up member; 3313a-third driving unit; 3314-first driving unit; 3315-first rack; 3 316-first gear; 3317-first sliding plate; 3318-first cargo hook; 3319-first tension spring; 332-second cargo picking and releasing mechanism; 3321-second base plate; 3322-second telescopic member; 3323-second cargo picking member; 333-connecting mechanism; 3331a-first connecting column; 3331b-first connecting plate; 3332a-second connecting column; 3332b-second connecting plate; 334-rotating driving mechanism; 3341-first driving member; 3342-first transmission member; 335-detection unit;

[0077] 400-Material Box. DETAILED DESCRIPTION

[0078] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0079] First, those skilled in the art should understand that these implementations are only used to explain the technical principles of the present application and are not intended to limit the scope of protection of the present application. Those skilled in the art can make adjustments to them as needed to adapt to specific application scenarios.

[0080] Secondly, it should be noted that in the description of the present application, terms such as "up", "down", "left", "right", "front", "back", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or component must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be understood as a limitation on the present application.

[0081] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means 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 disclosure. 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 may be combined in any one or more embodiments or examples in a suitable manner.

[0082] Various types of robots are widely used in various fields such as industry and life, and robots play an important role in transportation, logistics and other industries. In warehousing and logistics systems, goods are usually stored on storage racks. Robots can pick up and place goods by docking with storage racks or conveyor lines, and can transport goods. The handling robot can move in the lanes between storage racks. The robot is usually equipped with a fork for picking up and placing goods and a backpack for storing goods. The fork is usually cantilevered relative to the main body of the robot, and the fork is connected to the main body of the robot through a lifting unit, and can be lifted and moved relative to the main body of the robot. When goods or material boxes are placed on the fork, the fork as a whole has a large overturning force relative to the main body of the robot.

[0083] Therefore, when the robot's fork is carrying goods, the lifting unit used to drive the fork to move up and down is subject to a large force, and the connection reliability between the fork and the lifting unit is poor. When the lifting unit moves relative to the main body of the robot, it is subject to the torque formed by the overturning force of the fork, and the lifting and lowering movement of the lifting unit is not smooth enough.

[0084] In response to the above-mentioned problems, an embodiment of the present application provides a transport robot. Through the design of the supporting structure of the fork, the lifting unit on the robot's main body can support multiple positions of the fork when the fork is carried by the mounting frame, so that the mounting frame and the lifting unit have multiple force points, so as to improve the structural stability of the fork on the robot's main body and improve the smoothness of the lifting and lowering movement of the fork driven by the lifting unit.

[0085] To facilitate understanding, the application scenarios of the embodiments of the present application are first described.

[0086] The handling robot provided in the embodiment of the present application can be applied to a warehousing system to pick up, place and transport goods, wherein the handling robot can be applied to the logistics distribution of industrial production lines, the warehousing and unloading of inventory products in the manufacturing industry, the warehousing and unloading of products in the retail industry, and can also be applied to different fields such as the express delivery and unloading of e-commerce logistics, and the products or goods involved in the transportation can be industrial parts, electronic accessories or products, medicines, clothing accessories, food, books, etc., and it can directly transfer goods or transfer material boxes containing goods. The embodiment of the present application does not make specific limitations on this, and the "material box" will be used below to refer to the handling object of the handling robot, and no specific examples will be given.

[0087] Figure 1 A schematic diagram of the first structure of the transport robot provided in the embodiment of the present application, Figure 2 A schematic diagram of the structure of the transport device in the first structure of the transport robot provided in the embodiment of the present application Figure 1 , Figure 3 A schematic diagram of the structure of the transport device in the first structure of the transport robot provided in the embodiment of the present application Figure 2 , Figure 4 A side view of the transport device in the first structure of the transport robot provided in the embodiment of the present application Figure 1 , Figure 5 A side view of the transport device in the first structure of the transport robot provided in the embodiment of the present application Figure 2 , Figure 6 This is a schematic diagram of the bottom of the transport device in the first structure of the transport robot provided in an embodiment of the present application, Figure 7 A schematic diagram of the structure of the lifting component in the first structure of the handling robot provided in an embodiment of the present application.

[0088] like Figures 1 to 7 As shown, an embodiment of the present application provides a transport robot for picking up, placing and transporting a material box 400. The transport robot includes a mobile chassis 100, a column 200 and a transport device 300. The column 200 is arranged on the mobile chassis 100, and the mobile chassis 100 can be moved on the ground. The temporary storage unit 210 on the column 200 is used to store the material box 400. The transport device 300 is used to realize the picking up and placing of the material box 400, and the transport device 300 can be connected to the column 200, and the transport device 300 can move along the height direction of the column 200, so as to realize the picking up and placing operations of the material box 400 at different height positions.

[0089] Among them, the handling device 300 includes a lifting member 310, a mounting frame 320 and a cargo pick-up and placement assembly 330. The lifting member 310 is connected to the side of the column 200, and the lifting member 310 is lifted and moved relative to the column 200. The cargo pick-up and placement assembly 330 is connected to the lifting member 310 through the mounting frame 320, and the lifting member 310 can drive the cargo pick-up and placement assembly 330 to move along the height direction of the column 200. The cargo pick-up and placement assembly 330 is used to pick up and place the material box 400.

[0090] In some embodiments, the mounting frame 320 includes a connecting column and at least two support members 321, wherein at least two support members 321 are connected via the connecting column, and the support members 321 are all connected to the lifting member 310, and the support members 321 extend in a direction away from the column 200, and the cargo pick-up and placement component 330 includes at least one cargo pick-up and placement mechanism, and the cargo pick-up and placement component 330 is connected to at least one of the support members 321, and the support members 321 can be arranged along the height direction of the lifting member 310, so that each support member 321 supports the cargo pick-up and placement component 330 at different positions in the height direction of the cargo pick-up and placement component 330.

