Vehicle-mounted material storing and taking robot and storing method thereof

Abstract

The invention discloses a vehicle-mounted state material storing and taking robot and a storing method thereof.The robot comprises a chassis used for supporting a lifting system and a fork stretching and retracting mechanism and driving the lifting system and the fork stretching and retracting mechanism to move to a designated area according to control of an electric control mechanism; the lifting system is used for lifting the pallet fork stretching and retracting mechanism for bearing the goods and materials so as to bring the goods and materials to a specified height; and the pallet fork stretching and retracting mechanism is used for pushing the goods and materials to a designated position. The vehicle-mounted material storing and taking robot and the storing method thereof can be used in a long and narrow channel in a vehicle-mounted state, automatic storage and quick and convenient taking and taking of large-mass materials are achieved, manpower is saved, and the storage space utilization rate is increased.

Description

Technical Field

[0001] The invention relates to a robot, in particular to a vehicle-mounted material storage and retrieval robot and a storage method thereof. Background Art

[0002] Existing robots in the field of material warehousing are usually used in ground-based automated warehouses. The storage space meets the needs of pre-built ground tracks, which is convenient for robot development and design.

[0003] Due to the space constraints of the vehicle, materials usually need to be stacked in cargo cabinets, and narrow passages are designed to increase the storage space of materials. The limited space utilization rate is improved by stacking materials higher. These heavy materials are extremely difficult to carry, lift, and stack manually, making the storage and retrieval efficiency of materials low. At the same time, in the vehicle state, due to factors such as the structure and height of the carriage, it is usually not convenient to preset the track for the robot to walk in the carriage.

[0004] Therefore, how to design a material storage and retrieval robot suitable for vehicle-mounted state and its storage method that focuses on solving the problem of automated operation of material handling, lifting and stacking in narrow passages inside a vehicle, and realizes fast and convenient retrieval and storage of materials in a vehicle-mounted state, is a topic that the inventor has devoted himself to studying. Summary of the invention

[0005] The object of the present invention is to provide a material storage and retrieval robot suitable for a vehicle-mounted state and a storage method thereof, which can be used in a narrow and long passage in a vehicle-mounted state to realize automatic storage and quick and convenient retrieval of large-mass materials, save manpower, and improve the utilization rate of storage space.

[0006] In order to achieve the above-mentioned purpose, the technical solution of the present invention is: a material storage and retrieval robot suitable for vehicle-mounted state, comprising:

[0007] The chassis is used to support the lifting system and the fork extension and retraction mechanism, and to drive the lifting system and the fork extension and retraction mechanism to move to a designated area according to the control of the electric control mechanism;

[0008] The lifting system is used to lift the fork extension and retraction mechanism carrying the materials so as to bring the materials to a specified height;

[0009] The fork extending and retracting mechanism is used to push materials to a designated location.

[0010] The present invention is a material storage and retrieval robot suitable for a vehicle-mounted state, wherein the chassis comprises a chassis body and a wheel train for driving the chassis body to move, the wheel train is installed on the chassis body, and a code reader for reading a positioning two-dimensional code in the vehicle is installed at the bottom of the chassis body, and accurate parking is achieved by reading the point information of the two-dimensional code.

[0011] The present invention discloses a material storage and retrieval robot suitable for a vehicle-mounted state, wherein a plurality of magnetic sensors for sensing magnetic strips in the vehicle are arranged in the chassis body for motion tracking.

[0012] The present invention discloses a material storage and retrieval robot suitable for a vehicle-mounted state, wherein a plurality of laser sensors and / or anti-collision rubber strips for avoiding obstacles are arranged on the chassis body.

[0013] The present invention discloses a material storage and retrieval robot suitable for a vehicle-mounted state, wherein a parking fixing pin is arranged on the side of the chassis body, and when the chassis body is parked, the parking fixing pin is inserted into a fixing seat on the floor inside the vehicle to achieve fixation when the vehicle is parked.

[0014] The present invention is a material storage and retrieval robot suitable for a vehicle-mounted state, wherein the lifting system includes a primary gantry arranged on the chassis, the inner cavity of the primary gantry is provided with a secondary gantry, the secondary gantry can slide up and down along the primary gantry under the drive of a first power transmission mechanism, the secondary gantry is connected to a transmission device, the output end of the transmission device is connected to a cargo platform, the cargo platform is connected to the fork extending and retracting mechanism, and the cargo platform and the fork extending and retracting mechanism can be moved up and down by being driven by the transmission device.

