Robot for carrying containers

Abstract

A robot for carrying containers comprises a driving unit, a container storage unit and a container conveying unit, and the driving unit bears the container storage unit and the container conveying unit to move together. The container storage unit comprises a plurality of container storage spaces, and the container conveying unit is connected to the container storage unit and configured to move along the container storage unit in the vertical direction and convey containers between the container storage spaces and the goods shelf; the container conveying unit comprises a hooking and pulling fork tooth module which is configured to stretch out of the container conveying unit to the goods shelf or the container storage space, retract back to the container conveying unit and drive the container to move together when stretching out or retracting back so as to convey the container from the container conveying unit to the goods shelf or the container storage space. Or the container is conveyed to the container conveying unit from the goods shelf or the container storage space.

Description

Technical Field

[0001] This invention relates to the field of logistics and warehousing, and more particularly to a robot for transporting cargo boxes. Background Technology

[0002] Material handling robots are devices used in the field of automated material handling. They possess numerous advantages such as high automation, flexible application, safety and reliability, high efficiency, and convenient maintenance. Therefore, they are widely used in logistics and transportation settings such as the automotive, food, tobacco, and construction machinery industries, and have also made significant contributions to various public service locations such as airports, hospitals, and office buildings. These advantages have made material handling robots a key piece of equipment in modern logistics systems and an important member of the "machine replacing human" initiative.

[0003] Because KIVA introduced the concept of "shelf-to-person" and achieved great success, and its structure and method are described in detail in US Patent 7850413B2, many unmanned handling robots based on the "shelf-to-person" concept have emerged in China, achieving good results. However, for a KIVA robot to retrieve a single item, it needs to move the entire shelf to the picking area, resulting in a significant waste of resources.

[0004] Currently, most material handling robots use a single-extension storage method, typically with only two stages of telescopic arms: a fixed stage and a telescopic stage for storing cargo boxes. This structure can only store goods on the outer edge of the shelf when retrieving items from a fixed rack, not those on the inner edge. This reduces the utilization rate of warehouse racking. As material handling technology and warehouse racking layout requirements continue to improve, the existing single-extension storage method can no longer meet on-site needs.

[0005] Currently, to fully utilize existing warehouse storage space, warehouses are increasingly adopting higher shelving to increase storage capacity. Consequently, existing material handling robots are reaching increasingly higher heights to pick up and place goods. However, this raises a problem: as the robots grow taller, the mast may sway from side to side when picking up or placing goods at higher positions. This significantly impacts the robot's operation and poses a safety hazard.

[0006] Therefore, in order to overcome the limitation that the KIVA robot can only pick up one item per trip, those skilled in the art have devoted themselves to developing a robot that can transport multiple items per trip, thereby improving the transport efficiency of the robot; it has a multi-level stretchable storage method to improve the utilization rate of the shelf; and it can prevent the mast from swaying from side to side when picking up items, thereby improving safety and reliability. Summary of the Invention

[0007] In view of the aforementioned deficiencies in the prior art, the technical problem to be solved by the present invention is how to improve the handling efficiency of a handling robot. Since the robots handle cargo boxes, which are much smaller in volume and weight than shelves, multiple cargo boxes can be handled in a single trip. Each cargo box stores at least one type of goods, thus multiple types of goods can be handled in a single trip.

[0008] To achieve the above objectives, the present invention provides a robot for transporting cargo boxes, comprising a drive unit, a cargo box storage unit, and a cargo box transport unit, wherein the drive unit carries the cargo box storage unit and the cargo box transport unit to move together; the cargo box storage unit includes one or more cargo box storage spaces; and the cargo box transport unit is configured to transport the cargo boxes between the cargo box storage spaces and a shelf.

[0009] Furthermore, the drive unit includes a chassis frame and drive wheels, which are configured to drive the robot to move or stop.

[0010] Furthermore, the movements include moving forward, moving backward, turning, and rotating in place.

[0011] Furthermore, the drive wheels are two or more.

[0012] Furthermore, the cargo storage unit includes a support rail, a tray, and reinforcing ribs, wherein the support rail, tray, and reinforcing ribs are interconnected to form one or more cargo storage spaces.

[0013] Furthermore, the tray is configured to divide the storage space.

[0014] Furthermore, the cargo box transfer unit includes a lifting device, a rotating device, and a telescopic device. One end of the lifting device is connected to the support guide rail and can slide up and down along the vertical direction of the support guide rail. The other end is connected to the telescopic device through the rotating device.

[0015] Furthermore, the telescopic device is a fork.

[0016] Furthermore, the cargo box storage space and the cargo box have machine-readable codes, and the cargo box transmission unit also includes a positioning sensor and a pose sensor.

[0017] Furthermore, the machine-readable code is a barcode, a QR code, a string, or an RFID tag.

[0018] Furthermore, the positioning sensor is configured to detect the position of the cargo box, and the positioning sensor is a vision sensor or a radio frequency sensor.

[0019] Furthermore, the pose sensor is configured to detect the pose of the cargo box on the cargo box transfer unit, and the pose sensor is a vision sensor or a radio frequency sensor.

[0020] Furthermore, the tray is a flat plate or has cutouts or partitions.

[0021] The process of the robot transporting cargo boxes to the cargo box storage unit according to the present invention is as follows: The robot moves the cargo box transport unit to a designated position using a lifting device, and simultaneously rotates the telescopic forks to a designated angle using a rotating device, extending the telescopic forks below the cargo box to be transported. The lifting device then lifts the cargo box, and the telescopic forks retract. The rotating device then rotates both the telescopic forks and the cargo box to another designated angle, and the telescopic forks move the cargo box above the pallet. The lifting device then lowers the cargo box onto the pallet, and finally, the telescopic forks retract. Therefore, the robot transporting cargo boxes according to the present invention can transport multiple types of goods in one trip, with high work efficiency and low energy consumption.

[0022] To enable a robot for handling boxes to have a multi-stage telescopic arm and the ability to adapt to the width of the boxes, thereby further improving the storage space utilization and handling efficiency of the warehouse, the present invention also provides a robot for handling boxes as follows: comprising a drive unit, a box storage unit, and a box transport unit, wherein the drive unit carries the box storage unit and the box transport unit to move together; the box storage unit includes multiple box storage spaces, and the box transport unit is connected to the box storage unit and configured to move vertically along the box storage unit and transport the boxes between the box storage spaces and the shelves;

[0023] The cargo box transfer unit includes a hook-and-pull fork module, which is configured to extend from the cargo box transfer unit to the shelf or the cargo box storage space, and to retract into the cargo box transfer unit. When extending or retracting, the module moves the cargo box together to transfer the cargo box from the cargo box transfer unit to the shelf or the cargo box storage space, or to transfer the cargo box from the shelf or the cargo box storage space to the cargo box transfer unit.

[0024] Furthermore, the hook-and-pull fork module includes a telescopic fork device with at least one level of telescopic stroke. The telescopic fork device includes a fixed fork tooth and at least one telescopic movable fork tooth disposed inside the fixed fork tooth. The movable fork tooth is configured to extend or retract along the length direction of the fixed fork tooth.

[0025] Furthermore, the hook-and-pull fork module also includes a rocker arm device, which is disposed on the movable fork corresponding to the last stage of the telescopic stroke and located at the end of the movable fork facing the extension direction. The rocker arm device includes a rocker arm that can rotate relative to the extension direction.

[0026] Furthermore, the hook-and-pull fork module also includes a push plate, which is disposed on the movable fork corresponding to the last stage of the telescopic stroke and located at the end of the movable fork away from the extension direction. The push plate is configured to push the cargo box located in the cargo box transfer unit when it moves with the movable fork.

[0027] Furthermore, the cargo box transfer unit also includes a telescopic drive module for driving the extension and retraction of the hook fork module. The telescopic drive module includes a drive component and a transmission mechanism connected to the drive component. The transmission mechanism is connected to the movable fork.

[0028] Furthermore, the telescopic fork device includes an inner fork tooth, a middle fork tooth, and an outer fork tooth. The outer fork tooth serves as the fixed fork tooth. The middle fork tooth is disposed inside the outer fork tooth and is configured to be telescopic. The inner fork tooth is disposed inside the middle fork tooth and is configured to be telescopic. The rocker arm device is disposed at one end of the inner fork tooth facing the extension direction. The push plate is disposed at one end of the inner fork tooth away from the extension direction. The middle fork tooth is connected to the transmission mechanism.

[0029] Furthermore, the middle fork tooth is provided with a first synchronous pulley, a tensioning device, a synchronous belt, and a second synchronous pulley. The first synchronous pulley and the second synchronous pulley are respectively located at both ends of the middle fork tooth along the extension direction. The synchronous belt is bent to form a broken loop. The two ends of the synchronous belt are respectively fixed to the tensioning device. The tensioning device is fixed to one side between the middle fork tooth and the inner fork tooth. The center positions of the two ends of the synchronous belt are consistent with the center positions of the first synchronous pulley and the second synchronous pulley.

[0030] Furthermore, the telescopic fork device includes a fixed fork, a first fork, a second fork, and a third fork. The first fork is disposed inside the fixed fork and is configured to be telescopic. The second fork is disposed inside the first fork and is configured to be telescopic. The third fork is disposed inside the second fork and is configured to be telescopic. The rocker arm is disposed at one end of the third fork facing the extension direction. The push plate is disposed at one end of the third fork away from the extension direction. The first fork is connected to the transmission mechanism.

[0031] Furthermore, both the first and second fork teeth include a third synchronous pulley, a tensioning device, a synchronous belt, and a fourth synchronous pulley; the third and fourth synchronous pulleys are located at the two ends of the first and second fork teeth, respectively; the tensioning device is installed on the fixed fork tooth and the first fork tooth, respectively; the synchronous belt is bent to form a broken loop, and both ends of the synchronous belt are fixed to the tensioning device; the tensioning device is fixed at the midpoint between the fixed fork tooth and the first fork tooth, and at the midpoint between the first and second fork teeth; the center positions of both ends of the synchronous belt coincide with the center positions of the third and fourth synchronous pulleys.

[0032] Furthermore, the cargo box transfer unit also includes a follower mechanism, which is used to carry the cargo box and is configured to move together with the telescopic fork mechanism to abut against the shelf.

[0033] Furthermore, the cargo box transfer unit also includes a telescopic slide rail module, which includes a slide rail and at least one slider that can slide on the slide rail. The slider is connected to the follower mechanism, so that the follower mechanism slides on the slide rail.

[0034] Furthermore, the fixed fork tooth is configured to be movable in a direction perpendicular to the extension direction to adjust the width of the hook fork tooth module to accommodate cargo boxes of different widths.

[0035] Furthermore, the cargo box transfer unit also includes a clamping drive module, which includes a drive component and a transmission mechanism. The drive component is connected to the transmission mechanism, and the transmission mechanism is connected to the fixed fork. The clamping drive module is configured to drive the fixed fork to move in a direction perpendicular to the extension direction.

[0036] Furthermore, the cargo box transfer unit also includes a clamping slide rail module, which includes a guide rail and a slider that can slide on the guide rail. The slider is connected to the fixed fork tooth, so that the fixed fork tooth slides on the guide rail.

[0037] Furthermore, the cargo box transfer unit includes a base frame and a base plate. The base plate is mounted on the base frame, and the hook-and-fork module is mounted on the base plate. A slewing device is mounted on the base frame and is configured to drive the base plate to rotate, thereby causing the hook-and-fork module to rotate to a preset angle.

[0038] Furthermore, the drive unit includes a chassis frame, a first drive assembly and a second drive assembly arranged opposite to each other on the chassis frame, and a cantilever assembly disposed at the front end of the chassis frame. The first drive assembly includes a first cantilever hinged to a bearing housing, the second drive assembly includes a second cantilever hinged to a bearing housing, and the cantilever assembly includes a third cantilever hinged to a bearing housing. The hinge center points of the first cantilever, the second cantilever, and the third cantilever form a triangular hinge structure.

[0039] Furthermore, the cargo storage unit includes a gantry module, a lifting module, a lifting drive module, and a gantry mounting module. The gantry module includes the plurality of cargo storage spaces arranged vertically. The lifting module is disposed on one side of the gantry module and connected to the cargo transport unit and configured to drive the cargo transport unit to move along the vertical direction. The lifting drive module is connected to the lifting module and configured to drive the lifting module to move. The gantry mounting module is located at the bottom of the gantry module and is fixedly connected to the bottom frame.

[0040] Furthermore, the robot also includes a high-position stabilization mechanism, which is fixedly connected to the cargo box transfer unit and is configured to abut against the shelves / walls on both sides of the robot.

[0041] Furthermore, the high-position stabilization mechanism includes a mounting plate connected to the cargo box transfer unit, and a pair of support components are provided inside the mounting plate. The support components are configured to extend from the openings at both ends of the mounting plate to abut against the shelf / wall.

[0042] Furthermore, the high-position stabilization mechanism also includes a drive assembly and a transmission mechanism, wherein the drive assembly, the transmission mechanism, the intermediate fixed seat, and the shaft end fixed seat are all mounted on the mounting plate;

[0043] The drive assembly includes a motor, a drive wheel connected to the motor, and a driven wheel connected to the drive wheel;

[0044] The transmission mechanism includes a bidirectional lead screw, a guide shaft, and a guide seat. The guide seat includes a guide base and a lead screw nut disposed within the guide base. The bidirectional lead screw is connected to the driven wheel. The bidirectional lead screw is located within the guide base and meshes with the lead screw nut of the guide seat. The guide shaft is arranged parallel to the bidirectional lead screw, and the guide base is sleeved on the guide shaft.

[0045] The support assembly includes a support shaft and a support plate disposed at the end of the support shaft. One end of the support shaft is connected to the guide seat and reciprocates with the guide seat.