[0091] It can be understood that the end of the support member 321 can be connected to the lifting member 310, and the support member 321 can form a cantilever structure on the side of the lifting member 310, and the cargo picking and placing component 330 is arranged on the support member 321, and the support member 321 bears the weight of the cargo picking and placing component 330, and the force of the cargo picking and placing component 330 on the support member 321 is transmitted to the lifting member 310.

[0092] Since the support member 321 acts as a cantilever to bear the downward gravity of the cargo pick-up and release component 330, the lifting member 310 located at the starting end of the cantilever of the support member 321 needs to bear the torque formed by the force of the cargo pick-up and release component 330 on the support member 321. In the embodiment of the present application, different support members 321 are supported at different positions of the cargo pick-up and release component 330. On the one hand, the stability of the support structure of the cargo pick-up and release component 330 is improved. On the other hand, different support members 321 are distributed at different positions in the height direction of the lifting member 310, so that the lifting member 310 has multiple different force points when bearing the force transmitted by the support member 321, thereby dispersing the force on the lifting member 310.

[0093] It should be noted that, in the handling robot provided in the embodiment of the present application, by setting the mounting frame 320 of the cargo picking and placing component 330 as a structure in the form of multiple support members 321, when the cargo picking and placing component 330 is installed, different positions in the height direction of the cargo picking and placing component 330 can be supported, so that the lifting member 310 has multiple force-bearing positions when it is subjected to the force of the cargo picking and placing component 330, thereby improving the reliability and smoothness of the lifting and lowering movement of the lifting member 310 relative to the column 200.

[0094] First, the specific configuration of the support member 321 and the specific connection between the cargo picking and placing assembly 330 and the support member 321 are described in detail below.

[0095] The moving direction of the lifting member 310 relative to the column 200 is defined as the Z direction, the length direction of the picking and placing assembly 330 is defined as the X direction, and the width direction of the picking and placing assembly 330 is defined as the Y direction.

[0096] Please continue to refer to Figures 1 to 7 In a possible implementation, the support member 321 may include a first support member 321a and a second support member 321b, the first support member 321a is located on the side of the cargo pick-up and placement assembly 330 facing the mobile chassis 100, and the second support member 321b is located on the side of the first support member 321a away from the mobile chassis 100 and has a distance from the first support member 321a.

[0097] It can be understood that the first support member 321a is located below the cargo pick-up and placement component 330 along the Z direction, so that the first support member 321a can play a main supporting role below the cargo pick-up and placement component 330, and the second support member 321b can be supported at other positions on the cargo pick-up and placement component 330. The second support member 321b can play an auxiliary supporting role to improve the reliability of the supporting structure of the cargo pick-up and placement component 330.

[0098] Exemplarily, the second support member 321b can be supported at the middle position of the pick-up and place assembly 330 along the Z direction, or the second support member 321b can be supported at the top position of the pick-up and place assembly 330 along the Z direction, and the embodiments of the present application do not specifically limit this.

[0099] It should be noted that in the embodiment of the present application, the number of support members 321 can be two, three or more, among which the support member 321 located below the cargo picking and placing component 330 plays a main supporting role, and the other support members 321 can play an auxiliary supporting role. The following description will be taken as an example of two support members 321 and will not be repeated.

[0100] In some embodiments, the first support member 321a can be connected to one end of the lifting member 310 facing the mobile chassis 100, and the second support member 321b can be connected to one end of the lifting member 310 away from the mobile chassis 100. The first support member 321a and the second support member 321b are arranged parallel to each other.

[0101] It can be understood that the first support member 321a and the second support member 321b both extend along the X direction to the side of the column 200, and the lifting member 310 extends along the Z direction. The first support member 321a is connected to the bottom end of the lifting member 310 along the Z direction, so that the first support member 321a can be supported below the pick-up and release assembly 330. The second support member 321b is connected to the top end of the lifting member 310 along the Z direction, so that the second support member 321b can be opposite to the middle position of the pick-up and release assembly 330 or the space above the pick-up and release assembly 330.

[0102] It should be noted that the ends of the two cantilever structures formed by the first support member 321a and the second support member 321b are respectively connected to the two ends of the lifting member 310, so that when the lifting member 310 is subjected to the force of the picking and placing assembly 330, the two ends of the lifting member 310 can be subjected to force synchronously, thereby improving the reliability of the support for the picking and placing assembly 330 and the smoothness of the lifting member 310 during lifting and lowering movement.

[0103] In some embodiments, the mounting frame 320 may further include a first rotating member 322 , and the first rotating member 322 may be disposed on the first supporting member 321 a . The cargo picking and placing assembly 330 may be rotatably connected to the first supporting member 321 a via the first rotating member 322 .

[0104] The mounting frame 320 may further include a second rotating member 323 , which may be disposed on the second supporting member 321 b , and the cargo picking and placing assembly 330 may be rotatably connected to the second supporting member 321 b via the second rotating member 323 .

[0105] It is understandable that the cargo pick-up and placement assembly 330 can rotate relative to the first support member 321a and the second support member 321b, that is, the cargo pick-up and placement assembly 330 can rotate relative to the mounting frame 320 as a whole, so as to facilitate the operation of picking and placing cargo. The rotation axis of the cargo pick-up and placement assembly 330 extends along the Z direction, and the cargo pick-up and placement assembly 330 can rotate so that the cargo pick-up and placement opening of the cargo pick-up and placement assembly 330 is directed toward the column 200, or toward the side away from the column 200.

[0106] It should be noted that the first rotating member 322 and the second rotating member 323 can both be bearings. The first rotating member 322 can be installed on the first support member 321a through a bearing seat, and the second rotating member 323 can be installed on the second support member 321b through a bearing seat. The first rotating member 322 and the second rotating member 323 can both be subjected to axial force to ensure that the cargo picking and placing assembly 330 has sufficient supporting strength while the cargo picking and placing assembly 330 can rotate.