[0015] The present invention is a material storage and retrieval robot suitable for a vehicle-mounted state, wherein a vertical cargo platform slide rail is arranged on the inner side of the secondary gantry, the cargo platform is slidably arranged on the cargo platform slide rail, and the cargo platform can move up and down along the cargo platform slide rail through the transmission device.

[0016] The present invention is a material storage and retrieval robot suitable for a vehicle-mounted state, wherein the first power transmission mechanism includes a first motor, the first motor is connected to an electric cylinder through a reducer, the upper end of the electric cylinder is rotatably connected to the upper end of the secondary gantry horizontally to the hanging shaft, the first motor drives the reducer to rotate, and the reducer drives the electric cylinder to extend and retract, thereby driving the hanging shaft and the secondary gantry to move up and down.

[0017] The present invention is a material storage and retrieval robot suitable for a vehicle-mounted state, wherein the transmission device comprises a sprocket mounted on the hanging shaft, a chain is mounted on the sprocket, one end of the chain is connected to the chassis, and the other end of the chain is connected to the cargo platform.

[0018] The present invention is a material storage and retrieval robot suitable for a vehicle-mounted state, wherein the fork extending and retracting mechanism comprises a mounting plate connected to the cargo platform and a plurality of forks, the mounting plate is fixedly connected to one of the forks, and adjacent forks can slide against each other via a second power transmission mechanism, thereby realizing the action of extending and retracting to the side.

[0019] The present invention is a material storage and retrieval robot suitable for a vehicle-mounted state, wherein a plurality of pressure sensors are arranged between the cargo platform and the fork extending and retracting mechanism for weighing a standard material basket on the fork extending and retracting mechanism and recording the weight information of the materials in the material basket.

[0020] A storage method for a vehicle-mounted material storage and retrieval robot, comprising the following steps:

[0021] (1) The robot's transport direction is controlled by an electronic control mechanism based on the specified coordinate position and the current coordinate position;

[0022] (2) During the handling process, the electric control mechanism controls the lifting system to synchronously perform lifting and lowering movements according to the height coordinates of the designated coordinate positions;

[0023] (3) Based on the ground QR code calibration information in the vehicle, the electronic control mechanism controls the chassis to slow down and transport in advance, and automatically adjusts the precise position and height after reaching the specified coordinates to ensure that the material basket accurately enters the cargo cabinet;

[0024] (4) Using a pressure sensor to identify whether a material basket is already present in the cargo cabinet, and determining whether the storage location of the cargo cabinet has material storage conditions;

[0025] (5) When the storage position of the cargo cabinet meets the storage conditions, the fork extension and retraction mechanism determines the extension direction according to the storage position, and then pushes the material basket to the designated position in the cargo cabinet to complete the automatic storage of the materials.

[0026] After adopting the above scheme, the material storage and retrieval robot and storage method suitable for vehicle-mounted state of the present invention are suitable for the narrow space in the vehicle-mounted environment. Through the automatic control of the electric control mechanism, the material handling, lifting and stacking process can be realized in automatic operation. The chassis of the present invention has the functions of longitudinal and lateral movement, which can realize the longitudinal and lateral movement of the robot, and facilitate the robot to park by the side through lateral movement to avoid pedestrians in the aisle, thereby improving the utilization rate of the vehicle-mounted space; the fork extension and retraction mechanism of the present invention can be extended to the left and right sides, and the material basket can be stacked on both sides in the vehicle-mounted environment, thereby improving the utilization rate of the vehicle-mounted space; the present invention can record the weight information of the materials by arranging multiple pressure sensors between the fork extension and retraction mechanism and the cargo platform, complete the management record of the materials in and out of the warehouse, and are redundant with each other. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a three-dimensional structural schematic diagram of a vehicle-mounted material storage and retrieval robot according to the present invention;

[0028] Figure 2 It is a rear view structural schematic diagram of a vehicle-mounted material storage and retrieval robot according to the present invention;

[0029] Figure 3 It is a right view structural schematic diagram of a vehicle-mounted material storage and retrieval robot according to the present invention;

[0030] Figure 4 It is a three-dimensional structural schematic diagram of the chassis of the present invention;

[0031] Figure 5 It is a bottom view structural schematic diagram of the chassis of the present invention;

[0032] Figure 6 is a front structural schematic diagram of the lifting system of the present invention;

[0033] Figure 7 is a rear structural schematic diagram of the lifting system of the present invention;

[0034] Figure 8 is a schematic diagram of the top view of the lifting system of the present invention;

[0035] Fig. 9 It is a three-dimensional structural schematic diagram of the lifting system of the present invention;

[0036] Fig.10 It is a schematic diagram of the top view of the fork extension and retraction mechanism of the present invention;

[0037] Fig.11 is a three-dimensional structural schematic diagram of the fork extending and retracting mechanism of the present invention in an extended state;

[0038] Fig.12 It is a three-dimensional structural schematic diagram of the fork extending and retracting mechanism of the present invention in a retracted state.