[0046] The robot provided by this invention has the following process for transporting goods:

[0047] 1. The process of moving a cargo box from the shelf to the cargo box storage unit is as follows: The robot moves to the designated shelf via the drive unit. The lifting device moves the cargo box transfer unit to the designated height on the shelf. Simultaneously, the cargo box transfer unit is rotated so that the hook-and-fork module faces the cargo box. The telescopic fork of the hook-and-fork module extends, passing through both sides of the cargo box. The swing arm of the swing arm rotates to an angle with the fork, thus surrounding the cargo box within the space formed by the swing arm, fork, and push plate; at the same time, the follower mechanism rests against the shelf. The telescopic fork device retracts, and at this point, the swing arm hooks the cargo box and moves it together onto the follower mechanism.

[0048] The lifting device moves the cargo box transfer unit to a designated height within the cargo box storage unit. The cargo box transfer unit is then rotated so that the opening of the hook-and-fork module aligns with the designated cargo box storage space within the storage unit. The telescopic fork extends into the cargo box storage space, at which point the follower mechanism moves along with it, and the pusher plate pushes the cargo box into the storage space. Finally, the telescopic fork retracts, completing the operation.

[0049] 2. The process of moving the cargo box from the cargo box storage unit to the shelf is basically the same as the process described above.

[0050] 3. After the telescopic fork mechanism detects the cargo box and identifies its width, the width of the telescopic fork mechanism can be adjusted to accommodate different cargo box widths. Once the width is adjusted to the appropriate position, steps 1 and 2 are executed to transfer the cargo box.

[0051] The robot for transporting cargo boxes provided by this invention has the following beneficial technical effects:

[0052] 1. The drive unit uses three cantilever hinges to the bearing housing. These three hinge points form a triangular hinge structure, which improves the stability of the drive unit.

[0053] 2. Since there is a certain distance between the robot and the shelf, a follow-up mechanism was added to the cargo box transfer unit, which allows the follow-up mechanism to move against the shelf, thus improving the success rate of picking up and placing goods.

[0054] 3. By using a forklift device with multi-stage telescopic function, it is possible to reach deep into the shelf to retrieve goods, which is conducive to storing more boxes on the same shelf and improving the utilization rate of the warehouse.

[0055] 4. By setting the fork mechanism to adapt to the width of different cargo boxes, the application scenarios of this invention are broadened, the versatility of the equipment is improved, and the efficiency of picking up and placing goods is enhanced.

[0056] 5. By adding a high-position stabilizing mechanism to the robot, the safety of the robot when picking up and placing goods at high positions can be ensured. At the same time, it helps to increase the height of the shelves in the warehouse, further improving the utilization rate of the warehouse and improving warehousing efficiency.

[0057] The concept, specific structure and technical effects of the present invention will be further described below in conjunction with the accompanying drawings to fully understand the purpose, characteristics and effects of the present invention. Attached Figure Description

[0058] Figure 1 This is a perspective view of the handling robot according to Embodiment 1 of the present invention;

[0059] Figure 2 This is a perspective view of the cargo box transfer unit according to Embodiment 1 of the present invention;

[0060] Figure 3 This is a perspective view of the handling robot according to Embodiment 2 of the present invention;

[0061] Figure 4 This is a perspective view of the handling robot according to Embodiment 3 of the present invention;

[0062] Figure 5 This is a structural diagram of the robot's drive unit in Example 3;

[0063] Figure 6 This is a structural diagram of the robot's cargo storage unit in Example 3;

[0064] Figure 7 This is a structural diagram of the lifting drive module in Embodiment 3;

[0065] Figure 8 This is a structural diagram of the gantry mounting module in Example 3;

[0066] Figure 9 This is a structural diagram of the anti-jump device in Example 3;

[0067] Figure 10 This is a structural diagram of the mast top plate of the cargo box storage unit in Embodiment 3;

[0068] Figure 11 This is a structural diagram of the cargo transport unit of the robot in Example 3;

[0069] Figure 12 yes Figure 11 A schematic diagram of the decomposition process;

[0070] Figure 13 This is a schematic diagram of the telescopic fork tooth device in the extended state in Embodiment 3;

[0071] Figure 14 This is a structural schematic diagram of the telescopic drive module and telescopic slide rail module in Embodiment 3;

[0072] Figure 15 This is a schematic diagram of the robot transporting cargo boxes in Example 3;

[0073] Figure 16 This is a structural diagram of the robot's cargo transport unit in Example 4;

[0074] Figure 17 yes Figure 16 A schematic diagram of the decomposition process;

[0075] Figure 18 This is a schematic diagram of the telescopic fork device in the extended state in Embodiment 4;

[0076] Figure 19 This is a schematic diagram of the robot transferring the cargo box in Example 4;

[0077] Figure 20 This is a structural diagram of the robot in Example 5;

[0078] Figure 21 This is a structural diagram of the cargo transport unit of the robot in Example 5;

[0079] Figure 22 yes Figure 21 A schematic diagram of the decomposition process;

[0080] Figure 23 This is a schematic diagram of the robot's base plate in Example 5;

[0081] Figure 24 This is a schematic diagram of the rotation drive module of the robot in Example 5;

[0082] Figure 25 This is a schematic diagram of the telescopic drive module of the robot in Example 5;

[0083] Figure 26 This is a schematic diagram of the gripping drive module of the robot in Example 5;

[0084] Figure 27 This is a schematic diagram of the robot transferring the cargo box in Example 5;

[0085] Figure 28 This is a flowchart illustrating the robot's adaptive width of the cargo box in Example 5;

[0086] Figure 29 This is an exploded view of the robot's cargo transport unit in Example 6;

[0087] Figure 30 This is a schematic diagram of the robot in Example 7, where the high-position stabilizing mechanism is not extended;

[0088] Figure 31This is a schematic diagram of the robot in Example 7, showing that the high-position stabilizing mechanism has been extended;

[0089] Figure 32 This is a connection diagram of the high-position stabilizing mechanism in Example 7;

[0090] Figure 33 This is a schematic diagram of the high-position stabilization mechanism in Example 7;

[0091] Figure 34 This is a schematic diagram of the connection between the support plate and the elastic element in Embodiment 7.

[0092] in,

[0093] 1-Drive unit; 11-Chassis frame; 12-Drive wheel;

[0094] 2-Cargo storage unit; 21-Support rail; 22-Pattern;

[0095] 3-Cargo box transfer unit; 31-Mounting frame; 32-Lifting device; 33-Telescopic fork; 34-Rotating device; 35-Pose sensor; 36-Positioning sensor;

[0096] 4-Cargo boxes, 40-Shelves;

[0097] 110-Chassis frame, 111-Upright plate, 112-Drive wheel, 113-Drive motor, 114-Walking drive unit, 115-Driven wheel, 116-Bearing seat, 117-Triangle, 120-First drive assembly, 121-First cantilever, 130-Second drive assembly, 131-Second cantilever, 140-Cantilever assembly, 141-Third cantilever, 151-Positioning sensor, 152-Laser module;

[0098] 210-Gantry module, 211-Cargo box storage space, 212-Gantry shelf, 213-Gantry crossbeam, 214-Gantry column; 220-Lifting module, 221-First synchronous belt, 222-Idler pulley, 223-Guide wheel, 224-Side slider, 225-Pressure block, 226-Lifting plate, 230-Lifting drive module, 231-Drive component, 232-Reducer, 233-Drive shaft, 234-Drive wheel, 240-Gantry mounting module, 241-Mounting plate, 242-Mounting base plate, 243-First anti-skid tooth device, 244-Lifting limit plate, 250-Gantry top plate, 251-Second anti-skid tooth device, 252-Signal module, 253-Light strip, 261-Drag chain mounting plate, 262-Drag chain, 263-Handle;

[0099] 310-Base frame, 311-Base plate, 312-Side outer cover, 313-Rear outer cover, 314-Opening, 320-Hook-and-pull fork module, 321-Swing arm device, 3211-Swing arm, 3212-Path detection sensor, 3213-Swing arm limit block, 3214-Coupling, 3215-Swing arm motor; 322-Telescopic fork device, 3221-Inner fork tooth, 3222-Middle fork tooth, 3223-Outer fork tooth, 32221-First synchronous pulley, 32222-Tensioning device, 32223-Second synchronous belt, 32224-Second synchronous pulley, 322 25-L-shaped baffle, 323-push plate, 330-telescopic drive module, 331-drive component, 332-first transmission sprocket, 333-chain, 334-second transmission sprocket, 335-transmission intermediate wheel, 336-main drive wheel, 340-telescopic slide rail module, 341-first slider, 342-slide rail, 343-second slider, 350-follower mechanism, 351-plate-shaped component, 352-rubber pad, 353-spring, 360-rotation device, 361-rotation limit sensor, 371-hooking posture sensor, 372-cargo box detection sensor;

[0100] 420-Double extendable hook fork tooth module; 421-Double extendable rocker arm device; 422-Double extendable telescopic fork tooth device; 4221-Fixed fork tooth; 4222-First fork tooth; 4223-Third fork tooth; 4224-Third fork tooth; 42231-Third synchronous pulley; 42232-Tensioning device; 42233-Third synchronous belt; 42234-Fourth synchronous pulley; 423-Push plate; 424-Slide rail groove; 425-Slide rail; 41-First position; 42-Second position;

[0101] 510-Base frame, 511-Base plate, 513-Rear outer cover, 514-Side outer cover, 520-Hook-pull fork tooth module, 521-Swing arm device, 5211-Swing arm, 5212-Swing arm limit block, 5213-Coupling, 5214-Swing arm motor, 522-Telescopic fork tooth device, 5221-Inner fork tooth, 5222-Middle fork tooth, 5223-Outer fork tooth, 52221-First synchronous pulley, 52222-Tensioning device, 52223-Second synchronous belt, 52224-Second synchronous pulley, 52 3-Push plate, 524-Cargo box limiting plate, 530-Telescopic drive module, 531-Chain idler wheel assembly, 5311-Tension shaft, 5312-Chain idler wheel, 532-Chain, 5321-Connecting block, 533-Bearing seat, 534-Rotary sliding unit, 5341-Sliding seat, 5342-Rotary sprocket, 535-Telescopic drive unit, 5351-Drive motor, 5352-Gear assembly, 536-Rotary shaft, 540-Telescopic slide rail module, 541-First slider, 542-Slide rail 543-Second slider, 550-Follow-up mechanism, 551-Plate-shaped component, 552-Rubber pad, 560-Rotary drive module, 561-Rotation device, 562-Rotary limit sensor, 563-Rotary drive unit, 5631-Rotary drive motor, 5632-Rotary drive bracket, 5633-Rotary drive sprocket, 564-Rotary drive chain, 571-Position sensor, 572-Shape sensor, 573-Path detection sensor, 574-Signal sensor, 575-Cargo box detection sensor Device, 580-clamping drive module, 581-drive unit, 5811-drive motor, 5812-synchronous pulley, 5813-drive bracket, 582-synchronous belt idler pulley assembly, 5821-idler pulley bracket, 5822-idler pulley, 583-synchronous belt unit, 5831-synchronous belt, 5832-clamping connecting block, 5833-synchronous belt pressure plate, 590-clamping slide rail module, 591-clamping first slider, 592-clamping second slider, 593-clamping slide rail, 594-clamping slider connector;

[0102] 621-Double-extension rocker arm device; 622-Double-extension telescopic fork tooth device; 6221-Fixed fork tooth; 6222-First fork tooth; 6223-Second fork tooth; 6224-Third fork tooth; 62231-Third synchronous pulley; 62232-Tensioning device; 62233-Third synchronous belt; 62234-Fourth synchronous pulley; 623-Push plate; 624-Slide rail groove; 625-Slide rail;

[0103] 7-High-position stabilizing mechanism; 701-Mounting plate; 7011-Cavity; 7012-Opening; 702-Drive assembly; 7021-Drive motor; 7022-Driving wheel; 7023-Driven wheel; 703-Transmission mechanism; 7031-Double-actuated screw; 7032-Guide shaft; 7033-Guide seat; 70331-Screw nut; 70332-Guide base; 704-Support assembly; 7041-Support shaft; 7042-Support plate; 7043-Elastic element; 7051-Intermediate fixed seat; 7052-Shaft end fixed seat; 706-Sensor. Detailed Implementation

[0104] The following description, with reference to the accompanying drawings, illustrates two preferred embodiments of the present invention to make its technical content clearer and easier to understand. The present invention can be embodied in many different forms, and the scope of protection of the present invention is not limited to the embodiments mentioned herein.

[0105] In the accompanying drawings, components with the same structure are indicated by the same numerical designation, and components with similar structures or functions are indicated by similar numerical designations. The dimensions and thicknesses of each component shown in the drawings are arbitrary, and the present invention does not limit the dimensions and thicknesses of each component. To make the illustrations clearer, the thickness of some components has been appropriately exaggerated in the drawings.

[0106] When a component is described as 'on 'another component', the component can be placed directly on the other component; alternatively, an intermediate component can exist, on which the component is placed, and the intermediate component is placed on the other component. When a component is described as 'installed to' or 'connected to' another component, both can be understood as directly 'installed' or 'connected', or indirectly 'installed to' or 'connected to' another component through an intermediate component.

[0107] Example 1:

[0108] like Figure 1 and Figure 2 As shown, a robot for transporting cargo boxes includes: a drive unit 1, a cargo box storage unit 2, and a cargo box transfer unit 3.

[0109] (1) The drive unit 1 is used to drive the cargo box storage unit 2 and cargo box transfer unit 3 installed thereon to move together on the ground;

[0110] (2) The cargo box storage unit 2 is installed above the drive unit 1 and is used to store the cargo box 4;

[0111] (3) The cargo box transfer unit 3 is installed on one side of the cargo box storage unit 2 and is used to transfer the cargo box 4 into or out of the cargo box storage unit 2 to a designated location.

[0112] The drive unit 1 includes a chassis frame 11 and two drive wheels 12, which are symmetrically installed on both sides of the chassis frame 11. By rotating the drive wheels 12, the robot can move forward, backward, turn, and rotate in place.