[0107] In addition, since the first support member 321a plays a main supporting role below the cargo picking and placing component 330, and the second support member 321b plays an auxiliary supporting role above the first support member 321a, the size of the first rotating member 322 matched with the first support member 321a can be larger than the size of the second rotating member 323 matched with the second support member 321b. The embodiment of the present application does not limit the size models of the first rotating member 322 and the second rotating member 323.

[0108] Exemplarily, the first rotating member 322 may include a first outer ring and a first inner ring rotating relative to the first outer ring, the first outer ring may be connected to the first support member 321a, and the first inner ring may be connected to the cargo pick-up and placement assembly 330, wherein the first outer ring is a bearing outer ring, the first inner ring is a bearing inner ring, the first outer ring and the first support member 321a may be fixedly connected, including but not limited to welding connection, bolts and other fastener connections, the first inner ring and the cargo pick-up and placement assembly 330 may be connected by fasteners or assembled in an interference fit manner, so as to ensure the reliability of the first support member 321a supporting the cargo pick-up and placement assembly 330 through the first rotating member 322 while realizing the rotation of the cargo pick-up and placement assembly 330 relative to the first support member 321a.

[0109] Exemplarily, the second rotating member 323 may include a second outer ring and a second inner ring that rotates relative to the second outer ring, the second outer ring is connected to the second support member 321b, and the second inner ring is connected to the cargo pick-up and placement assembly 330, wherein the second outer ring is a bearing outer ring, the second inner ring is a bearing inner ring, the second outer ring and the second support member 321b may be fixedly connected, including but not limited to welding connection, bolts and other fastener connections, the second inner ring and the cargo pick-up and placement assembly 330 may be connected by fasteners or assembled in an interference fit manner, so as to ensure the reliability of the second support member 321b supporting the cargo pick-up and placement assembly 330 through the second rotating member 323 while realizing the rotation of the cargo pick-up and placement assembly 330 relative to the second support member 321b.

[0110] The specific structure of the cargo picking and placing assembly 330 and the specific matching manner between the cargo picking and placing assembly 330 and the first supporting member 321a and the second supporting member 321b are described in detail below.

[0111] Please continue to refer to Figures 1 to 7 In a possible implementation, the cargo pick-up and placement assembly 330 may include a connecting mechanism 333 and at least two cargo pick-up and placement mechanisms, the at least two cargo pick-up and placement mechanisms are connected by the connecting mechanism 333, and the at least two cargo pick-up and placement mechanisms are arranged along the height direction of the lifting member 310, and at least one of the at least two cargo pick-up and placement mechanisms is located between the first support member 321a and the second support member 321b.

[0112] It can be understood that the number of the picking and placing mechanisms of the picking and placing assembly 330 can be two, three or more, each picking and placing mechanism has an independent storage space for accommodating the material box 400, and each picking and placing mechanism can pick up and place the material box 400, thereby improving the efficiency of the picking and placing assembly 330 in picking up and placing the material box 400.

[0113] Taking two picking and placing mechanisms as an example, the picking and placing assembly 330 can have a double-layer picking and placing space, and the two picking and placing mechanisms can be arranged along the Z direction. Multiple picking and placing mechanisms pick up and place multiple materials, which increases the overall weight of the picking and placing assembly 330. However, in the embodiment of the present application, it is supported by multiple support members 321, so that the fork assembly has good structural stability when it has a multi-layer picking and placing material box 400 structure.

[0114] In a possible implementation, the above-mentioned picking and placing mechanism may include a first picking and placing mechanism 331 and a second picking and placing mechanism 332. The first picking and placing mechanism 331 may be located on the side of the first support member 321a away from the mobile chassis 100, and the second picking and placing mechanism 332 may be located on the side of the first picking and placing mechanism 331 away from the mobile chassis 100.

[0115] It can be understood that the first picking and placing mechanism 331 is located below the second picking and placing mechanism 332, and the second picking and placing mechanism 332 is located above the first picking and placing mechanism 331, and the two can be connected by a connecting mechanism 333, so that the first picking and placing mechanism 331 and the second picking and placing mechanism 332 can be relatively fixed, and the two can rotate synchronously relative to the mounting frame 320, ensuring that the double-layer structure of the picking and placing assembly 330 has a higher structural stability.

[0116] Exemplarily, the first picking-up and releasing mechanism 331 can be carried above the first support member 321a, and the bottom of the first picking-up and releasing mechanism 331 can be connected to the first rotating member 322, and the first picking-up and releasing mechanism 331 can rotate relative to the first support member 321a through the first rotating member 322; and the second picking-up and releasing mechanism 332 can be carried above the first picking-up and releasing mechanism 331 through the connecting mechanism 333, and the connecting mechanism 333 can be connected to the second rotating member 323, so that the overall force of the picking-up and releasing assembly 330 is partially transmitted to the second support member 321b through the connecting mechanism 333, and the second support member 321b can achieve the function of auxiliary support.

[0117] In some embodiments, the cargo pick-up and placement assembly 330 may further include a rotational drive mechanism 334, which includes a first drive member 3341 and a first transmission member 3342. The first drive member 3341 is disposed on the first cargo pick-up and placement mechanism 331, and the first drive member 3341 is used to drive the first transmission member 3342 so that the first transmission member 3342 drives the first cargo pick-up and placement mechanism 331 to rotate relative to the first support member 321a.

[0118] It can be understood that the first driving member 3341 can be a motor, and the output end of the first driving member 3341 can be provided with a transmission wheel, the outer ring of the first rotating member 322 can form a transmission wheel, and the first transmission member 3342 is a flexible transmission member and is wound between the two transmission wheels, wherein the outer ring of the first rotating member 322 remains relatively fixed, and the relative rotation of the picking and placing assembly 330 relative to the mounting frame 320 can be achieved through the rotation of the output end of the first driving unit, and the driving efficiency of the rotation of the picking and placing assembly 330 is improved.

[0119] Exemplarily, the transmission wheel at the output end of the first driving member 3341 can be a sprocket, the outer ring of the first rotating member 322 can be provided with a sprocket, and the first transmission member 3342 can be a chain. In addition, the rotating drive mechanism 334 can also adopt other driving structures, including but not limited to pulley drive, etc.