[0039] Number Description:

[0040] 1-Chassis 2-Lifting system

[0041] 3- Fork extension and retraction mechanism 4- Electric control mechanism

[0042] 5- Chassis body 6- Gear train

[0043] 7-Code reader 8-Magnetic sensor

[0044] 9-Laser sensor 10-Anti-collision rubber strip

[0045] 11- stop fixing pin 12- mounting seat

[0046] 13-bolt 14-lock pin

[0047] 15-First-level gantry 16-Second-level gantry

[0048] 17- Suspension shaft 18- Linear guide

[0049] 19-First motor 20-Reducer

[0050] 21-Electric Cylinder 22-Cargo Platform

[0051] 23-Cargo platform slide rail 24-Sprocket

[0052] 25-Chain 26-Cable Drag Chain

[0053] 27-Mounting plate 28-Lower fork

[0054] 29-Middle fork 30-Lower fork

[0055] 31- second motor 32- transmission device

[0056] 33-Pressure sensor DETAILED DESCRIPTION

[0057] The present invention is described below based on the embodiments shown in the accompanying drawings. The embodiments disclosed this time can be considered to be illustrative in all aspects and not restrictive. The scope of the present invention is not limited by the description of the following embodiments, but is only shown by the scope of the claims, and includes all modifications with the same meaning as the scope of the claims and within the scope of the claims.

[0058] The structure of a vehicle-mounted material storage and retrieval robot and a storage method thereof are described below in conjunction with specific embodiments of the present invention.

[0059] like Figures 1 to 3 The present invention is a three-dimensional, rear-view, and right-view structural schematic diagram of a vehicle-mounted material storage and retrieval robot, including:

[0060] The chassis 1 is arranged in the vehicle. In this embodiment, the chassis 1 adopts an AGV chassis, which is used to support the lifting system 2, the fork extension and retraction mechanism 3 and the electric control mechanism 4. The lifting system 2 and the fork extension and retraction mechanism 3 are driven to move toward the target direction according to the control of the electric control mechanism 4. The chassis 1 moves according to the specified coordinate position of the electric control mechanism 4 and the current coordinate position.

[0061] The lifting system 2 is used to lift and lower the fork extension and retraction mechanism of the material basket (with materials inside) so as to drive the material basket to a specified height;

[0062] The fork extension and retraction mechanism 3 is used to push the material basket to a designated position in the cargo cabinet.

[0063] Combination Figure 4 , Figure 5As shown, the chassis 1 is mainly composed of a chassis body 5, a wheel train 6 driving the chassis body 5, a barcode reader 7, a magnetic sensor 8, a laser sensor 9, an anti-collision rubber strip 10, and a stop fixing pin 11. The chassis body 5 of this embodiment is a rectangular body, which is used to install the wheel train 6, the barcode reader 7, the magnetic sensor 8, the laser sensor 9, the anti-collision rubber strip 10, and the stop fixing pin 11, and prevent the magnetic sensor 8 from being damaged by impact.

[0064] The gear train 6 is mounted on the chassis body 5. In this embodiment, the gear train 6 is composed of four Mecanum wheels integrated with a motor reducer, a drive wheel, a driver, a control circuit, etc. The four Mecanum wheels are symmetrically mounted on the left and right sides of the bottom of the chassis body 5. The gear train 6 has longitudinal and lateral movement capabilities.

[0065] The code reader 7 is installed at the bottom of the chassis body 5 and is used to read the positioning two-dimensional code pasted on the floor inside the vehicle. The accurate parking position is achieved by reading the point information of the two-dimensional code.

[0066] In this embodiment, there are four magnetic sensors 8, which are arranged at the front, rear, left and right positions of the inner bottom of the chassis body 5, and are used to sense the magnetic strips laid on the floor inside the vehicle. The two magnetic sensors 8 at the left and right positions are used for longitudinal movement tracking, and the two magnetic sensors 8 at the front and rear positions are used for lateral movement tracking.