[0113] The cargo box storage unit 2 includes a support rail 21, a tray 22, and a reinforcing rib 23. The support rail 21 is located above the drive unit 1 and is connected to each other through the tray 22 and the reinforcing rib 23. The tray 22 is used to stack cargo boxes.

[0114] The cargo box storage unit 2 can store multiple cargo boxes.

[0115] The tray 22 is divided in the middle.

[0116] The cargo box transfer unit 3 includes a frame 31, a lifting device 32, a telescopic fork 33, and a rotating device 34. One end of the lifting device 31 is connected to the support rail 21 and can slide up and down along the vertical direction of the support rail 21, while the other end is connected to the telescopic fork 33 through the rotating device 34.

[0117] The telescopic fork 33 can be rotated along the z-axis by the rotating device 34.

[0118] The telescopic fork 33 can extend or retract along the x-direction. If the rotating device 34 drives the telescopic fork 33 to rotate, the telescopic fork 33 will also rotate in the same direction.

[0119] The cargo box transfer unit 3 also includes a pose sensor 35 for identifying the position of the cargo box above the telescopic fork 33, and a positioning sensor 36 for detecting the position of the cargo box.

[0120] The pose sensor 35 can be a visual sensor or other sensors that can acquire pose information.

[0121] The positioning sensor 36 can be a visual sensor or other sensors that can acquire pose information.

[0122] The process of a robot for transporting cargo boxes 4 to a cargo box storage unit 2 is as follows: The robot moves the cargo box transfer unit 3 to a designated position using a lifting device 32, and at the same time rotates the telescopic fork 33 to a designated angle using a rotating device 34, extending the telescopic fork 33 to below the cargo box 4 to be transported. The robot lifts the cargo box 4 using the lifting device 32, retracts the cargo box 4 using the telescopic fork 33, rotates the telescopic fork 33 and the cargo box 4 to another designated angle using the rotating device 34, moves the cargo box 4 to above the pallet 22 using the telescopic fork 33, lowers the cargo box 4 using the lifting device 32 to place it on the pallet 22, and finally retracts the telescopic fork 33.

[0123] Example 2:

[0124] like Figure 2 and Figure 3 As shown, a robot for transporting cargo boxes includes: a drive unit 1, a cargo box storage unit 2, and a cargo box transfer unit 3.

[0125] (1) The drive unit 1 is used to drive the cargo box storage unit 2 and cargo box transfer unit 3 installed thereon to move together on the ground;

[0126] (2) The cargo box storage unit 2 is installed above the drive unit 1 and is used to store the cargo box 4;

[0127] (3) The cargo box transfer unit 3 is installed on one side of the cargo box storage unit 2 and is used to transfer the cargo box 4 into or out of the cargo box storage unit 2 to a designated location.

[0128] The drive unit 1 includes a chassis frame 11 and two drive wheels 12, which are symmetrically installed on both sides of the chassis frame 11. By rotating the drive wheels 12, the robot can move forward, backward, turn, and rotate in place.

[0129] The cargo box storage unit 2 includes a support rail 21, a tray 22, and a reinforcing rib 23. The support rail 21 is located above the drive unit 1 and is connected to each other through the tray 22 and the reinforcing rib 23. The tray 22 is used to stack cargo boxes.

[0130] The cargo box storage unit 2 can store multiple cargo boxes.

[0131] The tray 22 is a flat plate that connects to the two side support rails 21.

[0132] The cargo box transfer unit 3 includes a frame 31, a lifting device 32, a telescopic fork 33, and a rotating device 34. One end of the lifting device 31 is connected to the support rail 21 and can slide up and down along the vertical direction of the support rail 21, while the other end is connected to the telescopic fork 33 through the rotating device 34.

[0133] The telescopic fork 33 can be rotated along the z-axis by the rotating device 34.

[0134] The telescopic fork 33 can extend or retract along the x-direction. If the rotating device 34 drives the telescopic fork 33 to rotate, the telescopic fork 33 will also rotate in the same direction.

[0135] The cargo box transfer unit 3 also includes a pose sensor 35 for identifying the position of the cargo box above the telescopic fork 33, and a positioning sensor 36 for detecting the position of the cargo box.

[0136] The pose sensor 35 can be a vision sensor or other sensors that can acquire pose information, such as a radio frequency sensor.

[0137] The positioning sensor 36 can be a visual sensor or other sensors that can acquire pose information, such as a radio frequency sensor.

[0138] The process of a robot for transporting cargo boxes 4 to a cargo box storage unit 2 is as follows: The robot moves the cargo box transfer unit 3 to a designated position using a lifting device 32, and at the same time rotates the telescopic fork 33 to a designated angle using a rotating device 34, extending the telescopic fork 33 to below the cargo box 4 to be transported. The robot lifts the cargo box 4 using the lifting device 32, retracts the cargo box 4 using the telescopic fork 33, rotates the telescopic fork 33 and the cargo box 4 to another designated angle using the rotating device 34, moves the cargo box 4 to above the pallet 22 using the telescopic fork 33, lowers the cargo box 4 using the lifting device 32 to place it on the pallet 22, and finally retracts the telescopic fork 33.

[0139] Example 3

[0140] Example 3 Figures 4-15 As shown.

[0141] like Figure 4 As shown, this embodiment provides a robot for transporting cargo boxes, including a drive unit 1, a cargo box storage unit 2, and a cargo box transfer unit 3. The cargo box storage unit 2 is mounted above the drive unit 1, and has multiple cargo box shelves distributed along a direction perpendicular to the drive unit 1 for storing cargo boxes. The cargo box transfer unit 3 is mounted on one side of the cargo box storage unit 2 and can move vertically up and down along the cargo box storage unit 2 to reach a designated height for transferring cargo boxes between a designated layer on a shelf 40 and a designated layer in the cargo box storage unit 2. The drive unit 1 drives the cargo box storage unit 2 and the cargo box transfer unit 3 mounted thereon, making them move together as a whole on the ground.

[0142] like Figure 5As shown, the drive unit 1 includes a chassis frame 110, a first drive assembly 120, a second drive assembly 130, a vertical plate 111, a cantilever assembly 140, a sensing assembly, and a power module. The chassis frame 110 is the supporting component of the entire drive unit 1, and all components of the drive unit 1 are mounted on the chassis frame 110. The first drive assembly 120 is mounted on one side of the chassis frame 110, and the second drive assembly 130 is mounted on the opposite side of the chassis frame 110. The positions of the first drive assembly 120 and the second drive assembly 130 are symmetrical. The first drive assembly 120 and the second drive assembly 130 are used to realize the forward, backward, turning, and stationary rotation of the drive unit 1. Preferably, the first drive assembly 120 and the second drive assembly 130 have the same structure, both including a walking drive unit 114 composed of a drive wheel 112 and a drive motor 113 connected to the drive wheel 112. The drive wheel 112 rotates through the drive motor 113. The robot can move forward, backward, turn, and rotate in place by rotating the two drive wheels 112. Preferably, the first drive assembly 120 further includes a driven wheel 115 and a first cantilever 121, and the second drive assembly 130 further includes a driven wheel 115 and a second cantilever 131. The first cantilever 121 and the second cantilever 131 are both arranged along the length of the chassis frame 110 (i.e., parallel to the forward direction X and the backward direction Y of the chassis frame 110, as shown in the figure). One end of the first cantilever 121 is connected to the walking drive unit 114, and the other end is connected to the driven wheel 115. One end of the second cantilever 131 is connected to the walking drive unit 114, and the other end is connected to the driven wheel 115. The first cantilever 121 and the second cantilever 131 are both mounted on bearing seats 116 protruding from the chassis frame 110.

[0143] It should be understood that the number of walking drive units 114 is not limited to two, that is, multiple walking drive units 114 can be set in each drive component.

[0144] The cantilever assembly 140 is located on the X-direction side of the chassis frame 110 (i.e., the front end of the chassis frame 110), and includes a third cantilever 141 and two driven wheels 115 connected to both ends of the third cantilever 141. The third cantilever 141 is arranged along the width direction of the chassis frame 110 (i.e., the direction perpendicular to the XY direction in the figure), and is mounted on the chassis frame 110 via bearing seats 116. Preferably, the bearing seats 116 are located at the middle of the third cantilever 141. The hinge center points of the first cantilever 121 and the bearing seat 116, the second cantilever 131 and the bearing seat 116, and the third cantilever 141 and the bearing seat 116 form a triangular hinge structure, as shown in the figure. These three center points are the vertices of triangle 117. This triangular hinge structure improves the stability of the drive unit 1, enabling stable movement. All driven wheels 115 can be omnidirectional wheels or wheels with steering function.

[0145] The upright plate 111 is fixed to the chassis frame 110 and protrudes upward from the chassis frame 110. The cargo box storage unit 2 is installed to the upright plate 111 and the chassis frame 110. The upright plate 111 is arranged along the width direction of the chassis frame 110 and is located between the cantilever assembly 110 and the drive assemblies 120 and 130.

[0146] The sensing components are used to locate the drive unit 1 and identify obstacles. The sensing components include a positioning sensor 151 mounted on the chassis frame 110 and laser modules 152 evenly distributed along the sides of the chassis frame 110. The positioning sensor 151 is used to locate the drive unit 1. Preferably, it is positioned at the center of the chassis frame 110 and can identify navigation markers (such as QR codes, guide strips, etc.) laid on the ground to control the direction and position of the robot's movement, enabling the robot to accurately reach the pickup location. It is understood that the positioning sensor 151 is not limited to a camera or sensor; it can also be a device with positioning and imaging functions. The laser modules 152 can be respectively located at the front and rear ends of the chassis frame 110. Preferably, the laser modules 152 are diagonally distributed to achieve full-vehicle coverage for safety scanning, thereby identifying obstacles around the robot and protecting the entire robot.

[0147] like Figure 6As shown, the cargo storage unit 2 is used to store cargo boxes 4 and drive the cargo box transport unit 3 to move up and down vertically. The cargo storage unit 2 includes a gantry module 210, a lifting module 220, a lifting drive module 230, and a gantry mounting module 240. The gantry module 210 is used to store cargo boxes 4 and is configured to have multiple cargo box storage spaces 211 arranged vertically, each cargo box storage space 211 can be used to store cargo boxes 4. The gantry mounting module 240 is provided at the bottom of the gantry module 210 and is mounted on the drive unit 1, so that the cargo storage unit 2 is fixed on the drive unit 1. The lifting module 220 is arranged vertically and connected to the gantry module 210 and is located on one side of the gantry module 210 facing / away from the robot's forward direction (i.e., the XY direction). Preferably, there are two lifting modules 220, which are symmetrically distributed on both sides of the gantry module 210 along its width direction. The lifting drive module 230 is located at the bottom of the cargo box storage unit 2 and connected to the lifting module 220 to drive the lifting module 220 to move vertically relative to the gantry module 210. The cargo box transfer unit 3 is connected to the lifting module 220 and moves together with the lifting module 220, thereby enabling the cargo box transfer unit 3 to move vertically relative to the gantry module 210.

[0148] The gantry module 210 has multiple cargo box storage spaces 211. Preferably, the gantry module 210 includes gantry shelves 212, gantry beams 213, and gantry columns 214, with at least one pair of gantry columns 214 vertically arranged and opposite to each other. The gantry beams 213 are distributed vertically between the pair of gantry columns 214 (they can be evenly distributed, or the distance between two adjacent beams 213 can be set according to requirements), and both ends of the gantry beams 213 are respectively connected to the opposite gantry columns 214. The gantry shelves 212 are fixed on the gantry beams 213 and are used to support the cargo boxes 4. Preferably, the gantry shelves 212 are divided in the middle and surrounded by cargo box limiting plates. It should be understood that other structures that can form multiple cargo box storage spaces 211 can also be used as the gantry module 210 in this embodiment.

[0149] See also Figure 6 and Figure 7 The lifting module 220, driven by an external force, can move vertically relative to the gantry module 210. It includes a movable component and a transmission mechanism connected to the movable component. The movable component is connected to the cargo box transfer unit 3, and the transmission mechanism transmits external force to the movable component to drive its vertical movement, thereby moving the cargo box transfer unit 3 vertically. In a preferred embodiment, as... Figure 7As shown, the lifting module 220 adopts synchronous belt drive. Specifically, the lifting module 220 includes a first synchronous belt 221, an idler pulley 222, a guide pulley 223, a side slider 224, a pressure block 225, and a lifting plate 226. The two ends of the first synchronous belt 221 are installed between the pressure blocks 225. The first synchronous belt 221 and the pressure blocks 225 are installed on the inner side of the lifting plate 226. The guide pulley 223 and the side slider 224 are installed on the outer side of the lifting plate 226, and the two side sliders 224 are installed between the two guide pulleys 223. The lifting plate 226, as a movable component, is connected to the cargo box transmission unit 3, driving the cargo box transmission unit 3 to move up and down. The first synchronous belt 221 is arranged along the length of the gantry module 210. The first synchronous belt 221 is a closed belt, with its top end fitted onto an idler pulley 222, which is fixed to the top of the gantry module 210. The other end of the first synchronous belt 221 is fitted onto the output component of the lifting drive module 230, thus forming a near-closed-loop structure. A pressure block 225 is installed on the lifting plate 226 to tension the first synchronous belt 221 and moves with the lifting plate 226. The guide wheel 223 and the side slider 224 are used to move the lifting module 220 along the direction of the gantry mounting module 240.

[0150] The lifting drive module 230 outputs power to drive the lifting module 220 to move up and down. The lifting drive module 230 includes a drive component 231, a transmission mechanism, and an output component. The drive component 231 is connected to the transmission mechanism, the transmission mechanism is connected to the output component, and the output component is connected to the first synchronous belt 221 of the lifting module 220, thereby outputting power to the first synchronous belt 221. The drive component 231 can be a motor, the transmission mechanism includes a reducer 232 and a drive shaft 233, and the output component is a drive wheel 234 located at the end of the drive shaft 233. The motor is connected to the reducer 232, and the reducer 232 cooperates with the drive shaft 233. Preferably, there are two drive wheels 234, located at both ends of the drive shaft 233.