[0120] It should be noted that, since the cargo pick-up and placement assembly 330 may have a multi-layer cargo pick-up and placement structure, the first support member 321a is supported at the bottom of the cargo pick-up and placement assembly 330, and the second support member 321b may have different support positions relative to the cargo pick-up and placement assembly 330. For example, the second support member 321b may be supported between the first cargo pick-up and placement mechanism 331 and the second cargo pick-up and placement mechanism 332, or the second support member 321b may be supported above the second cargo pick-up and placement mechanism 332. The following will be described in detail through different examples.

[0121] Please continue to refer to Figures 1 to 7 In a possible implementation, the second support member 321b can be located between the first pick-up and release mechanism 331 and the second pick-up and release mechanism 332. The distance between the first support member 321a and the second support member 321b matches the height of the storage space above the first pick-up and release mechanism 331. The second support member 321b can play a supporting role in the middle position in the height direction of the pick-up and release component 330, thereby improving the reliability of the supporting structure.

[0122] It can be understood that the first picking and placing mechanism 331 can be connected to the second support member 321b through the connecting mechanism 333, and the second picking and placing mechanism 332 can be supported above the second support member 321b, and the first picking and placing mechanism 331 and the second picking and placing mechanism 332 can rotate relative to the second support member 321b at the same time.

[0123] In some embodiments, the second pick-up and release mechanism 332 can be located on the side of the second support member 321b away from the first pick-up and release mechanism 331, the connecting mechanism 333 is connected between the first pick-up and release mechanism 331 and the second pick-up and release mechanism 332, and the connecting mechanism 333 is connected to the second pick-up and release mechanism 332 through the second rotating member 323, so that the first pick-up and release mechanism 331 and the second pick-up and release mechanism 332 rotate synchronously relative to the mounting frame 320.

[0124] It can be understood that the connecting mechanism 333 and the second picking and releasing mechanism 332 can be connected to the inner ring of the second rotating member 323 at the same time, and the weight of the second picking and releasing mechanism 332 can be borne by the inner ring of the second rotating member 323, and transmitted to the connecting mechanism 333 by the second rotating member 323, so that the second picking and releasing mechanism 332 and the first picking and releasing mechanism 331 can be relatively fixed as a whole, and the weight is jointly borne by the first support member 321a and the second support member 321b, thereby improving the structural stability.

[0125] In some embodiments, the connecting column includes a first connecting column 3331a, the connecting mechanism 333 may include a first connecting plate 3331b, the first end of the first connecting column 3331a can be connected to the first pick-up and release mechanism 331, the second end of the first connecting column 3331a faces the second pick-up and release mechanism 332, the first connecting plate 3331b can be connected to the second end of the first connecting column 3331a, and the first connecting plate 3331b is connected to the second rotating member 323, thereby improving the reliability of the connection structure between the first pick-up and release mechanism 331 and the second pick-up and release mechanism 332.

[0126] It can be understood that the first connecting column 3331a can extend along the Z direction, and the first connecting column 3331a can allow a spacing space between the first picking and releasing mechanism 331 and the second picking and releasing mechanism 332, so that a storage space for placing the material box 400 can be formed above the first picking and releasing mechanism 331, and the first connecting plate 3331b can be connected to the top of the first connecting column 3331a.

[0127] Exemplarily, there can be multiple first connecting columns 3331a, and the multiple first connecting columns 3331a are distributed on both sides of the width direction of the cargo picking and placing component 330. The multiple first connecting columns 3331a are parallel to each other, and the second ends of the multiple first connecting columns 3331a can be connected to the first connecting plate 3331b, so that the first connecting plate 3331b can be used as a connecting transition component between the first cargo picking and placing mechanism 331 and the second cargo picking and placing mechanism 332. The multiple first connecting columns 3331a make the force on the first connecting plate 3331b more balanced, ensuring that the two have a higher structural strength.

[0128] It should be noted that since the storage space above the second picking and placing mechanism 332 is located above the second support member 321b along the Z direction, when the second picking and placing mechanism 332 picks and places the material box 400, the material box 400 is located above the lifting member 310. Therefore, when the picking and placing component 330 picks and places the material box 400, it can perform the picking and placing operation of the material box 400 at a position higher than the top of the column 200.

[0129] Figure 8 A second structural schematic diagram of the transport robot provided in an embodiment of the present application, Fig. 9 A schematic diagram of the structure of the transport device in the second structure of the transport robot provided in the embodiment of the present application Figure 1 , Fig.10 A schematic diagram of the structure of the transport device in the second structure of the transport robot provided in the embodiment of the present application Figure 2 , Fig.11 A side view of the transport device in the second structure of the transport robot provided in the embodiment of the present application Figure 1 , Fig.12 A side view of the transport device in the second structure of the transport robot provided in the embodiment of the present application Figure 2 , Fig.13 This is a schematic diagram of the bottom of the transport device in the second structure of the transport robot provided in an embodiment of the present application, Fig.14 A schematic diagram of the structure of the lifting component in the second structure of the handling robot provided in an embodiment of the present application.

[0130] Please refer to Figures 8 to 14 In a possible implementation, the second support member 321b can be located on the side of the second picking and placing mechanism 332 away from the first picking and placing mechanism 331, and the distance between the first support member 321a and the second support member 321b can match the sum of the heights of the storage space above the first picking and placing mechanism 331 and the storage space above the second picking and placing mechanism 332.

[0131] It can be understood that the second support member 321b is arranged above the cargo pick-up and release assembly 330, the first cargo pick-up and release mechanism 331 and the second cargo pick-up and release mechanism 332 can be relatively fixed directly through the connecting mechanism 333, the first cargo pick-up and release mechanism 331 and the second cargo pick-up and release mechanism 332 are located as a whole between the first support member 321a and the second support member 321b, and the second support member 321b can assist the first support member 321a in bearing the force of the cargo pick-up and release assembly 330, thereby improving the structural strength.