[0067] In this embodiment, four laser sensors 9 are configured and located around the upper surface of the chassis body 5 near the outer edge, and are used for laser obstacle avoidance.

[0068] The anti-collision rubber strips 10 are arranged around the outer edges of the upper and lower surfaces of the chassis body 5. In a fault mode such as failure of the laser sensor 9, the anti-collision rubber strips 10 are used to buffer the robot from hitting the cargo cabinet and personnel, thus providing a safety protection function.

[0069] The parking fixing pin 11 is arranged at the side of the chassis body 5. In this embodiment, two parking fixing pins 11 are arranged, and the two parking fixing pins 11 are arranged at the left and right sides of the chassis body 5. The parking fixing pin 11 includes a C-shaped mounting seat 12 and a latch 13. The mounting seat 12 is mounted on the side of the chassis body 5. The latch 13 is inserted into the mounting seat 12 from top to bottom. When the chassis 1 is parked, the latch 13 is inserted downward into the fixing seat on the floor of the vehicle to fix it in the vehicle. A transverse locking pin hole is also arranged at the bottom of the latch 13, and a locking pin 14 is installed on the locking pin hole to prevent the latch 13 from detaching from the mounting seat 12 when the vehicle is moving.

[0070] Combination Figures 6 to 9As shown, the lifting system 2 includes a primary gantry 15 arranged on the upper surface of the chassis body 5. In this embodiment, the primary gantry 15 includes two vertical primary side panels, and a horizontal top plate is connected to the upper ends of the two primary side panels. A secondary gantry 16 is arranged in the inner cavity of the primary gantry 15, and the secondary gantry includes two vertical secondary side panels and a horizontal suspension shaft 17 connected to the upper parts of the two secondary side panels. Driven by the first power transmission mechanism, the secondary gantry 16 can slide up and down along the primary gantry 15. Specifically, two linear guide rails 18 are installed on the inner side surfaces of the two primary side panels of the primary gantry 15, and the two secondary side panels are slidably installed on the two linear guide rails 18, and the sliding connection parts of the two can adopt a concave-convex matching structure. The first power transmission mechanism of this embodiment includes a first motor 19, and the first motor 19 is connected to the electric cylinder 21 through a reducer 20, and the upper end of the electric cylinder 21 is rotatably connected to the suspension shaft 17. The first motor 19 has a brake function and a self-locking ability, which can keep the system locked. When the first motor 19 is working, it drives the reducer 20 to rotate, and the reducer 20 drives the electric cylinder 21 to perform telescopic movement, thereby driving the suspension shaft 17 and the secondary door frame 16 to move up and down as a whole.

[0071] A transmission device is connected to the secondary gantry 16, and the output end of the transmission device is connected to the cargo platform 22, and the cargo platform 22 is connected to the fork extension and retraction mechanism 3. Specifically, two vertical cargo platform slide rails 23 are installed on the inner side surfaces of the two secondary side panels of the secondary gantry 16, and the cargo platform 22 is slidably connected to the two cargo platform slide rails 23, and the cargo platform slide rails 23 provide an up and down motion pair for the cargo platform 22. The cargo platform 22 can move up and down along the cargo platform slide rails 23 through the transmission device. In this embodiment, two transmission devices are set, and the two transmission devices are arranged on the left and right parts of the hanging shaft 17. Each transmission device includes a sprocket 24 installed on the hanging shaft 17, and a chain 25 is installed on the sprocket 24. One end of the chain 25 is connected and fixed to the chassis body 5, and the other ends of the two chains 25 of the two transmission devices are connected to the two ends of the cargo platform 22. When the first motor 19 drives the suspension shaft 17 and the secondary gantry 16 to move up and down, the sprocket 24 rotates under the constraint of one end of the chain 25 connected to the chassis body 5, and drives the cargo platform 22 to move up and down through the other end of the chain 25 in the form of a movable pulley.

[0072] A cable drag chain 26 is provided on the cargo platform 22 , and the cable drag chain 26 moves with the cargo platform 22 to realize the installation of various power supply and communication cables.

[0073] Combination Figures 10 to 12As shown, the fork extension and retraction mechanism 3 includes a mounting plate 27 connected to the cargo platform 22 and a multi-stage fork. In this embodiment, there are three forks: a lower fork 28, a middle fork 29 and a lower fork 30. The mounting plate 27 is fixedly connected to the lower fork 28. The mounting plate 27 can ensure the stable installation of the fork extension and retraction mechanism, and at the same time it is connected to the cargo platform 22. A second power transmission mechanism is installed on the lower fork 28. The second power transmission mechanism includes a second motor 31 and a transmission device 32. The output end of the second motor 31 is connected to the input end of the transmission device 32. The transmission device 32 can adopt a structure of a multi-stage gear transmission combined with a rack transmission output. The second motor 31 and the transmission device 32 provide power for the extension and retraction movement of the fork. By changing the rotation direction of the second motor 31, the bidirectional extension of the fork can be achieved, meeting the stacking requirements of the cargo cabinets on both sides of the standard material basket.