[0151] like Figure 8As shown, the gantry mounting module 240 is used to fix the cargo storage unit 2 onto the drive unit 1. It includes a mounting plate 241 and a mounting base plate 242. The mounting plate 241 is located between a pair of gantry columns 214 and is vertically arranged. The mounting plate 241 can be fixedly mounted on the upright plate 111 of the drive unit 1. The mounting base plate 242 is located at the bottom of the gantry columns 214 and the mounting plate 241 and is horizontally arranged. The mounting base plate 242 can be fixedly mounted on the chassis frame 110. Preferably, a pair of mounting base plates 242 are provided, each located at the bottom of a pair of gantry columns 214. Through the mounting plate 241 and the mounting base plate 242, the cargo storage unit 2 can be fixed simultaneously in both the vertical direction and the moving direction of the drive unit 1, which helps improve the stability of the cargo storage unit 2. In some embodiments, components of the lifting drive module 230 can be mounted on the mounting plate 241. For example, the drive component 231, the reducer 232, and the drive shaft 233 can be mounted on the mounting plate 241.

[0152] In some embodiments, the gantry mounting module 240 is further provided with a first anti-skip tooth device 242 and a lifting limit block 244. The lifting limit block 244 is mounted on the mounting base plate 242 and is used to limit the lowest position of the lifting plate 226 when it moves vertically. The first anti-skip tooth device 243 is mounted on the mounting base plate 242 and located on the slack side of the first synchronous belt 221, which can press the first synchronous belt 221 tightly onto the drive pulley 234 to prevent the first synchronous belt 221 from skipping teeth. Figure 9 As shown, the first anti-tooth skipping device 243 includes an upper pressure plate 2431, a pressure wheel 2432, a left pressure plate 2433, and a right pressure plate 2434. The left pressure plate 2433 and the right pressure plate 2434 are arranged vertically relative to each other. The two ends of the upper pressure plate 2431 are respectively connected to the left pressure plate 2433 and the right pressure plate 2434 to form a frame. The pressure wheel 2432 is located in the frame and is pivotally connected to the left pressure plate 2433 and the right pressure plate 2434. The pressure wheel 2434 contacts the first synchronous belt 221 and presses the first synchronous belt 221 onto the drive wheel 234.

[0153] In some implementations, as shown in the figure Figure 6 and Figure 10As shown, the cargo storage unit 2 also includes a gantry top plate 250. The gantry top plate 250 is installed on top of the gantry module 210, that is, at the end of the gantry module 210 away from the gantry mounting module 240. The idler wheel 222 of the lifting module 220 can be fixed to the gantry top plate 250. In some embodiments, a second anti-jumping tooth device 251 can also be provided on the gantry top plate 250. The second anti-jumping tooth device 251 is located on both sides of the idler wheel, thereby pressing the first synchronous belt 221 against the idler wheel 222. As shown in the figure, when two lifting modules 220 are provided, there are two idler wheels 222. These two idler wheels 222 are respectively installed at both ends of the gantry top plate 250 along its length. A second anti-jumping tooth device 251 is provided on both sides of each idler wheel. The structure of the second anti-jumping tooth device 251 is the same as that of the first anti-jumping tooth device 243, and will not be described again. In some implementations, a signal module 252 and a light strip 253 may also be provided on the gantry top plate 250. The signal module 252 is used to realize communication, and the light strip 253 can improve illumination.

[0154] In some implementations, such as Figure 6 and Figure 8 As shown, the cargo storage unit 2 also includes a cable chain mounting plate 261, a cable chain 262, and a handle 263. One end of the cable chain 262 is mounted on the gantry column 214, and the other end of the cable chain 262 is mounted on the cable chain mounting plate 261. The cable chain mounting plate 261 is mounted on the cargo transport unit 3, so that the cable chain 262 bends and folds as the cargo transport unit 3 moves along the vertical direction of the gantry module 210. The handle 263 is mounted on the surface of the gantry column 214 and is located on the side of the gantry column 214 facing the X direction.

[0155] The cargo box transfer unit 3 can move vertically up and down under the drive of the lifting module 220 to reach a specified height of the shelf 40. It can then extend and retract to transport the cargo box 4 from the shelf 40 to the cargo box storage unit 2, or vice versa. The cargo box transfer unit 3 is connected to the lifting plate 226 of the lifting module 220 and moves together with the lifting plate 226.

[0156] like Figure 11 and Figure 12As shown, the cargo box transfer unit 3 includes a base frame 310, a hook-and-fork module 320, a telescopic drive module 330, a telescopic slide rail module 340, a follower mechanism 350, a slewing device 360, a sensing component, and a base plate 311. The base plate 311 is mounted on the base frame 310, and the slewing device 360 ​​is located in the middle of the base frame 310 and can drive the base plate 311 to rotate. The hook-and-fork module 320, the telescopic drive module 330, the telescopic slide rail module 340, the follower mechanism 350, and the sensing component are all mounted on the base plate 311. The hook-and-fork module 320 is positioned on opposite sides of the base plate 311. The hook-and-fork module 320 is configured to be telescopic, extending or retracting from one end of the base plate 311, as shown in the figure. The extension direction is A, and the retraction direction is B. The hook-and-fork module 320 is positioned on the side of the base plate 311 parallel to direction AB, extending from one end of the base plate 311 along direction AB. Here, the extended end of the hook-and-fork module 320 is considered the front end of the base plate 311 (i.e., the end of the base plate 311 facing direction A), and the end opposite the front end is considered the rear end of the base plate 311 (i.e., the end of the base plate facing direction B). The base plate 311 is equipped with a telescopic drive module 330, a telescopic slide rail module 340, and a follower mechanism 350. The telescopic drive module 330 is connected to the hook-and-fork module 320 to drive the hook-and-fork module 320 to achieve telescopic movement along direction AB. The follower mechanism 350 is connected to the hook-and-fork module 320 and moves together with it. The telescopic slide rail module 340 is connected to the follower mechanism 350, causing the follower mechanism 350 to move along the telescopic slide rail module 340. A cargo box 4 is placed on the follower mechanism 350, causing the cargo box 4 to follow the follower mechanism 350 for transfer between the cargo box transfer unit 3 and the shelf 40. The rotating device 360 ​​can rotate the base plate 311, causing the hook-and-fork module 320 to rotate to a specified angle.

[0157] like Figure 12 and Figure 13 As shown, the hook-and-fork module 320 can extend or retract from the cargo box transfer unit 3. During this process, the hook-and-fork module 320 can move along with the cargo box 4 to transfer the cargo box 4 from the shelf 40 to the cargo box transfer unit 3, or vice versa. Similarly, the hook-and-fork module 320 can also perform similar operations with the cargo box storage unit 2 to achieve cargo box 4 transfer. By moving the cargo box along with the hook-and-fork module 320, cargo box 4 can be transferred between the cargo box storage unit 2 and the shelf 40. The hook-and-fork module 320 is set on opposite sides of the base plate 311 parallel to the AB direction, that is, there is one hook-and-fork module 320 on each side of the base plate 311, and these two hook-and-fork modules 320 have the same structure. The hook-and-fork module 320 includes a swing arm rotating device 321, a telescopic fork device 322, and a push plate 323.

[0158] The telescopic fork mechanism 322 includes an inner fork tooth 3221, a middle fork tooth 3222, and an outer fork tooth 3223. The outer fork tooth 3223 is fixed to the base plate 311 (as a fixed fork tooth). The middle fork tooth 3222 is installed inside the outer fork tooth 3223, and the inner fork tooth 3221 is installed inside the middle fork tooth 3222. The rocker arm mechanism 321 is installed outside the inner fork tooth 3221 and located at the end of the inner fork tooth 3221 facing direction A. The push plate 323 is installed inside the inner fork tooth 3221 and located at the end of the inner fork tooth 3221 facing direction B. The middle fork tooth 3222 and the inner fork tooth 3221 can extend or retract along the AB direction, allowing the cargo box 4 to be transferred between the shelf 40 and the follower mechanism 350. The middle fork tooth 3222 is also equipped with a first synchronous pulley 32221, a tensioning device 32222, a second synchronous belt 32223, and a second synchronous pulley 32224. The first synchronous pulley 32221 and the second synchronous pulley 32224 are located at both ends of the middle fork tooth 3222 along the telescopic direction (AB direction). The second synchronous belt 32223 is bent to form a broken loop. Both ends of the second synchronous belt 32223 are fixed to the tensioning device 32222, which is fixed to the side of the middle fork tooth 3222 facing the inner fork tooth 3221. The center positions of both ends of the second synchronous belt 32223 are consistent with the center positions of the first synchronous pulley 32221 and the second synchronous pulley 32224, so that the second synchronous belt 32223 moves with the fork tooth. When the telescopic drive module 330 drives the middle fork tooth 3222 to move, the inner fork tooth 3221 moves with the middle fork tooth 3222, thereby causing the middle fork tooth 3222 and the inner fork tooth 3221 to extend outward. Preferably, if the initial velocity of the middle fork tooth 3222 is V1, then the velocity of the inner fork tooth 3221 is V2, where the velocity of the inner fork tooth 3221 is the fork tooth extension / retraction speed, which is twice the initial velocity V1. The second synchronous belt 32223 passes through the first synchronous pulley 32223 and the second synchronous pulley 32224 and is installed at the A-direction end of the outer fork tooth 3223 and the B-direction end of the inner fork tooth 3221. When the middle fork tooth 3222 is driven, the first synchronous pulley 32223 and the second synchronous pulley 32224 move under the drive of the second synchronous belt 32223, and the inner fork tooth 3221 also moves accordingly. (At this time, the inner fork tooth 3221, the middle fork tooth 3222, and the outer fork tooth 3223 form a set of pulley-like devices, with the outer fork tooth 3223 being the fixed end, the middle fork tooth 3222 being the pulley group, and the inner fork tooth 3221 being the moving group, so V2 is twice V1). An L-shaped baffle 32225 is provided on the middle fork tooth 3222, which abuts against the front end of the follower mechanism 350, pulling the follower mechanism 350 back when the fork tooth retracts. The telescopic fork tooth device 322 in this embodiment has two stages of telescopic stroke. The extension of the middle fork tooth 3222 constitutes the first stage of telescopic stroke, and the extension of the inner fork tooth 3221 constitutes the second stage of telescopic stroke.

[0159] like Figure 13As shown, the rocker arm device 321 is mounted on the fork tooth corresponding to the last stage of the telescopic stroke. In this embodiment, the inner fork tooth 3221 is the fork tooth corresponding to the second stage of the telescopic stroke, therefore the rocker arm device 321 is mounted on the inner fork tooth 3221. The rocker arm device 321 includes a rocker arm 3211, a path detection sensor 3212, a rocker arm limiting block 3213, a coupling 3214, and a rocker arm motor 3215. The rocker arm device 321 is respectively mounted on the outer side of the two inner fork teeth 3221 (i.e., the side facing the middle fork tooth 3222), and is located on the inner fork tooth 3221 at the end away from the push plate 323 (the end of the inner fork tooth 3221 facing direction A). The swing arm 3211 rotates relative to the telescopic direction of the fork tooth. When the swing arm 3211 is parallel to the follower mechanism 350, it is considered to be swinging out. At this time, the swing arm 3211 forms an angle with the inner fork tooth 3221; preferably, the angle is a right angle, meaning the swing arm 3211 is perpendicular to the inner fork tooth 3221. When it is parallel to the width direction (perpendicular to the AB direction) of the inner fork tooth 3221, it is considered to be retracted. When the swing arm 3211 retracts, it moves from the near end to the far end of the box 4 on the shelf 40. Then, the swing arm 3211 swings out again, forming an angle with the inner fork tooth 3221. When the inner fork tooth 3221 retracts, the swing arm 3211 hooks onto the box 4, causing the box 4 on the shelf 40 to move to the box transfer unit 3 as the telescopic fork tooth device 322 retracts. The rocker arm 3211 is connected to the coupling 3214 via the rocker arm shaft. A limiting block 3213 is installed between the rocker arm 3211 and the coupling 3214. Sensors 3212 are installed on both sides of the coupling 3214, which is connected to the rocker arm motor 3215. Initially, the rocker arm 3211 is flush with the inner fork tooth 3221. Driven by the rocker arm motor 3215, the rocker arm 3211 rotates counterclockwise until it is perpendicular to the inner fork tooth 3221. At this point, the limiting block 3213 triggers the sensor 3212, and the rocker arm device 321 stops moving. The reverse is also true. During the process of pulling the cargo box 4 from the shelf 40 into the cargo box transfer unit 3, the cargo box transfer unit 3 arrives and rotates to the predetermined position. The swing arm 3211 maintains the initial position. As the middle fork tooth 3222 is driven, the inner fork tooth 3221 and the swing arm device 321 also move towards the side of the cargo box 4 to the target position. Then, the two swing arms 3211 rotate inward to be perpendicular to the inner fork tooth 3221. At this time, the swing arm 3211, the inner fork tooth 3221 and the push plate 323 form a kind of closed space. When the middle fork tooth 3222 retracts, the cargo box 4 is also pulled into the cargo box transfer unit 3.During the process of the cargo box 4 entering the shelf 40 from the cargo box transfer unit 3, the swing arm 3211 rotates inward from the initial position to be perpendicular to the inner fork tooth 3221. At this time, the swing arm 3211, the inner fork tooth 3221 and the push plate 323 form a kind of closed space. As the middle fork tooth 3222 is driven to move to one side of the shelf 40, the cargo box enters the shelf 40 from the cargo box transfer unit 3 to the target position. Then the swing arm 3211 rotates back to the initial position, and the inner fork tooth 3221, the middle fork tooth 3222 and the swing arm device 321 return to the initial position.