[0132] In some embodiments, the connecting mechanism 333 can be connected between the first picking-up and placing mechanism 331 and the second picking-up and placing mechanism 332. The second picking-up and placing mechanism 332 is located above the first support member 321a. The end of the connecting mechanism 333 away from the mobile chassis 100 is connected to the second rotating member 323. The first picking-up and placing mechanism 331 and the second picking-up and placing mechanism 332 can be connected as a whole through the connecting mechanism 333. The force of the picking-up and placing assembly 330 can be transmitted to the second support member 321b through the connecting mechanism 333. The first support member 321a and the second support member 321b jointly bear the force, thereby improving the structural stability of the picking-up and placing assembly 330.

[0133] Among them, the connecting column includes a second connecting column 3332a, the connecting mechanism 333 may include a second connecting plate 3332b, the first end of the second connecting column 3332a is connected to the first picking and releasing mechanism 331, the second end of the second connecting column 3332a faces the second picking and releasing mechanism 332, and the second connecting column 3332a is connected to the second picking and releasing mechanism 332, the second connecting plate 3332b is connected to the second end of the second connecting column 3332a, and the second connecting plate 3332b is connected to the second rotating member 323, so that the picking and releasing assembly 330 can be rotated relative to the second support member 321b through the second rotating member 323, and the second support member 321b can withstand the force of the picking and releasing assembly 330.

[0134] In some embodiments, there can be multiple second connecting columns 3332a, and the multiple second connecting columns 3332a are distributed on both sides of the width direction of the cargo picking and placing component 330. The second ends of at least some of the second connecting columns 3332a extend to the side of the second cargo picking and placing mechanism 332 away from the first cargo picking and placing mechanism 331. The second connecting plate 3332b is connected between the second connecting columns 3332a on both sides of the cargo picking and placing component 330, thereby improving the reliability of the connection structure between the first cargo picking and placing mechanism 331 and the second cargo picking and placing mechanism 332.

[0135] Exemplarily, there may be four second connecting columns 3332a, wherein the heights of two second connecting columns 3332a match the spacing between the first picking and releasing mechanism 331 and the second picking and releasing mechanism 332, and the heights of the other two second connecting columns 3332a may extend upward along the Z direction from the side of the second picking and releasing mechanism 332, so as to be connected to the second connecting plate 3332b above the second picking and releasing mechanism 332.

[0136] In the embodiment of the present application, the picking and placing mechanism can be applied to not only the handling robot, but also other logistics equipment such as the automated conveyor line, the loading and unloading machine, etc., which is not specifically limited in the embodiment of the present application. The picking and placing mechanism can include a first picking and placing mechanism 331 and a second picking and placing mechanism 332. The structures of the first picking and placing mechanism 331 and the second picking and placing mechanism 332 are described below.

[0137] In one possible implementation, the first picking and placing mechanism 331 may include a first substrate 3311, a first telescopic member 3312 and a first picking member 3313. The first substrate 3311 is rotatably connected to the first support member 321a through the first rotating member 322. The first telescopic member 3312 slides relative to the first substrate 3311. The first picking member 3313 is arranged on the first telescopic member 3312. The second picking and placing mechanism 332 may include a second substrate 3321, a second telescopic member 3322 and a second picking member 3323. The second substrate 3321 may be connected to the first substrate 3311 through a connecting mechanism 333. The second telescopic member 3322 slides relative to the second substrate 3321. The second picking member 3323 is arranged on the second telescopic member 3322.

[0138] It can be understood that the first substrate 3311 of the first picking and placing mechanism 331 and the second substrate 3321 of the second picking and placing mechanism 332 are relatively fixed, and the second telescopic member 3322 and the second telescopic member 3322 can be independently driven by the driving units on their respective substrates, so that telescopic picking and placing operations can be performed independently.

[0139] Exemplarily, a slide rail may be provided on the first substrate 3311, and the first telescopic member 3312 may be slidably connected to the first substrate 3311 through the slide rail, and a motor and a transmission belt may be provided on the first substrate 3311, and the motor drives the transmission belt through a transmission wheel for transmission, and the transmission belt is connected to the first telescopic member 3312, so as to achieve the telescopic movement of the first telescopic member 3312 relative to the first substrate 3311. In addition, the first pickup member 3313 may be a pickup hook, and the first pickup member 3313 may also be provided on the first telescopic member 3312 in a manner of matching with a slide rail, and driven by a motor and a transmission belt, so that the first pickup member 3313 can take and place the material box 400 on the first telescopic member 3312, or push the material box 400 out of the first telescopic member 3312.

[0140] Exemplarily, the movement of the first telescopic member 3312 relative to the first substrate 3311 and the movement of the first picking member 3313 relative to the first telescopic member 3312 can both adopt the coordination of gears and racks, and the embodiments of the present application do not specifically limit this.

[0141] It should be noted that the second telescopic member 3322 and the second substrate 3321 can adopt a matching method and structure similar to the first telescopic member 3312 and the first substrate 3311, and the second picking member 3323 can also adopt a structure and driving structure similar to the first picking member 3313, which will not be repeated here.

[0142] Fig.15 A side view of the transport robot in the extended state provided by an embodiment of the present application, Fig.16 This is a schematic diagram of the structure of the retracted state of the transport robot provided in an embodiment of the present application. Fig.17 This is a schematic diagram of the coordination between the picking-up part and the telescopic part in the handling robot provided in the embodiment of the present application. Fig.18 A schematic diagram of the structure of the transport robot for picking up goods provided in the embodiment of the present application Figure 1 .

[0143] Please refer to Figures 15 to 18 In a possible implementation, the first picking and releasing mechanism 331 includes a first driving unit 3314, which is arranged on the first picking piece 3313, a first rack 3315 is provided on the first telescopic piece 3312, and a first gear 3316 is provided on the first picking piece 3313. The first gear 3316 is meshed with the first rack 3315, and the output end of the first driving unit 3314 is connected to the first gear 3316, so that the first driving unit 3314 drives the first picking piece 3313 to move relative to the first telescopic piece 3312.