[0074] As shown in the figure, the lower fork 28 and the middle fork 29, and the middle fork 29 and the upper fork 30 are all driven by gear racks and connected by slide rails, and the sliding direction is left and right. The lower fork 28, the middle fork 29, and the upper fork 30 can extend and retract to both sides through the drive of the second power transmission mechanism to push the material basket to the designated position in the cargo cabinet.

[0075] A plurality of pressure sensors 33 are arranged between the cargo platform 22 and the mounting plate 27 of the fork extension and retraction mechanism 3. In this embodiment, four pressure sensors 33 are arranged for weighing the standard material basket on the fork extension and retraction mechanism 3 and recording the weight information of the materials.

[0076] The electronic control mechanism 4 is integrated with a system host to realize centralized control of the robot and collect the weighing data of materials from the pressure sensor 33 to manage the entry and exit of the warehouse;

[0077] The present invention is a vehicle-mounted material storage and retrieval robot that adopts an automated design to realize the automatic transportation, lifting and stacking of materials, and to weigh the materials to achieve the management of materials in and out of the warehouse. Taking the storage of materials as an example, the following work should be done before use:

[0078] (1) The aisle floor in the middle of the cargo cabinet in the vehicle is modified, and a magnetic strip is laid in the robot's walking area. The magnetic strip meets the sensing requirements of the magnetic sensor 8 and is used to plan the robot's walking route;

[0079] (2) Paste a positioning QR code on the aisle floor in the middle of the cargo cabinet in the vehicle, and use the positioning QR code as a node for calibration, so that the robot can park and locate at the corresponding material picking and placing position;

[0080] (3) All cargo cabinets in the vehicle are numbered (i.e., material storage locations), and a spatial coordinate system for the entire vehicle is established in the robot's system host. By sensing the magnetic strips on the floor and locating the QR code, the robot can accurately locate the spatial coordinate position of each material cabinet;

[0081] (4) Before materials are stored, a material list is manually entered, including information on material categories and quantities. The system host generates a material storage plan based on the material list and plans the storage locations for all materials to be stored;

[0082] (5) The material basket is placed on the fork, and the pressure sensor 33 automatically weighs the materials, and the system host records the material weight information;

[0083] (6) The material category is manually selected on the display screen of the electronic control mechanism 4, and the robot automatically stores the materials in the designated location according to the material storage plan, completes the storage of a basket of materials, and generates a material storage list, including the material category, storage location, and weight information.

[0084] After the robot reads the category of the materials selected manually, it automatically stores the materials according to the material storage plan. The specific steps are as follows:

[0085] (1) The robot's transport direction is controlled by the electronic control mechanism 4 according to the specified coordinate position and the current coordinate position;

[0086] (2) During the transport process, the lifting system 3 is controlled by the electric control mechanism 4 to synchronously perform lifting and lowering movements according to the height coordinates of the designated coordinate positions;

[0087] (3) Based on the ground QR code calibration information in the vehicle, the electronic control mechanism 4 controls the chassis 1 to slow down and transport in advance, and automatically adjusts the precise position and height after reaching the specified coordinates to ensure that the material basket accurately enters the cargo cabinet;

[0088] (4) Using the pressure sensor 33 to identify whether there is a material basket in the cargo cabinet, and determine whether the storage location of the cargo cabinet meets the material storage conditions;

[0089] (5) When the storage position of the cargo cabinet meets the storage conditions, the fork extension and retraction mechanism 3 determines the extension direction according to the storage position, and then pushes the material basket to the designated position in the cargo cabinet to complete the automatic storage of the materials.

[0090] The above-described embodiments are merely descriptions of preferred implementations of the present invention and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary engineering and technical personnel in the field shall fall within the protection scope of the claims of the present invention.

Claims

1. A material storage and retrieval robot suitable for vehicle-mounted status, characterized in that: include: The chassis is used to support the lifting system and the fork extension and retraction mechanism, and to drive the lifting system and the fork extension and retraction mechanism to move to a designated area according to the control of the electric control mechanism; The lifting system is used to lift the fork extension and retraction mechanism carrying the materials so as to bring the materials to a specified height; The fork extending and retracting mechanism is used to push materials to a designated location.