[0160] The telescopic drive module 330 is mounted on the base plate 311, specifically, as follows: Figure 14 As shown, the telescopic drive module 330 includes a drive component 331 and a transmission mechanism. The drive component 331 outputs power, which is then transmitted to the telescopic fork tooth device 322 via the transmission mechanism, thereby driving the telescopic fork tooth device 322 to complete the telescopic function. In some embodiments, the drive component 331 is a motor, and the transmission mechanism is a chain drive. There is one motor and two transmission mechanisms, which are respectively connected to the drive shaft and located at both ends of the drive shaft, which is connected to the motor. The two transmission mechanisms are located on both sides of the base plate 311 parallel to the AB direction, that is, one transmission mechanism is set on one side of each outer fork tooth 3223. The two transmission mechanisms have the same structure. The transmission mechanism includes a first transmission sprocket 332, a chain 333, a second transmission sprocket 334, a transmission intermediate wheel 335, and a main drive wheel 336. The first transmission sprocket 332 is located at the front end of the base plate 311, and the second transmission sprocket 334, the main drive wheel 336, the transmission intermediate wheel 335, and the motor are respectively located at the rear end of the base plate 311. Chain 333 is respectively sleeved on the first transmission sprocket 332 and the second transmission sprocket 334, forming a closed loop. The main drive wheel 336 is mounted on the output shaft of the drive component 331, the intermediate transmission wheel 335 meshes with the main drive wheel 336, the second transmission sprockets 334 are mounted at both ends of the drive shaft, and the intermediate transmission wheel 335 is mounted between the two second transmission sprockets 334. The drive component 331 drives the main drive wheel 336 to move, and the first transmission sprockets 334 on both sides also move accordingly, thereby driving the chain 333 on the corresponding side to move.

[0161] See also Figure 12The follower mechanism 350 carries the cargo box 4 and moves together with the telescopic fork mechanism 322. The follower mechanism 350 includes a plate-shaped member 351 for carrying the cargo box 4. When the telescopic fork mechanism 322 extends, the plate-shaped member 351 moves along with it and abuts against the shelf 40. Preferably, a rubber pad 352 is provided on the end of the plate-shaped member 351 facing the shelf 40. When the plate-shaped member 351 abuts against the shelf, the rubber pad 352 is located between the plate-shaped member 351 and the shelf 40, providing a cushioning effect; that is, the rubber pad 352 contacts the shelf panel of the shelf 40. A spring 353 is connected between the side of the follower mechanism 350 away from the extension direction and the rear end of the base plate 311. When the telescopic fork tooth device 322 extends, the follower mechanism 350 extends along with the telescopic fork tooth device 322 under the action of the spring 353; when the telescopic fork tooth device 322 retracts, the L-shaped baffle 32225 on the middle fork tooth 3222 moves together with the rubber pad 352 of the follower mechanism 350.

[0162] See also Figure 14 The telescopic slide rail module 340 is mounted on the base plate 311. The telescopic slide rail module 340 supports the follower mechanism 350 and allows the follower mechanism 350 to move on the telescopic slide rail module 340. One or more telescopic slide rail modules 340 can be provided. Preferably, as shown in the figure, two telescopic slide rail modules 340 are provided, located on opposite sides of the base plate 311, and the two telescopic slide rail modules 340 have identical structures. In some embodiments, the telescopic slide rail module 340 includes a first slider 341, a slide rail 342, and a second slider 343. The first slider 341 and the second slider 343 can slide freely on the slide rail 342. The follower mechanism 350 is mounted on the first slider 341 and the second slider 343. Preferably, during the storage of the cargo box 4, the cargo box 4 is placed on the surface of the follower mechanism 350. When the telescopic fork tooth device 322 extends, the follower mechanism 350 moves together with the telescopic fork tooth device 322 and moves along the telescopic slide rail module 340. Then, the rubber pad 352 contacts the shelf of the shelf 40, and the cargo box 4 is pushed onto the shelf of the shelf 40 by the push plate 323, increasing the success rate of storing the cargo box 4.

[0163] During the process of hooking the fork module 320 to store the cargo box 4, the swing arm device 321 and the push plate 323 make the cargo box 4 located in a space composed of the inner fork tooth 3221, the middle fork tooth 3222, the outer fork tooth 3223, the swing arm device 321 and the push plate 323, and make the cargo box 4 move together with the space.

[0164] The slewing device 360 ​​is installed in the middle of the base frame 310, which can drive the base plate 311 to rotate, thereby driving the hook fork module 320 installed on the base plate to rotate, so that the opening of the hook fork module 320 can rotate to face the cargo box. A rotation limit sensor 361 is provided next to the slewing device 360 ​​to detect the position of the base plate rotated by the slewing device 360.

[0165] like Figure 11 and Figure 14 As shown, the sensors on the cargo box transfer unit 3 include a pose sensor 371 and a cargo box detection sensor 372 located at the front end of the base frame 310. These sensors can detect the cargo box 4 and the distance between the cargo box transfer unit 3 and the cargo box 4. The sensors can be visual sensors or other sensors that acquire pose information.

[0166] In some implementations, such as Figure 11 As shown, the cargo box transfer unit 3 also includes an outer cover, which is fixed to the outside of the base plate and covers the hook fork module 320 to protect it. The outer cover includes a rear outer cover 313 and side outer covers 312. The rear outer cover 313 is fixed to the rear end of the base plate 311. There are two side outer covers 312, which are respectively arranged on both sides of the base plate 311 parallel to the AB direction and located outside the outer fork 3223. The two ends of the rear outer cover 313 are connected to the two side outer covers 312 respectively. The side opposite to the rear outer cover 313, i.e., the front end of the base plate 311, is an opening 314 (see...). Figure 12 The hook-and-pull fork module 320 extends and retracts from the opening 314.

[0167] like Figure 15 As shown, the process by which the robot transporting the cargo box 4 from the cargo box storage unit 2 to the shelf 40 in this embodiment is as follows:

[0168] The robot moves from its initial position to the designated position via drive unit 1.

[0169] The cargo box transfer unit 3 moves to the designated height of the cargo box storage unit 2, and at the same time rotates the telescopic fork tooth device 322 to the designated angle through the rotary device 360, so that the opening 314 of the hook fork tooth module 320 faces the cargo box 4 stored in the cargo box storage unit 2.

[0170] The telescopic fork tooth device 322 of the hook fork tooth module 320 extends and passes through both sides of the cargo box 4. The swing arm 3211 of the swing arm device 321 rotates to a position parallel to the follower mechanism 350. At this time, the telescopic fork tooth device 322 begins to retract, and the swing arm 3211 retracts along with it and drives the cargo box 4 to move together. When the telescopic fork tooth device 322 resets, the cargo box 4 is brought onto the follower mechanism 350, and the swing arm 3211 resets.

[0171] The cargo box transfer unit 3 moves to the designated height of the shelf 40, and at the same time rotates the telescopic fork tooth device 322 to the designated angle through the rotary device 360, so that the opening 314 of the hook fork tooth module 320 faces the shelf 40.

[0172] The telescopic fork tines 322 extend onto the shelf 40, and the follower mechanism 350 moves along with it. When the follower mechanism 350 comes into contact with the shelf 40, the push plate 323 pushes the box 4 from the follower mechanism 350 onto the shelf 40. Finally, the telescopic fork tines 322 retracts, completing the working process.

[0173] Example 4

[0174] Example 4 Figures 16-19 As shown.

[0175] This embodiment is largely the same as Embodiment 3, namely, the drive unit 1 and the cargo box storage unit 2 are the same. The difference lies in that the cargo box transfer unit in this embodiment adds a telescopic mechanism compared to Embodiment 3. That is, the structure of the base frame 310, telescopic drive module 330, telescopic slide rail module 340, follower mechanism 350, rotating device 360, sensor, base plate 311, and outer cover 312 and 313 of the cargo box transfer unit in this embodiment is the same as that in Embodiment 3. The difference is that the hook-and-pull fork module 420 in this embodiment adds a telescopic structure. The base frame 310, telescopic drive module 330, telescopic slide rail module 340, follower mechanism 350, rotating device 360, sensor, base plate 311, and outer cover 312 and 313, which are the same as those in Embodiment 3, will not be described again in this embodiment.

[0176] like Figure 16 , Figure 17 and Figure 18 As shown, the dual-extension hook fork module 420 of this embodiment is disposed on opposite sides of the base plate 311 parallel to the AB direction. That is, each side of the base plate 311 includes a dual-extension hook fork module 420, and these two dual-extension hook fork modules 420 have the same structure. Compared with the hook fork module 320 of Embodiment 3, it has one additional stage of extension stroke. In Embodiment 3, the hook fork module 320 has two stages of extension stroke, namely the extension stroke of the middle fork tooth and the extension stroke of the inner fork tooth. The dual-extension hook fork module 420 of this embodiment has three stages of extension stroke.

[0177] See also Figure 17 and Figure 18The double-extension hook-and-tooth module 420 includes a double-extension swing arm device 421, a double-extension telescopic fork device 422, and a push plate 423. The double-extension fork device 422 includes a fixed fork tooth 4221, a first fork tooth 4222, a second fork tooth 4223, and a third fork tooth 4224. The fixed fork tooth 4221 is fixed to opposite sides of the base plate 311 along the AB direction. The first fork tooth 4222 is installed inside the fixed fork tooth 4221, the second fork tooth 4223 is installed inside the first fork tooth 4222, and the third fork tooth 4224 is installed inside the second fork tooth 4223. The double-extension swing arm device 421 is installed on the outer side of the third fork 4224 and near the front end of the base plate 311 (i.e., the end of the third fork 4224 facing direction A). The push plate 423 is installed on the inner side of the first fork 4222 and away from the front end of the base plate 311 (i.e., the end of the first fork 4222 facing direction B). The first fork 4222, the second fork 4223, and the third fork 4224 can extend or retract along the AB direction, so that the cargo box 4 can be transferred between the shelf of the shelf 40 and the follower mechanism 350. The first fork 4222 and the second fork 4223 each include a third synchronous pulley 42231, a tensioning device 42232, a third synchronous belt 42233, and a fourth synchronous pulley 42234. The third synchronous pulley 42231 and the fourth synchronous pulley 42234 are located at the two ends of the first fork 4222 and the second fork 4223, respectively. Tensioning devices 42232 are respectively installed on fixed fork 4221 and first fork 4222. The third synchronous belt 42233 is bent to form a broken loop. Both ends of the third synchronous belt 42233 are fixed to tensioning devices 42232. The synchronous belt 42233 passes through the synchronous pulleys at both ends of the first fork 4222, with one end installed on the fixed fork 4221 and the other end installed on the second fork 4223. Tensioning devices 42232 connect the two ends of the synchronous belt 42233 and are installed on the fixed fork 4221. Alternatively, the synchronous belt 42233 passes through the synchronous pulleys at both ends of the second fork 4223, with one end installed on the first fork 4222 and the other end installed on the third insert 4224. Tensioning devices 42232 connect the two ends of the synchronous belt 42233 and are installed on the first fork 4222. The tensioning device 42232 is fixed at the midpoint between the fixed fork tooth 4221 and the first fork tooth 4222, and at the midpoint between the first fork tooth 4222 and the second fork tooth 4223. The center positions of both ends of the third synchronous belt 42233 are consistent with the center position of the synchronous pulley, so that the third synchronous belt 42233 moves with the fork tooth. When the telescopic drive module 330 drives the first fork tooth 4222 at an initial speed V1, the second fork tooth 4223 moves at a speed V2 as the first fork tooth 4222 moves, so that the telescopic speed V2 of the second fork tooth 4223 is twice the initial speed V1. The telescopic speed V3 of the third fork tooth 4224 moves at a speed V3 as the second fork tooth 4223 moves, so that the telescopic speed V3 of the third fork tooth 4224 is three times the initial speed V1.In this embodiment, the double-extension telescopic fork device 422 forms a three-stage telescopic stroke. The first fork 4221 extends to form the first-stage telescopic stroke, the second fork 4222 extends to form the second-stage telescopic stroke, and the third fork 4223 extends to form the third-stage telescopic stroke.

[0178] The inner side of the fixed fork tooth 4221 is provided with a slide rail groove 424 along the AB direction. The outer side of the first fork tooth is provided with a slide rail 425 along the AB direction, and the inner side of the first fork tooth is provided with a slide rail groove 424 along the AB direction. The outer side of the second fork tooth is provided with a slide rail 425 along the AB direction, and the inner side of the second fork tooth is provided with a slide rail groove 424 along the AB direction. The outer side of the third fork tooth is provided with a slide rail 425 along the AB direction. All slide rail grooves 424 and slide rails 425 are at the same height.

[0179] The double-extension rocker arm device 421 is installed on the third fork 4223 corresponding to the last stage of extension stroke, i.e., the third stage of extension stroke. The structure and working principle of the double-extension rocker arm device 421 are the same as those of the rocker arm device 321 in Embodiment 3, and will not be described again.

[0180] Based on Example 3, the sensor can also be equipped with a laser module for detecting the cargo box 4.