[0144] It can be understood that the first rack 3315 extends along the X direction, and the first driving unit 3314 can be a motor. When the first driving unit 3314 drives the first gear 3316 to rotate, the first gear 3316 meshes with the first rack 3315 and rolls along the length direction of the first rack 3315, thereby driving the first picking member 3313 to move along the X direction relative to the first telescopic member 3312.

[0145] The second picking and releasing mechanism 332 includes a second driving unit, which is arranged on the second picking piece 3323. The second telescopic piece 3322 is provided with a second rack, and the second picking piece 3323 is provided with a second gear. The second gear is meshed with the second rack, and the output end of the second driving unit is connected to the second gear so that the second driving unit drives the second picking piece 3323 to move relative to the second telescopic piece 3322.

[0146] It should be noted that the second pickup member 3323 can have the same or similar structure and driving method as the first pickup member 3313, which will not be repeated here.

[0147] In one possible implementation, the first picking piece 3313 may include a first sliding plate 3317 and a first cargo hook 3318. The first telescopic piece 3312 is provided with a first guide rail. The first sliding plate 3317 is slidably set with the first guide rail, and the first cargo hook 3318 is connected to the first sliding plate 3317.

[0148] It can be understood that the first guide rail can be set parallel to the first telescopic member 3312 and the first rack 3315 to provide support and guidance for the movement of the first picking member 3313. The first cargo hook 3318 can be facing the picking direction of the first picking member 3313. When the first telescopic member 3312 and the first picking member 3313 are extended to pick up goods, the first cargo hook 3318 can hook the inner edge of the side wall of the material box and take out the material box as the first picking member 3313 retracts.

[0149] The second pickup part 3323 includes a second sliding plate and a second cargo hook, the second telescopic part is provided with a second guide rail, the second sliding plate is slidably arranged on the second guide rail, and the second cargo hook is connected to the second sliding plate. It should be noted that the specific pickup structure of the second pickup part 3323 can be the same or similar to that of the first pickup part 3313, which will not be repeated here.

[0150] Fig.19 for Fig.18 Front view of .

[0151] Please refer to Figures 15 to 19In some embodiments, the first cargo hook 3318 is slidably connected to the first sliding plate 3317, and the first picking piece 3313 also includes a first tension spring 3319, one end of the first tension spring 3319 is connected to the first sliding plate 3317, and the other end of the first tension spring 3319 is connected to the first cargo hook 3318.

[0152] It is understandable that the first tension spring 3319 can apply a pulling force to the first cargo hook 3318 toward the first sliding plate 3317. When the first cargo hook 3318 picks up cargo, the tension provided by the first tension spring 3319 can provide a pre-tightening force for the first cargo hook 3318 to abut against the material box, thereby preventing the first cargo hook 3318 from getting stuck. In addition, when the equipment fails, the tension of the first tension spring 3319 can be overcome by lifting the first cargo hook 3318, so as to remove the material box for equipment maintenance.

[0153] Exemplarily, the direction in which the first cargo hook 3318 hooks the material box may be upward, downward, or in other directions, and this embodiment of the present application does not specifically limit this.

[0154] In addition, the first cargo hook 3318 can also be a splint, a suction cup, or other structure for taking and placing material boxes, and the embodiment of the present application does not specifically limit this.

[0155] It should be noted that the second cargo hook is slidably connected to the second sliding plate, and the second pickup member 3323 further includes a second tension spring, two ends of the second tension spring are connected to the second sliding plate, and the other end of the second tension spring is connected to the second cargo hook. The second cargo hook can also adopt a mobile setting structure similar to the first cargo hook 3318, which will not be repeated here.

[0156] Fig. 20 A schematic diagram of the structure of the transport robot for picking up goods provided in the embodiment of the present application Figure 2 .

[0157] Please refer to Fig. 20 , and combined with Figures 15 to 17 In some embodiments, the first cargo hook 3318 is slidably connected to the first sliding plate 3317, and the first picking piece 3313 also includes a third driving unit 3313a, which is disposed on the first sliding plate 3317, and the third driving unit 3313a is used to drive the first cargo hook 3318 to move in a vertical direction.

[0158] It can be understood that the third drive unit 3313a can be a motor, and the output end of the third drive unit 3313a can be connected to a screw to drive the screw to rotate. A screw nut can be provided on the screw, and the screw nut can be connected to the first cargo hook 3318, so that when the screw rotates, the screw nut drives the first cargo hook 3318 to move in the vertical direction. In this way, through the active drive of the third drive unit 3313a, the first cargo hook 3318 can be connected or disconnected from the material box when picking up and placing goods.

[0159] It should be noted that the second cargo hook is slidably connected to the second sliding plate, and the second pickup member 3323 further includes a fourth driving unit, which is arranged on the second sliding plate and is used to drive the second cargo hook to move in a vertical direction. The second cargo hook can adopt a similar moving structure to the first cargo hook 3318, which will not be described in detail here.

[0160] In addition, the first pickup piece 3313 and the second pickup piece 3323 may be respectively provided with a detection unit 335, such as an infrared detector, a laser detector, etc., for detecting the positions of the first pickup piece 3313 and the second pickup piece 3323 relative to the material box.

[0161] The specific matching method and structure of the lifting member 310 and the column 200 are described in detail below.

[0162] In one possible implementation, the lifting member 310 may include a lifting body 311 and a roller group 312. The roller group 312 may include a plurality of rollers. The plurality of rollers are rotatably connected to the lifting body 311, and the plurality of rollers may be distributed at different positions in the height direction of the lifting member 310. The plurality of rollers are in contact with the column 200, thereby improving the smoothness of the lifting member 310 when it is lifted and lowered relative to the column 200.

[0163] It is understandable that the column 200 may be provided with a slide rail extending in the height direction of the column 200 , and a roller may be provided in the slide rail and roll along the slide rail, thereby reducing the friction force when the lifting member 310 moves relative to the column 200 .