2. A vehicle-mounted material storage and retrieval robot as claimed in claim 1, characterized in that: The chassis includes a chassis body and a wheel train that drives the chassis body to move. The wheel train is installed on the chassis body. A code reader for reading a positioning QR code in the vehicle is installed at the bottom of the chassis body. The point information of the QR code is read to calculate and realize accurate parking.

3. A vehicle-mounted material storage and retrieval robot as claimed in claim 2, characterized in that: A plurality of magnetic sensors for sensing the magnetic strips inside the vehicle are arranged inside the chassis body for motion tracking.

4. A vehicle-mounted material storage and retrieval robot as claimed in claim 2, characterized in that: The chassis body is provided with a plurality of laser sensors and / or anti-collision rubber strips for avoiding obstacles.

5. A vehicle-mounted material storage and retrieval robot as claimed in claim 2, characterized in that: A parking fixing pin is arranged on the side of the chassis body. When the chassis body is parked, the parking fixing pin is inserted into a fixing seat of the floor inside the vehicle to achieve fixing when the vehicle is parked.

6. A vehicle-mounted material storage and retrieval robot as claimed in claim 1, characterized in that: The lifting system includes a primary gantry arranged on the chassis, a secondary gantry is arranged in the inner cavity of the primary gantry, and the secondary gantry can slide up and down along the primary gantry under the drive of the first power transmission mechanism, and a transmission device is connected to the secondary gantry, and the output end of the transmission device is connected to the cargo platform, and the cargo platform is connected to the fork extension and retraction mechanism. The cargo platform and the fork extension and retraction mechanism can be moved up and down by being driven by the transmission device.

7. A vehicle-mounted material storage and retrieval robot as claimed in claim 6, characterized in that: A vertical cargo platform slide rail is arranged on the inner side of the secondary gantry, and the cargo platform is slidably arranged on the cargo platform slide rail. The cargo platform can move up and down along the cargo platform slide rail through the transmission device.

8. The vehicle-mounted material storage and retrieval robot according to claim 6, characterized in that: The first power transmission mechanism includes a first motor, which is connected to an electric cylinder through a reducer. The upper end of the electric cylinder is rotatably connected to the upper end of the secondary gantry horizontally toward the hanging shaft. The first motor drives the reducer to rotate, and the reducer drives the electric cylinder to extend and retract, thereby driving the hanging shaft and the secondary gantry to move up and down.

9. A vehicle-mounted material storage and retrieval robot as claimed in claim 8, characterized in that: The transmission device comprises a sprocket mounted on the hanging shaft, a chain is mounted on the sprocket, one end of the chain is connected to the chassis, and the other end of the chain is connected to the cargo platform.

10. A vehicle-mounted material storage and retrieval robot as claimed in claim 6, characterized in that: The fork extension and retraction mechanism includes a mounting plate connected to the cargo platform and a plurality of forks, wherein the mounting plate is fixedly connected to one of the forks, and adjacent forks can slide relative to each other via a second power transmission mechanism, thereby realizing the extension and retraction action to the side.

11. A vehicle-mounted material storage and retrieval robot as claimed in claim 6, characterized in that: A plurality of pressure sensors are arranged between the cargo platform and the fork extending and retracting mechanism, and are used to weigh the standard material basket on the fork extending and retracting mechanism and record the weight information of the materials in the material basket.

12. A storage method for a vehicle-mounted material storage and retrieval robot, characterized in that: The steps include: (1) The robot's transport direction is controlled by an electronic control mechanism based on the specified coordinate position and the current coordinate position; (2) During the handling process, the electric control mechanism controls the lifting system to synchronously perform lifting and lowering movements according to the height coordinates of the designated coordinate positions; (3) Based on the ground QR code calibration information in the vehicle, the electronic control mechanism controls the chassis to slow down and transport in advance, and automatically adjusts the precise position and height after reaching the specified coordinates to ensure that the material basket accurately enters the cargo cabinet; (4) Using a pressure sensor to identify whether a material basket is already present in the cargo cabinet, and determining whether the storage location of the cargo cabinet has material storage conditions; (5) When the storage position of the cargo cabinet meets the storage conditions, the fork extension and retraction mechanism determines the extension direction according to the storage position, and then pushes the material basket to the designated position in the cargo cabinet to complete the automatic storage of the materials.

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