[0181] The process by which the robot in this embodiment moves the cargo box to the cargo box storage unit is as follows:

[0182] like Figure 19 As shown, the cargo box 4 has two positions on the shelf 40: a first position 41 and a second position 42, wherein the first position 41 is the position where the cargo box 4 is close to the cargo box conveying unit 3, and the second position 42 is the position where the cargo box 4 is far away from the cargo box conveying unit 3. After the robot moves on the ground from its initial position via the drive unit 1, it reaches the designated position. The robot then moves the cargo box transfer unit 3 to the designated height position via the lifting module 220 of the cargo box storage unit 2. At the same time, the robot rotates the double-extendable telescopic fork tooth device 422 to the designated angle via the rotation device 360 ​​of the cargo box transfer unit 3. The double-extendable telescopic fork tooth device 422 extends and retracts to retrieve the cargo box 4 located at the first position 41 on the shelf of the shelf 40. Then, the lifting module 220 of the cargo box storage unit 2 and the rotation device 360 ​​of the cargo box transfer unit 3 lift and rotate the double-extendable hook fork tooth module 420 and the cargo box 4 to another designated angle. The double-extendable hook fork tooth module 420 then places the cargo box 4 on the shelf 212 of the cargo box storage unit 2. Finally, the double-extendable hook fork tooth module 420 is retracted, completing the cargo box storage process at the first position 41.

[0183] The robot moves the cargo box transfer unit 3 to a designated height position via the lifting module 220 of the cargo box storage unit 2. At the same time, it rotates the double-extend telescopic fork tooth device 422 to a designated angle via the rotation device 360 ​​of the cargo box transfer unit 3. The double-extend hook fork tooth module 420 extends and retracts to retrieve the cargo box located at the second position 42 on the shelf 40. Then, the lifting module 220 of the cargo box storage unit 2 and the rotation device 360 ​​of the cargo box transfer unit 3 lift and rotate the hook fork tooth module 420 and the cargo box 4 to another designated angle. Then, the double-extend hook fork tooth module 420 places the cargo box 4 on the shelf 212 of the cargo box storage unit 2. Finally, the double-extend hook fork tooth module 420 is retracted, completing the cargo box storage process at the second position 42.

[0184] Example 5

[0185] Example 5 Figures 20-28 As shown.

[0186] In embodiments 3 and 4, the cargo box transport unit 3 cannot autonomously adjust its width to accommodate cargo boxes of different widths when the robot is retrieving goods. Therefore, this embodiment uses a cargo box transport unit that can adapt to the width of the cargo box. Compared with the robots in embodiments 3 and 4, the drive unit 1 and cargo box storage unit 2 of this embodiment are the same, and will not be described again here.

[0187] like Figure 20 , Figure 21 , Figure 22 , Figure 23As shown, the adaptive cargo box transfer unit 5 used in this embodiment includes a base frame 510, a hook-and-pull fork module 520, a telescopic drive module 530, a telescopic slide rail module 540, a follower mechanism 550, a rotation drive module 560, a sensor, a clamping drive module 580, a clamping slide rail module 590, and a base plate 511. The base plate 511 is mounted on the base frame 510, and a rotating device 561 is provided in the middle of the base frame 510, which can drive the base plate 511 to rotate under the drive of the rotation drive module 560. The hook-and-pull fork module 520, the telescopic drive module 530, the telescopic slide rail module 540, the follower mechanism 550, the rotation drive module 560, the sensor, the clamping drive module 580, and the clamping slide rail module 590 are all mounted on the base plate 511. The hook-and-fork module 520 is positioned on opposite sides of the base plate 511. The hook-and-fork module 520 is configured to be telescopic, extending or retracting from one end of the base plate 511, as shown in the figure. The extension direction is A, and the retraction direction is B. The hook-and-fork module 520 is located on the side of the base plate 511 parallel to direction AB, extending from the end of the base plate 511 towards direction A (the front end of the base plate 511). Here, the extended end of the hook-and-fork module 520 is considered the front end of the base plate 511, and the end opposite the front end is considered the rear end of the base plate 511. The base plate 511 is equipped with a telescopic drive module 530, a telescopic slide rail module 540, and a follower mechanism 550. The telescopic drive module 530 is connected to the hook-and-fork module 520 to drive the hook-and-fork module 520 to achieve telescopic movement along direction AB. The follower mechanism 550 is connected to the hook-and-fork module 520 and moves together with it. The telescopic slide rail module 540 is connected to the follower mechanism 550, allowing the follower mechanism 550 to move along the telescopic slide rail module 540. A cargo box 4 is placed on the follower mechanism 550, causing the cargo box 4 to follow the follower mechanism 550 as it enters and exits the cargo box transfer unit 3. The rotating device 561 can rotate the hook fork module 520, allowing it to rotate to a specified angle. The clamping drive module 580 is connected to the hook fork module 520, driving the hook fork modules 520 on both sides to move relative to each other along direction CD, thereby adjusting the distance between the hook fork modules 520 on both sides to accommodate cargo boxes 4 of different widths. As shown in the figure, direction CD is perpendicular to direction AB, direction CD is parallel to the width direction of the base plate 511, and direction AB is parallel to the length direction of the base plate 511. The clamping slide rail module 590 is connected to the hook fork module 520, allowing the hook fork module 520 to slide along the clamping slide rail module 590 in direction CD.

[0188] See also Figure 12The structure of the hook-and-fork module 520 can be the same as that in either Embodiment 3 or Embodiment 4. This embodiment describes the structure of the hook-and-fork module 520 in Embodiment 3 as an example. The hook-and-fork module 520 is disposed on opposite sides of the base plate 511 parallel to the AB direction, that is, each side of the base plate 511 includes a hook-and-fork module 520, and these two hook-and-fork modules 520 have the same structure. The hook-and-fork module 520 includes a swing arm rotating device 521, a telescopic fork device 522, a push plate 523, and a cargo box limiting plate 524. The function of the cargo box limiting plate 524 is: since the adaptive cargo box transmission unit 5 is suitable for cargo boxes of different widths, the distance between the two oppositely disposed cargo box limiting plates 524 can be adapted to cargo boxes of different widths according to the width of the cargo box, thereby limiting the position of the cargo box and providing guidance.

[0189] The telescopic fork mechanism 522 includes an inner fork tooth 5221, a middle fork tooth 5222, and an outer fork tooth 5223. The outer fork tooth 5223 is located inside the outer cover, preferably inside the side outer cover 512. The outer fork tooth 5223 is fixed to the base plate 511. The middle fork tooth 5222 is installed inside the outer fork tooth 5223, and the inner fork tooth 5221 is installed inside the middle fork tooth 5222. The rocker arm mechanism 521 is installed outside the inner fork tooth 5221 and at the end of the inner fork tooth 5221 facing direction A. The push plate 523 is installed inside the inner fork tooth 5221 and at the end away from the rocker arm mechanism 521. The middle fork tooth 5222 and the inner fork tooth 5221 can extend or retract along the AB direction, allowing the cargo box 4 to be transferred between the shelf 40 and the follower mechanism 550. The middle fork tooth 5222 is also equipped with a first synchronous pulley 52221, a tensioning device 52222, a second synchronous belt 52223, and a second synchronous pulley 52224. The first synchronous pulley 52221 and the second synchronous pulley 52224 are located at both ends of the middle fork tooth 5222 along the extension direction. The second synchronous belt 52223 is bent to form a broken loop. The two ends of the second synchronous belt 52223 are fixed to the tensioning device 52222. The tensioning device 52222 is fixed to one side between the middle fork tooth 5222 and the inner fork tooth 5221. The center positions of the two ends of the second synchronous belt 52223 are consistent with the center positions of the first synchronous pulley 52221 and the second synchronous pulley 52224, so that the second synchronous belt 52223 moves with the fork tooth. When the telescopic drive module 530 drives the middle fork tooth 5222 to move, the inner fork tooth 5221 moves along with the middle fork tooth 5222, causing both the middle fork tooth 5222 and the inner fork tooth 5221 to extend outwards. Preferably, if the initial velocity of the middle fork tooth 5222 is V1, then the velocity of the inner fork tooth 5221 is V2, where the velocity of the inner fork tooth 5221 is the fork tooth telescopic speed, which is twice the initial velocity V1. The rocker arm device 521 includes a rocker arm 5211, a rocker arm limiting block 5212, a coupling 5213, and a rocker arm motor 5214. The rocker arm device 521 is respectively installed on the outer side of the two inner fork teeth 5221 (i.e., the side facing the middle fork tooth 5222), and is located at the end of the inner fork tooth 5221 away from the push plate 523. The swing arm 5211 rotates relative to the telescopic direction of the fork teeth. That is, when the swing arm 5211 is parallel to the follower mechanism 550, it is considered to swing out; when it is parallel to the inner fork teeth 5221, it is considered to retract. When the swing arm 5211 retracts, it moves from the near end to the far end of the box 4 located on the shelf 40. Then, the swing arm 5211 swings out, causing the box 4 on the shelf 40 to move to the box transfer unit 3 along with the telescopic fork tooth device 522.

[0190] See also Figure 22 The telescopic drive module 530 is mounted on the base plate 511. For example... Figure 25As shown, the telescopic drive module 530 includes a chain idler assembly 531, a chain 532, bearing seats 533, a rotary sliding unit 534, a telescopic drive unit 535, and a rotating shaft 536. Bearing seats 533 are respectively provided on both sides of the base plate 511 and at its rear end. The rotating shaft 536 is mounted on the two bearing seats 533. The rotary sliding unit 534 is mounted on the rotating shaft 536 and can slide on it. The rotary sliding unit 534 includes a sliding seat 5341 and a rotating sprocket 5342. The sliding seat 5341 can slide on the rotating shaft 536 and does not rotate with it. The rotating sprocket 5342 can slide on the rotating shaft 536 and can rotate with it, thereby transmitting torque. The telescopic drive unit 535 includes a drive motor 5351 and a gear assembly 5352. The drive motor 5351 is mounted on the base plate 511 and connected to the gear assembly 5352. Gear assembly 5352 is connected to rotating shaft 536 and drives rotating shaft 536 to rotate together. Chain idler assembly 531 is respectively provided on both sides of base plate 511 and at the front end of base plate 511. Chain idler assembly 531 includes tension shaft 5311 and chain idler wheel 5312. Tension shaft 5311 is mounted on outer fork tooth 5223, and chain idler wheel 5312 is sleeved on tension shaft 5311. Chains 532 are respectively provided on both sides of base plate 511. One end of each chain 532 is connected to the corresponding rotating sprocket 5342, and the other end is connected to chain idler wheel 5312. A connecting block 5321 is provided on chain 532, one end of connecting block 5321 is connected to chain 532, and the other end is connected to middle fork tooth 5222. When the drive motor 5351 rotates, it drives the gear assembly 5352 to rotate, thereby driving the rotating shaft 536 to rotate. The rotating sprocket 5342 drives the chain 532 to move. The connecting block 5321 moves along the AB direction with the chain 532, thereby driving the middle fork tooth 5222 to perform extension and retraction.

[0191] See also Figure 22 The follower mechanism 550 and the telescopic slide rail module 540 are the same as in Embodiment 3. The follower mechanism 550 is used to carry the cargo box and moves together with the telescopic fork mechanism. The follower mechanism 550 includes a plate-shaped member 551 for carrying the cargo box. When the telescopic fork mechanism 522 extends, the plate-shaped member 551 moves together and abuts against the shelf 40. Preferably, a rubber pad 552 is provided on the end of the plate-shaped member 551 facing the shelf 40. When the plate-shaped member 551 abuts against the shelf, the rubber pad 552 is located between the plate-shaped member 551 and the shelf 40, providing a cushioning effect, that is, the rubber pad 552 contacts the shelf panel of the shelf 40. The telescopic slide rail module 540 is mounted on the base plate 511. See also Figure 23The telescopic slide rail module 540 supports the follower mechanism 550 and enables the follower mechanism 550 to move on the telescopic slide rail module 540. One or more telescopic slide rail modules 540 can be configured. Preferably, as shown in the figure, two telescopic slide rail modules 540 are provided, located on opposite sides of the base plate 511, and the two telescopic slide rail modules 540 have identical structures. In some embodiments, the telescopic slide rail module 540 includes a first slider 541, a slide rail 542, and a second slider 543. The first slider 541 and the second slider 543 can slide freely on the slide rail 542. The follower mechanism 550 is mounted on the first slider 541 and the second slider 543. Preferably, a spring 553 is connected between the side of the follower mechanism 550 away from the extension direction and the rear end of the base plate 511. During the storage of the box, the box 4 is placed on the surface of the follower mechanism 550. When the telescopic fork tooth device 522 extends, the follower mechanism 550 moves accordingly and the rubber pad 552 contacts the shelf of the shelf 40. The box 4 is pushed onto the shelf of the shelf 40 by the push plate 523, increasing the success rate of storing the box.

[0192] See also Figure 22 and Figure 26 The clamping drive module 580 drives the telescopic fork tooth device 522 to move along the clamping slide rail module 590 in the CD direction, thereby adjusting the width between the telescopic fork tooth devices 522 on both sides to adapt to the width of the cargo box 4. The clamping drive module 580 includes a drive component and a transmission mechanism. The drive component is connected to the transmission mechanism, and the transmission mechanism is connected to the outer fork tooth 5223. Under the drive of the drive component, the outer fork tooth 5223 moves along the CD direction, and the cargo box limiting plate 524 also moves along with it, thereby limiting the width of the cargo box transmission unit 5 to adapt to cargo boxes of different widths. The drive component can be selected from motors, pneumatic, hydraulic cylinders, etc. The transmission mechanism can be selected from chain drives, belt drives, screw drives, etc. Preferably, such as Figure 26As shown, the clamping drive module 580 includes a drive unit 581, a synchronous belt idler assembly 582, and a synchronous belt unit 583. The synchronous belt idler assembly 582 includes an idler bracket 5821 and an idler 5822. The idler bracket 5821 is mounted on a base plate 511, and the idler 5822 is rotatably mounted on the idler bracket 5821. The drive unit 581 includes a drive motor 5811, a synchronous pulley 5812, and a drive bracket 5813. The drive bracket 5813 is mounted on the base plate 511 and is located on the opposite side of the idler bracket 5821. The drive motor 5811 is mounted on the drive bracket 5813, and the synchronous pulley 5812 is connected to the drive motor 5811. The synchronous belt unit 583 includes a synchronous belt 5831, a clamping connecting block 5832, and a synchronous belt pressure plate 5833. One end of the synchronous belt 5831 is connected to the synchronous pulley 5812, and the other end is connected to the idler 5821. The clamping connecting block 5832 and the timing belt pressure plate 5833 are both connected to the timing belt 5831. The clamping connecting block 5832 is also connected to the outer fork tooth 5223. When the drive motor 5811 rotates, it drives the timing pulley 5813 to rotate, and the timing belt 5831 drives the clamping connecting block 5832 to move, thereby driving the telescopic fork tooth device 522 to move along the clamping slide rail module 590 in the direction CD.