[0164] In some embodiments, there may be multiple roller groups 312, and the multiple roller groups 312 may be distributed on opposite sides of the lifting member 310, and the multiple roller groups 312 may respectively cooperate with the slide rails on both sides of the column 200. Exemplarily, the roller group 312 may include four rollers, wherein two rollers are distributed on the upper end of one side of the lifting member 310, and the other two rollers may be distributed on the lower end of one side of the lifting member 310. The specific number of rollers is not limited in the embodiment of the present application.

[0165] In addition, the lifting member 310 may be provided with an installation groove, the roller may be installed in the installation groove, and the rotating shaft of the roller may be detachably connected to the lifting member 310 by fasteners such as screws, thereby improving the convenience of disassembly and assembly of the roller.

[0166] In some embodiments, the column 200 may include a fixed column and a movable column. The fixed column is connected to the mobile chassis 100, and the movable column is connected to the fixed column and moves along the height direction of the fixed column. The lifting member 310 is connected to the movable column, so that it moves along the height of the fixed column driven by the movable column, thereby realizing the lifting and lowering movement of the transport device 300.

[0167] In addition, the handling robot further includes a plurality of temporary storage units 210, which can be arranged at intervals along the height direction of the column 200, and the handling device 300 and the temporary storage units 210 can be located on opposite sides of the column 200. The temporary storage units 210 are used to store the material boxes taken from the shelf by the handling device 300.

[0168] It should be noted that transmission parts such as chains and transmission belts can be arranged along the height direction of the column 200, and the transmission parts can be driven by a motor arranged on the column 200, so that the transmission parts are transmitted along the height direction of the column 200, and the lifting member 310 can be connected to the transmission parts, so as to be lifted and moved along the height direction of the column 200 under the drive of the transmission parts.

[0169] An embodiment of the present application further provides a warehousing system, which includes a storage rack and the transport robot in the above technical solution, and the transport robot can pick up and place material boxes on the storage rack and transport the material boxes.

[0170] It is understandable that the storage rack may have multiple storage layers, and the handling robot may perform pick-and-place operations of material boxes at different storage layers at different heights.

[0171] It should be noted that the application scenarios of the warehousing system and handling robot provided in this embodiment can be applied to different fields such as the warehousing and exiting of manufacturing factory production lines or inventory products, retail logistics, and express delivery in and out of e-commerce logistics, depending on the specific type of goods. The products or goods involved in the transportation may be industrial parts, electronic accessories or products, clothing accessories, food, etc., and the embodiments of the present application do not make specific limitations on this.

[0172] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some or all of the technical features therein can be replaced by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solution to deviate from the scope of the technical solution of the embodiments of the present application.

Claims

1. A transport robot, characterized in that: It comprises a mobile chassis, a column and a carrying device, wherein the column is vertically arranged on the mobile chassis; The handling device includes a lifting member, a mounting frame and a cargo pick-up and placement assembly, the lifting member is lifted and moved relative to the column; the mounting frame includes a connecting column and at least two supporting members, the at least two supporting members are connected by the connecting column, the at least two supporting members are both connected to the lifting member, and the at least two supporting members extend in a direction away from the column; the cargo pick-up and placement assembly is connected to at least one of the at least two supporting members, the at least two supporting members are arranged along the height direction of the lifting member, so that the at least two supporting members support the cargo pick-up and placement assembly at different positions in the height direction of the cargo pick-up and placement assembly; the cargo pick-up and placement assembly includes at least one cargo pick-up and placement mechanism.

2. The handling robot according to claim 1, characterized in that: The support member includes a first support member and a second support member, wherein the first support member is located on a side of the cargo picking and placing assembly facing the mobile chassis; the second support member is located on a side of the first support member facing away from the mobile chassis and is spaced apart from the first support member.

3. The handling robot according to claim 2, characterized in that: The first supporting member is connected to one end of the lifting member facing the moving chassis, and the second supporting member is connected to one end of the lifting member away from the moving chassis.

4. The handling robot according to claim 2, characterized in that: The mounting frame also includes a first rotating member, which is arranged on the first supporting member, and the picking and placing assembly is rotatably connected to the first supporting member via the first rotating member; and / or, the mounting frame also includes a second rotating member, which is arranged on the second supporting member, and the picking and placing assembly is rotatably connected to the second supporting member via the second rotating member.

5. The handling robot according to claim 4, characterized in that: The first rotating member includes a first outer ring and a first inner ring rotating relative to the first outer ring, the first outer ring is connected to the first support member, and the first inner ring is connected to the pick-up and placement assembly; and / or, the second rotating member includes a second outer ring and a second inner ring rotating relative to the second outer ring, the second outer ring is connected to the second support member, and the second inner ring is connected to the pick-up and placement assembly.

6. The handling robot according to claim 4 or 5, characterized in that: The cargo picking and placing assembly includes a connecting mechanism and at least two cargo picking and placing mechanisms, at least two cargo picking and placing mechanisms are connected by the connecting mechanism, and at least two cargo picking and placing mechanisms are arranged along the height direction of the lifting member; at least one of the at least two cargo picking and placing mechanisms is located between the first support member and the second support member.

7. The handling robot according to claim 6, characterized in that: At least two of the picking and placing mechanisms include a first picking and placing mechanism and a second picking and placing mechanism, the first picking and placing mechanism is located on a side of the first supporting member away from the mobile chassis, and the second picking and placing mechanism is located on a side of the first picking and placing mechanism away from the mobile chassis; the connecting mechanism is connected to the second rotating member so that the connecting mechanism supports the second picking and placing mechanism.

8. The handling robot according to claim 7, characterized in that: The cargo picking and placing assembly also includes a rotary drive mechanism, which includes a first drive member and a first transmission member. The first drive member is arranged on the first cargo picking and placing mechanism, and the first drive member is used to drive the first transmission member so that the first transmission member drives the first cargo picking and placing mechanism to rotate relative to the first support member.