[0193] See also Figure 22 The clamping slide rail module 590 is used to support the outer fork tooth and limit its movement trajectory in the CD direction. The clamping slide rail module 590 is mounted on the base plate 511 and is located on the same side of the base plate 511 as the outer fork tooth. Multiple clamping slide rail modules 590 can be arranged side-by-side along the length of the outer fork tooth to make the movement of the outer fork tooth in the CD direction smoother. Each clamping slide rail module 590 has the same structure. Preferably, the clamping slide rail module 590 includes a first clamping slider 591, a second clamping slider 592, a clamping slide rail 593, and a clamping slider connector 594. The first clamping slider 591 and the second clamping slider 592 can slide freely on the clamping slide rail 593. The clamping slider connector 594 connects both the first clamping slider 591 and the second clamping slider 592 and is connected to the outer fork tooth 5223. The telescopic fork tooth device 522 and the cargo box limiting plate 524 can move along the clamping slide rail 593.

[0194] See also Figure 24The rotary drive module 560 includes a rotary drive unit 563 and a rotary drive chain 564. The rotary drive unit 563 includes a rotary drive motor 5631, a rotary drive bracket 5632, and a rotary drive sprocket 5633. The rotary drive bracket 5632 is mounted on the base plate 511. One end of the rotary drive chain 564 is connected to the rotary drive sprocket 5633, and the other end is connected to the slewing device 561. The rotary drive motor 5631 drives the rotary drive sprocket 564 to rotate, thereby driving the rotary drive chain 564 to rotate the slewing device 561, thus rotating the base plate 511. The slewing device 561 is mounted in the middle of the base frame 510 and can drive the base plate 511 to rotate, which in turn drives the hook-and-pull fork module 520 mounted on the base plate 511 to rotate, allowing the opening of the hook-and-pull fork module 520 to rotate towards the cargo box.

[0195] In some embodiments, the cargo box transfer unit 3 further includes an outer cover, which is fixed to the outside of the base plate 511 and covers the hook fork module 520 to protect it. The outer cover includes a rear outer cover 513 and side outer covers 512. The rear outer cover 513 is fixed to the rear end of the base plate 511. There are two side outer covers 512, which are respectively disposed on both sides of the base plate 511 parallel to the AB direction and located outside the outer fork 5223. The two ends of the rear outer cover 513 are respectively connected to the two side outer covers 512. The side opposite to the rear outer cover 513, i.e., the front end of the base plate 511, is an opening. The hook fork module 520 extends and retracts from this opening.

[0196] See also Figure 21 , Figure 23 The sensors include a cargo box shape sensor 572, a path detection sensor 573, a hook-and-pull pose sensor 571, a cargo box detection sensor 575, a rotation limit sensor 562, and a signal sensor 574. As shown in the figure, the signal sensor 574 is mounted on the base plate 511 and located at the clamping slide rail module 590, used to initialize the starting position of the hook-and-pull fork module 520. The rotation limit sensor 562 is located near the slewing device and is used to detect the position of the base plate 511 rotated by the slewing device. As shown in the figure, the shape sensor 572 is mounted at the rear end of the base plate 511, and can be mounted on the rear cover 513, used for detecting the cargo box size; it can be a vision sensor or other sensors that acquire shape information. The path detection sensor 573 is mounted at the front end of the base plate 511 and is used to identify whether there are obstacles in the extension path of the hook-and-pull fork module 520; it can be a vision sensor or other sensors that acquire pose information. The hook-and-pull pose sensor 571 is used for cargo box detection; it can be a vision sensor or other sensors that acquire pose information. The 575 cargo box detection sensor is used to identify shelves and cargo boxes on a shelf while simultaneously detecting distance. It can be a vision sensor or other sensors that acquire positional information.

[0197] like Figure 27 The diagram illustrates the storage process of the cargo box using the swing arm device 521, telescopic fork device 522, follower mechanism 550, and push plate 523. The cargo box 4 is placed on the surface of the follower mechanism 550. When the telescopic fork device 522 extends away from the push plate 523, the follower mechanism 550 also moves, and the rubber pad 552 contacts the shelf of the fixed rack 40. The cargo box 4 is then pushed onto the shelf of the rack 40 by the push plate 523, increasing the success rate of cargo box storage.

[0198] like Figure 28 As shown, the process of removing the cargo box using the swing arm device 521, telescopic fork tooth device 522, follow-up mechanism 550, and push plate 523 is illustrated. The cargo box 4 is placed on the shelf of the fixed shelf 40. After the shape sensor 572 detects the size of the cargo box 4 facing the direction of the shape sensor, the clamping drive module 580 drives the hook fork tooth module 520 to move to match the width of the cargo box 4. Then, the telescopic drive module 530 drives the middle fork tooth 5222 and the inner fork tooth 5221 to extend towards the cargo box 4 and stop driving at the matching position. The follow-up mechanism 550 also moves accordingly, and the rubber pad 552 contacts the shelf of the fixed shelf 40. After the swing arm motor 5214 drives the swing arm 5211 to rotate to a horizontal state, the telescopic drive module 530 drives the middle fork tooth 5222 and the inner fork tooth 5221 to retract to their initial positions. The cargo box 4 is pulled to the surface of the follower mechanism 550 by the swing arm device 521. Then the follower mechanism 550 is pushed back to its initial position by the push plate 523, thus completing one cargo box retrieval process.

[0199] The robot's working process in this embodiment is as follows: After the transport robot moves on the ground from its initial position via the drive unit, it reaches the designated position. The transport robot moves the cargo box transfer unit 5 to the designated height position via the lifting module 220 of the cargo box storage unit 2. At the same time, the telescopic fork device 522 is rotated to the designated angle via the rotation device 561 of the cargo box transfer unit 5. The width dimension of the cargo box 4 is identified by the shape sensor 572 that identifies the width of the cargo box 4. The hook fork module 520 is moved to the appropriate position via the clamping drive module 580. The hook fork module 520 is extended and retracted to retrieve the cargo box 4 from the shelf of the fixed shelf 40. Then, the lifting module 220 of the cargo box storage unit 2 and the rotation device 561 of the adaptive cargo box transfer unit 5 lift and rotate the hook fork module 520 and the cargo box 4 to another designated angle. Then, the hook fork module 520 is placed on the shelf 212. Finally, the hook fork module 520 is retracted to complete the working process.

[0200] Example 6

[0201] Figure 29 This embodiment is shown.

[0202] This embodiment is largely the same as Embodiment 5, namely, the drive unit 1 and the cargo box storage unit 2 are the same, and the base frame 510, telescopic drive module 530, telescopic slide rail module 540, follower mechanism 550, rotation drive module 560, sensor, clamping drive module 580, and clamping slide rail module 590 of the cargo box transfer unit 6 are also the same. The difference between this embodiment and Embodiment 5 is that the cargo box transfer unit 6 in this embodiment adds a telescopic mechanism. The telescopic fork tooth device 622 in the cargo box transfer unit 6 of this embodiment is the same as the double-extension telescopic fork tooth device 422 in Embodiment 4. That is, the hook-and-pull fork tooth module in this embodiment includes a double-extension swing arm device 621, a double-extension telescopic fork tooth device 622, and a push plate. The double-extension telescopic fork device includes a fixed fork 6221, a first fork 6222, a second fork 6223, and a third fork 6224. The fixed fork 6221 is fixed to opposite sides of the base plate 511 along the AB direction. The first fork 6222 is installed inside the fixed fork 6221, the second fork 6223 is installed inside the first fork 6222, and the third fork 6224 is installed inside the second fork 6223. The double-extension swing arm device 621 is installed on the outer side of the third fork 6224 and near the front end of the base plate 511 (i.e., the end of the third fork 6224 facing the A direction). The push plate 623 is installed on the inner side of the first fork 6222 and away from the front end of the base plate 511 (i.e., the end of the first fork 6222 facing the B direction). The first fork tooth 6222, the second fork tooth 6223, and the third fork tooth 6224 can extend or retract along the AB direction, allowing the cargo box 4 to be transferred between the shelf of the rack 40 and the follower mechanism 550. Both the first fork tooth 6222 and the second fork tooth 6223 include a third synchronous pulley 62231, a tensioning device 62232, a third synchronous belt 62233, and a fourth synchronous pulley 62234. The third synchronous pulley 62231 and the fourth synchronous pulley 62234 are located at opposite ends of the first fork tooth 6222 and the second fork tooth 6223, respectively. Tensioning devices 62232 are respectively installed on fixed fork teeth 6221 and first fork teeth 6222. A third synchronous belt 62233 is bent to form a broken loop. Both ends of the third synchronous belt 62233 are fixed to the tensioning devices 62232, which are fixed at the midpoint between the fixed fork teeth 6221 and the first fork teeth 6222, and at the midpoint between the first fork teeth 6222 and the second fork teeth 6223. The center positions of both ends of the third synchronous belt 62233 coincide with the center position of the synchronous pulley, causing the third synchronous belt 62233 to move with the fork teeth. When the telescopic drive module 530 drives the first fork teeth 6222 at an initial speed V1, the second fork teeth 6223 move at a speed V2 as the first fork teeth 6222 move, making the telescopic speed V2 of the second fork teeth 6223 twice the initial speed V1. The insertion speed of the third fork tooth 6224 as it moves with the second fork tooth 6223 is V3, so that the extension and retraction speed V3 of the third fork tooth 6224 is three times the initial velocity V1.

[0203] A slide rail groove 624 is provided on the inner side of the fixed fork tooth 6221 along the AB direction. A slide rail 625 is provided on the outer side of the first fork tooth 6222 along the AB direction. A slide rail groove 624 is provided on the inner side of the first fork tooth 6222 along the AB direction. A slide rail 625 is provided on the outer side of the second fork tooth 6223 along the AB direction. A slide rail groove 624 is provided on the inner side of the second fork tooth 6223 along the AB direction. A slide rail 625 is provided on the outer side of the third fork tooth 6224 along the AB direction. All slide rail grooves 624 and slide rails 625 are at the same height.

[0204] The double-extension swing arm device 621 is mounted on the third fork tooth 6224. Its structure and working principle are the same as those of the swing arm device 321 in Embodiment 3, and will not be described again.

[0205] Example 7

[0206] Figures 30-34 This embodiment is shown.

[0207] Examples 1-6 address the problem of how to enable robots to transfer cartons between storage units and shelves. In existing warehouses, to fully utilize storage space, there's an increasing trend towards increasing shelf height to maximize storage capacity, leading to increasingly higher retrieval heights for handling robots. A resulting problem is that as the robots grow taller, the masts sway laterally when picking up or placing goods at higher positions, significantly impacting robot operation and posing safety hazards.

[0208] This embodiment proposes a cargo box transport robot based on embodiments 1-6. The cargo box transport robot may include the structure described in any one of embodiments 1-6, and includes a high-position stabilization mechanism 7. The high-position stabilization mechanism 7 is installed in front of the cargo box transport unit 3, and after the cargo box transport unit 3 reaches a designated height, the high-position stabilization mechanism 7 can abut against the shelves 40 or walls on both sides of the robot to improve the stability of the robot when picking up and placing goods at a high position.

[0209] like Figure 30 , Figure 31 and Figure 32 As shown, the high-position stabilizing mechanism 7 is installed on the cargo box transfer unit 3, and the cargo box transfer unit 3 is installed on the lifting module 220 of the cargo box storage unit 2 as described in embodiments 3-6, so that the high-position stabilizing mechanism 7 can move on the cargo box storage unit 2 along with the cargo box transfer unit 3. Therefore, when the cargo box handling robot picks up and puts down goods at any height in the aisle between the shelves, the high-position stabilizing mechanism can realize its function.

[0210] like Figure 33As shown, the high-position stabilization mechanism includes a fixed plate 701, a drive assembly 702, a transmission mechanism 703, a support assembly 704, and a fixed base. The fixed plate 701 is connected to the cargo box transfer unit 3 and supports the entire high-position stabilization mechanism 7. The drive assembly 702 is disposed inside the fixed plate 701 and is connected to the transmission mechanism 703. The transmission mechanism 703 is connected to the support assembly 704 and transmits the movement of the drive assembly 702 to the support assembly 704. The support assembly 704 can extend or retract from both ends of the fixed plate 701. The support assembly 704 has a first position and a second position. The first position refers to the position where the support assembly 704 is retracted within the fixed plate 701 (see [reference]). Figure 30 The second position refers to the position after the support assembly 704 extends from both ends of the fixed plate 701 (see [reference]). Figure 31 When the support assembly 704 is in the second position, it can abut against the shelf, thus providing high-level stability. A fixing seat is mounted on the fixing plate 701 to support the transmission mechanism 703 and the support assembly 704.

[0211] The fixing plate 701 can be fixed to the base frame 310 of the cargo box transfer unit 3, preferably located below the cargo box transfer unit 3. The high-position stabilizing mechanism 7 is fixed to the cargo box transfer unit 3 via the fixing plate 701 and can move together with the cargo box transfer unit 3. The fixing plate 701 has multiple side walls that enclose a cavity 7011, within which the drive assembly 702, transmission mechanism 703, support assembly 704, and fixing seat are all disposed. The fixing plate 701 has openings 7012 at both ends along its length, through which the support assembly 704 can extend out of or retract from the fixing plate 701.