9. The handling robot according to claim 7 or 8, characterized in that: The second supporting member is located between the first picking and placing mechanism and the second picking and placing mechanism, and the distance between the first supporting member and the second supporting member matches the height of the storage space above the first picking and placing mechanism.

10. The handling robot according to claim 9, characterized in that: The second picking-up and placing mechanism is located on a side of the second support member away from the first picking-up and placing mechanism; the connecting mechanism is located between the first picking-up and placing mechanism and the second picking-up and placing mechanism, and the connecting mechanism is connected to the second picking-up and placing mechanism through the second rotating member, so that the first picking-up and placing mechanism and the second picking-up and placing mechanism rotate synchronously relative to the mounting frame.

11. The handling robot according to claim 10, characterized in that: The connecting column includes a first connecting column, and the connecting mechanism includes a first connecting plate. The first end of the first connecting column is connected to the first picking and releasing mechanism, the second end of the first connecting column faces the second picking and releasing mechanism, the first connecting plate is connected to the second end of the first connecting column, and the first connecting plate is connected to the second rotating member.

12. The handling robot according to claim 11, characterized in that: There are multiple first connecting columns, which are distributed on both sides of the width direction of the cargo picking and placing component. The multiple first connecting columns are parallel to each other, and the second ends of the multiple first connecting columns are all connected to the first connecting plate.

13. The handling robot according to claim 7 or 8, characterized in that: The second support member is located on a side of the second picking and placing mechanism away from the first picking and placing mechanism, and the distance between the first support member and the second support member matches the sum of the heights of the storage space above the first picking and placing mechanism and the storage space above the second picking and placing mechanism.

14. The handling robot according to claim 13, characterized in that: The connecting column includes a second connecting column, and the connecting mechanism includes a second connecting plate. The first end of the second connecting column is connected to the first picking and releasing mechanism, the second end of the second connecting column faces the second picking and releasing mechanism, and the second connecting column is connected to the second picking and releasing mechanism; the second connecting plate is connected to the second end of the second connecting column, and the second connecting plate is connected to the second rotating member.

15. The handling robot according to claim 14, characterized in that: There are multiple second connecting columns, which are distributed on both sides of the cargo picking and placing component in the width direction, and the second ends of at least some of the second connecting columns extend to the side of the second cargo picking and placing mechanism away from the first cargo picking and placing mechanism; the second connecting plate is connected between the second connecting columns on both sides of the cargo picking and placing component.

16. The handling robot according to claim 7 or 8, characterized in that: The first picking and placing mechanism comprises a first base plate, a first telescopic member and a first picking member, the first base plate is rotatably connected to the first supporting member via a first rotating member, the first telescopic member slides relative to the first base plate, and the first picking member is arranged on the first telescopic member; The second picking and placing mechanism includes a second base plate, a second telescopic member and a second picking member, the second base plate is connected to the first base plate through the connecting mechanism, the second telescopic member slides relative to the second base plate, and the second picking member is arranged on the second telescopic member.

17. The handling robot according to claim 16, characterized in that: The first picking-up and releasing mechanism comprises a first driving unit, the first driving unit is arranged on the first picking-up member, the first telescopic member is provided with a first rack, the first picking-up member is provided with a first gear, the first gear is meshed with the first rack, and the output end of the first driving unit is connected with the first gear, so that the first driving unit drives the first picking-up member to move relative to the first telescopic member; and / or, The second picking and releasing mechanism includes a second driving unit, which is arranged on the second picking piece. The second telescopic piece is provided with a second rack, and the second picking piece is provided with a second gear. The second gear is meshed with the second rack, and the output end of the second driving unit is connected with the second gear so that the second driving unit drives the second picking piece to move relative to the second telescopic piece.

18. The handling robot according to claim 16, characterized in that: The first picking up piece includes a first sliding plate and a first cargo hook, the first telescopic piece is provided with a first guide rail, the first sliding plate is slidably set on the first guide rail, and the first cargo hook is connected to the first sliding plate; the second picking up piece includes a second sliding plate and a second cargo hook, the second telescopic piece is provided with a second guide rail, the second sliding plate is slidably set on the second guide rail, and the second cargo hook is connected to the second sliding plate.

19. The handling robot according to claim 18, characterized in that: The first cargo hook is slidably connected to the first sliding plate, the first cargo pickup member further comprises a first tension spring, one end of the first tension spring is connected to the first sliding plate, and the other end of the first tension spring is connected to the first cargo hook; and / or, The second cargo hook is slidably connected to the second sliding plate, and the second cargo pickup member also includes a second tension spring, two ends of the second tension spring are connected to the second sliding plate, and the other end of the second tension spring is connected to the second cargo hook.

20. The transport robot according to claim 18, characterized in that: The first cargo hook is slidably connected to the first sliding plate, and the first cargo pickup unit further includes a third driving unit, which is disposed on the first sliding plate and is used to drive the first cargo hook to move in a vertical direction; and / or, The second cargo hook is slidably connected to the second sliding plate, and the second pickup unit also includes a fourth driving unit, which is arranged on the second sliding plate and is used to drive the second cargo hook to move in a vertical direction.

21. The handling robot according to any one of claims 1 to 5, characterized in that: The lifting member includes a lifting body and a roller group, the roller group includes a plurality of rollers, the plurality of rollers are rotatably connected to the lifting body, and the plurality of rollers are distributed at different positions along the height direction of the lifting member; the plurality of rollers are in contact with the column.

22. The handling robot according to claim 21, characterized in that: The column comprises a fixed column and a movable column, the fixed column is connected to the movable chassis, the movable column is connected to the fixed column and can move along the height direction of the fixed column, and the lifting member is connected to the movable column.

23. The handling robot according to any one of claims 1 to 5, characterized in that: The transport robot further comprises a plurality of temporary storage units, which are arranged at intervals along the height of the column; the transport device and the temporary storage units are respectively located on opposite sides of the column.

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