[0212] The drive assembly 702 includes a motor 7021, a drive pulley 7022, a timing belt, and a driven pulley 7023. The motor 7021 is mounted in the middle of the fixed plate 701. The output shaft of the motor 7021 is connected to a transmission mechanism 703. Through the transmission mechanism 703, the support assembly 704 can simultaneously extend or retract from openings at both ends of the fixed plate 701. The output end of the motor 7021 is equipped with the drive pulley 7022, which is connected to the driven pulley 7023 via the timing belt. The driven pulley 7023 is connected to the transmission mechanism 703. It should be understood that the drive pulley 7022, driven pulley 7023, and timing belt can also be replaced by a gear assembly.

[0213] The function of the transmission mechanism 703 is to convert the rotation of the motor 7021 into the linear motion of the support assembly 704, and to allow the support assembly 704 to extend or retract simultaneously from both openings 7012. Since the drive assembly 702 is located in the middle of the fixed plate 701, and the support assembly 704 needs to extend or retract from both ends of the fixed plate 701, two transmission mechanisms 703 can be provided, located on both sides of the fixed plate 701, with each transmission mechanism 703 having the same structure. Preferably, the transmission mechanism 703 includes a double-acting lead screw 7031, a guide shaft 7032, and a guide seat 7033. The double-acting lead screw 7031 is connected to the driven wheel 7023. The guide seat 7033 includes a lead screw nut 70331 and a guide base 70332, with the lead screw nut 70331 located within the guide base 70332 and meshing with the double-acting lead screw 7031. The guide shaft 7032 is arranged parallel to the double-acting lead screw 7031, and the guide seat 7033 is sleeved on the guide shaft 7032. When the double-acting lead screw 7031 rotates, the lead screw nut 70331 engages with the double-acting lead screw 7031, thereby enabling the guide seat 7033 to reciprocate along the axial direction of the double-acting lead screw 7031 and the guide shaft 7032. Preferably, there can be two guide shafts 7032, located above and below the double-acting lead screw 7031, respectively.

[0214] See also Figure 33 and Figure 34 The support assembly 704 includes a support shaft 7041 and a support plate 7042. One end of the support shaft 7041 is connected to a guide seat 7033, and the other end is provided with the support plate 7042. The support shaft 7041 can move together with the guide seat 7033. As the guide seat 7033 reciprocates along the bidirectional lead screw and the guide shaft 7032, the support shaft 7041 can also reciprocate, thereby switching between a first position and a second position. The support plate 7042 is rotatably connected to the support shaft 7041. The support plate 7042 and the support shaft 7041 are connected by an elastic element 7043, which applies a spring force to the support plate 7042, driving the support plate 7042 to move in a direction perpendicular to the support shaft 7041.

[0215] The fixing seat primarily serves a supporting function. Preferably, the fixing seat includes an intermediate fixing seat 7051 and a shaft end fixing seat 7052. The intermediate fixing seat 7051 is located in the middle of the fixing plate 701, and the shaft end fixing seat 7052 is located near the opening 7012 of the fixing plate 701. The two ends of the guide shaft 7032 are respectively fixed to the intermediate fixing seat 7051 and the shaft end fixing seat 7052. A through hole is provided in the shaft end fixing seat 7052, through which the support shaft 7041 can pass.

[0216] During the movement of the support assembly 704 from the first position to the second position, when the support plate 7042 leaves the mounting plate 701, the support plate 7042 rotates to a position perpendicular to the support shaft 7041 under the action of elastic force, until it abuts against the fixed shelf. During the movement of the support assembly 704 from the second position to the first position, when the support plate 7042 moves to contact the angle plate designed on the mounting plate 701, as the support assembly 704 moves away from the shaft end fixing seat 7052, the angle of the support plate 7042 relative to the support shaft 7041 becomes more and more horizontal.

[0217] See also Figure 33 The high-position stabilization mechanism 7 also includes a position sensor 706 and a proximity switch. The position sensor 706 is used to detect the positional relationship between the support assembly 704 and the fixed shelf 40. The position sensor 706 can be an infrared sensor or other sensors that acquire position or distance information. The proximity switch is used to send a stop signal to the drive assembly 702 when it detects that the support plate 7042 of the support assembly 704 is in contact with the shelf.

[0218] The robot in this embodiment works as follows: After the transport robot moves on the ground from its initial position via the drive unit, it reaches the designated position. The transport robot moves the cargo box transfer unit 3 to the designated height position via the lifting device of the cargo box storage unit 2. Under the action of the drive component 702, the support plate 7042 of the two side support components 704 is perpendicular to the support shaft 7041 by the elastic force and abuts against the fixed shelves 40 on both sides. At the same time, the telescopic fork tooth is rotated to the designated angle by the rotation device of the cargo box transfer unit 3. The cargo box 4 is retrieved from the fixed shelf 40 by the telescopic fork tooth module of the cargo box transfer unit 3. After retrieving the cargo box 4, the support component 704 of the high-position stabilization mechanism 7 returns from the second position to the first position. Then, the hook fork tooth module and the cargo box are lifted and rotated to another designated angle by the lifting device of the cargo box storage unit 2 and the rotation device of the cargo box transfer unit 3. Finally, the cargo box is placed on the shelf 212 by the cargo box transfer unit.

[0219] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. A robot for carrying cargo boxes, comprising a driving unit, a cargo box storage unit and a cargo box transmission unit, wherein the driving unit carries the cargo box storage unit and the cargo box transmission unit to move together; the cargo box storage unit comprises a plurality of cargo box storage spaces, the cargo box transmission unit is connected to the cargo box storage unit and is configured to move along the cargo box storage unit in a vertical direction, and to transmit the cargo box between the cargo box storage space and a shelf; in, The cargo box transfer unit includes a hook-pull fork module, which is configured to extend from the cargo box transfer unit to the shelf or the cargo box storage space, and retract to the cargo box transfer unit, and drive the cargo box to move together when extending or retracting, so as to transfer the cargo box from the cargo box transfer unit to the shelf or the cargo box storage space, or to transfer the cargo box from the shelf or the cargo box storage space to the cargo box transfer unit.

2. The robot for carrying a cargo box according to claim 1, wherein: The hook-pull fork module includes a telescopic fork device with at least one telescopic stroke, the telescopic fork device includes a fixed fork and at least one telescopic movable fork arranged on the inner side of the fixed fork, and the movable fork is configured to extend or retract along the length direction of the fixed fork.

3. The robot for carrying a cargo box according to claim 2, wherein: The hook-pull fork module also includes a rocker device, which is arranged on the movable fork corresponding to the last stage of the telescopic stroke and is located at one end of the movable fork where it is located facing the extension direction. The rocker device includes a rocker that can rotate relative to the extension direction.

4. The robot for carrying a cargo box according to claim 3, wherein: The hook-pull fork module also includes a push plate, which is arranged on the movable fork corresponding to the last stage of the telescopic stroke and is located at the end of the movable fork away from the extending direction. The push plate is configured to push the cargo box located in the cargo box transfer unit when following the movement of the movable fork.

5. The robot for carrying a cargo box according to claim 4, wherein: The cargo box transmission unit also includes a telescopic driving module for driving the hook and pull fork module to extend and retract, and the telescopic driving module includes a driving component and a transmission mechanism connected to the driving component, and the transmission mechanism is connected to the movable fork.

6. The robot for carrying a cargo box according to claim 5, wherein: The telescopic fork tine device includes an inner fork tine, a middle fork tine, and an outer fork tine, the outer fork tine serves as the fixed fork tine, the middle fork tine is arranged on the inner side of the outer fork tine and is configured to be telescopic, the inner fork tine is arranged on the inner side of the middle fork tine and is configured to be telescopic, the rocker arm device is arranged at one end of the inner fork tine facing the extending direction, and the push plate is arranged at one end of the inner fork tine away from the extending direction; the middle fork tine is connected to the transmission mechanism.

7. The robot for carrying a cargo box according to claim 6, wherein: A first synchronous wheel, a tensioning device, a synchronous belt and a second synchronous wheel are provided on the middle fork tooth. The first synchronous wheel and the second synchronous wheel are respectively located at the two ends of the middle fork tooth along the extending direction. The synchronous belt is bent to form a broken loop. The two ends of the synchronous belt are respectively fixed to the tensioning device. The tensioning device is fixed to one side between the middle fork tooth and the inner fork tooth. The center positions of the two ends of the synchronous belt are consistent with the center positions of the first synchronous wheel and the second synchronous wheel.

8. The robot for carrying a cargo box according to claim 4, wherein: The telescopic fork tine device includes the fixed fork tine, a first fork tine, a second fork tine and a third fork tine, the first fork tine is arranged on the inner side of the fixed fork tine and is configured to be telescopic, the second fork tine is arranged on the inner side of the first fork tine and is configured to be telescopic, the third fork tine is arranged on the inner side of the second fork tine and is configured to be telescopic, the rocker arm device is arranged at one end of the third fork tine facing the extending direction, the push plate is arranged at one end of the third fork tine away from the extending direction, and the first fork tine is connected to the transmission mechanism.

9. The robot for carrying a cargo box according to claim 8, wherein: The first fork tine and the second fork tine both include a third synchronous wheel, a tensioning device, a synchronous belt, and a fourth synchronous wheel; the third synchronous wheel and the fourth synchronous wheel are respectively located at the two ends of the first fork tine and the second fork tine; the tensioning device is respectively installed on the fixed fork tine and the first fork tine, the synchronous belt is bent to form a broken loop, and the two ends of the synchronous belt are fixed to the tensioning device; the tensioning device is fixed to the middle position between the fixed fork tine and the first fork tine, and the middle position between the first fork tine and the second fork tine; the center positions of the two ends of the synchronous belt are consistent with the center positions of the third synchronous wheel and the fourth synchronous wheel.

10. The robot for carrying a cargo box according to claim 4, wherein: The cargo box transfer unit further comprises a follower mechanism, which is used to carry the cargo box and is configured to move together with the telescopic fork device to abut against the shelf.

11. The robot for carrying a cargo box according to claim 10, wherein: The cargo box transmission unit also includes a telescopic slide rail module, which includes a slide rail and at least one slider that can slide on the slide rail, and the slider is connected to the follower mechanism so that the follower mechanism slides on the slide rail.

12. The robot for carrying a cargo box according to claim 4, wherein: The fixed fork teeth are configured to be movable in a direction perpendicular to the extending direction so as to adjust the width of the hook and pull fork tooth module to accommodate cargo boxes of different widths.

13. The robot for carrying a cargo box according to claim 12, wherein: The cargo box transmission unit also includes a clamping drive module, which includes a driving component and a transmission mechanism, the driving component is connected to the transmission mechanism, the transmission mechanism is connected to the fixed fork teeth, and the clamping drive module is configured to drive the fixed fork teeth to move in a direction perpendicular to the extending direction.

14. The robot for carrying a cargo box according to claim 13, wherein: The cargo box transmission unit also includes a clamping slide rail module, which includes a guide rail and a slider that can slide on the guide rail, and the slider is connected to the fixed fork tine so that the fixed fork tine slides on the guide rail.

15. The robot for carrying a cargo box according to claim 1, wherein: The cargo box transmission unit includes a base frame and a bottom plate, the bottom plate is arranged on the base frame, the hook-pull fork module is arranged on the bottom plate, and a rotating device is arranged on the base frame, and the rotating device is configured to drive the bottom plate to rotate, thereby driving the hook-pull fork module to rotate to a preset angle.

16. The robot for carrying a cargo box according to claim 1, wherein: The drive unit includes a chassis frame, a first drive assembly and a second drive assembly arranged relatively to each other on the chassis frame, and a cantilever assembly provided at the front end of the chassis frame, wherein the first drive assembly includes a first cantilever hinged to a bearing seat, the second drive assembly includes a second cantilever hinged to the bearing seat, the cantilever assembly includes a third cantilever hinged to the bearing seat, and the hinge center points of the first cantilever, the second cantilever and the third cantilever form a triangular hinge structure.

17. The robot for carrying a cargo box according to claim 16, wherein: The cargo box storage unit includes a gantry module, a lifting module, a lifting drive module, and a gantry installation module. The gantry module includes the multiple cargo box storage spaces arranged along the vertical direction; the lifting module is arranged on one side of the gantry module and is connected to the cargo box transfer unit and is configured to drive the cargo box transfer unit to move along the vertical direction; the lifting drive module is connected to the lifting module and is configured to drive the lifting module to move; the gantry installation module is located at the bottom of the gantry module and is fixedly connected to the bottom frame.

18. The robot for carrying a cargo box according to claim 1, wherein: The robot further comprises a high-position stabilizing mechanism, which is fixedly connected to the cargo box transfer unit and is configured to rest against shelves / walls on both sides of the robot.

19. The robot for carrying a cargo box according to claim 18, wherein: The high-position stabilizing mechanism includes a mounting plate connected to the cargo box transfer unit, a pair of support components are arranged in the mounting plate, and the support components are configured to extend from openings at both ends of the mounting plate respectively to rest against the shelf / wall.

20. The robot for carrying a cargo box according to claim 19, wherein: The high-position stabilizing mechanism further comprises a driving assembly and a transmission mechanism, wherein the driving assembly, the transmission mechanism, the intermediate fixing seat and the shaft end fixing seat are all mounted on the mounting fixing plate; The driving assembly includes a motor, a driving wheel connected to the motor, and a driven wheel connected to the driving wheel; The transmission mechanism comprises a bidirectional lead screw, a guide shaft and a guide seat, wherein the guide seat comprises a guide base and a lead screw nut arranged in the guide base; the bidirectional lead screw is connected to the driven wheel, the bidirectional lead screw is located in the guide base and meshes with the lead screw nut of the guide seat, the guide shaft is arranged in parallel with the bidirectional lead screw, and the guide base is sleeved on the guide shaft; The support assembly includes a support shaft and a support plate arranged at the end of the support shaft. One end of the support shaft is connected to the guide seat and reciprocates with the guide seat.

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