Transfer robot

Abstract

The carrying robot comprises a robot body, a first mechanical arm and a second mechanical arm, the first mechanical arm and the second mechanical arm are detachably arranged on a mounting plane, and the first mechanical arm and the second mechanical arm can form contact constraint on materials during cooperative operation so as to jointly bear the materials. The first mechanical arm is provided with a first working area in the area above the mounting plane, the first working area is a set of positions which can be reached by a grabbing part at the tail end of the first mechanical arm on the mounting plane, and the second mechanical arm is provided with a second working area in the area above the mounting plane; the second working area is a set of positions which can be reached by the grabbing part at the tail end of the second mechanical arm on the mounting plane, and an overlapping area exists between the first working area and the second working area in the area above the mounting plane. According to the technical scheme, the first mechanical arm and the second mechanical arm can form a double-arm cooperative working mode, the overall structure is compact, and goods can be carried in a narrow box-type space.

Description

Technical Field

[0001] This invention relates to the field of material handling equipment technology, and in particular to a material handling robot. Background Technology

[0002] As the logistics industry upgrades towards automation and intelligence, the demand for material handling in enclosed or semi-enclosed box-like spaces such as containers, vans, and box warehouses is increasing. However, in existing technologies, wheeled handling robots mostly adopt a single-arm design. The stability and posture control of a single arm within a box-like space are limited, making it difficult to carry large or heavy materials. Some dual-arm robots consist of two independent robotic arms arranged symmetrically, resulting in a large ineffective space between the arms and a loose body structure, making them unsuitable for space-constrained environments such as containers and narrow truck beds. Summary of the Invention

[0003] This invention provides a handling robot that enables the first and second robotic arms to work in a collaborative manner. The robot has a compact overall structure, which is beneficial for handling goods in a small box-like space.

[0004] This invention provides a handling robot, including a main body and a first robotic arm and a second robotic arm detachably mounted on a mounting plane. The main body includes a mounting plane parallel to the ground, located on the side of the main body away from the ground. The first and second robotic arms are spaced apart, and when operating collaboratively, they can form contact constraints on materials to jointly carry them. The first robotic arm has a first working area above the mounting plane, which is the set of positions reachable by the end-effector gripper on the mounting plane. The second robotic arm has a second working area above the mounting plane, which is the set of positions reachable by the end-effector gripper on the mounting plane. The first and second working areas overlap within the region above the mounting plane.

[0005] This invention's technical solution involves detachable first and second robotic arms mounted on the main body. When operating collaboratively, these arms create contact constraints on the material, jointly supporting it. In dual-arm mode, the two arms form multi-contact constraints from different positions on the material, with the gripping points concentrated in the overlapping area. The two arms work together to support the material, resulting in more even force distribution and effective weight dispersion. By creating an overlapping area between the first and second working areas, the overall projected area and unused space of the handling robot are significantly reduced. Through precise kinematic optimization, the structural compactness is improved while ensuring the range of motion and load capacity of each robotic arm joint. Furthermore, the overlapping area provides more possibilities for motion combinations for the two robotic arms, allowing for collaborative adjustment of gripping angles and postures to adapt to complex working conditions such as irregular material placement in narrow box-like spaces and gripping in narrow corners.

[0006] According to the foregoing embodiments of the present invention, the volume of the overlapping region is 40%-70% of the sum of the volumes of the first working region and the second working region.

[0007] According to the foregoing embodiments of the present invention, a mounting base is provided on the mounting plane for detachably mounting a first robotic arm and a second robotic arm, and the distance between the center of the mounting base of the first robotic arm and the center of the mounting base of the second robotic arm is 0.6-1m. The technical solution of the present invention, by setting the distance between the center of the mounting base of the first robotic arm and the center of the mounting base of the second robotic arm to 0.6-1m, makes the dual-robotic-arm layout more compact.

[0008] According to the foregoing embodiments of the present invention, the handling robot includes a dual-arm working mode. When the handling robot is configured in dual-arm working mode, the first working area and the second working area are both located in the overlapping area, and the rated load of the two arms working together is not less than 50 kg.

[0009] According to any of the foregoing embodiments of the present invention, the main body further includes a chassis arranged parallel to the ground, the chassis being located on the side of the main body closest to the ground. The handling robot also includes multiple wheels disposed on the ground-facing side of the chassis, each wheel being an omnidirectional drive wheel, and a suspension structure is provided between the chassis and the wheels. The technical solution of the present invention, by providing omnidirectional drive wheels, helps to reduce the turning radius of the handling robot, enabling it to achieve omnidirectional movement and turning within narrow box-like spaces, avoiding turning jams, wasted space, etc., and improving the deployment flexibility of the handling robot, thereby further enhancing its adaptability to operations in confined spaces. The suspension structure between the chassis and the wheels helps to improve the robot's posture stability on bumpy surfaces.

[0010] According to the foregoing embodiments of the present invention, the handling robot further includes a battery assembly. The main body of the robot has a cavity for mounting the battery assembly, which is detachably disposed within the cavity. The battery assembly includes a battery bracket and a battery detachably disposed within the battery bracket. A guide portion is provided within the cavity, and the battery bracket has a sliding portion that slidably engages with the guide portion. The sliding portion is slidably disposed on the guide portion to slide the battery bracket into or out of the cavity. The guide portion also has a locking element and a buffer element. The locking element limits the pulling distance of the battery bracket, and the buffer element absorbs the kinetic energy of the battery bracket. The technical solution of the present invention, by providing a battery bracket and a detachably disposed battery within the battery bracket in the battery assembly, and by having a sliding portion that slidably engages with the guide portion to slide the battery bracket into or out of the cavity, facilitates quick battery replacement by the operator, significantly shortens the recharging interruption time of the handling robot, effectively improves the continuous operation capability of the handling robot, and enhances the convenience of operation and maintenance.

[0011] According to the foregoing embodiments of the present invention, the handling robot also includes a main heat dissipation air duct and a controller air duct disposed on the chassis. The main heat dissipation air duct and the controller air duct are integrated and connected to the receiving cavity. The technical solution of the present invention, by integrating the main heat dissipation air duct and the controller air duct, forms a highly efficient and concentrated cooling flow field, ensuring that core electronic devices such as batteries and controllers can maintain a suitable operating temperature in the sealed environment of the main body and the box-like space, avoiding overheating failures and improving the safety of handling operations.

[0012] According to the aforementioned embodiments of the present invention, symmetrical recessed holes for forklift lifting are provided on either side of the chassis. The technical solution of the present invention, by providing recessed holes for forklift lifting on either side of the chassis, with the recessed holes hidden inside the chassis, allows for rapid deployment of the handling robot to scenarios without a loading dock, such as containers and truck beds, without increasing the overall dimensions of the main body and retaining its ability to operate in confined spaces. This improves deployment flexibility.

[0013] According to the foregoing embodiments of the present invention, the handling robot further includes a sensor assembly disposed on either side of the chassis. Each side of the chassis has multiple mounting holes for mounting the sensor assembly, and these mounting holes are arranged in an array. The technical solution of the present invention, by disposing of the sensor assembly on either side of the chassis, facilitates flexible adjustment of the sensor assembly's mounting height according to operational requirements, thereby improving the adaptability of environmental perception.

[0014] According to any of the foregoing embodiments of the present invention, the first robotic arm and the second robotic arm each include a robotic arm body and a gripping part disposed at the end of the robotic arm body. A connector is also provided at the end of the robotic arm body, the connector including a mechanical connector and an electrical connector. The gripping parts of the first and second robotic arms are detachably connected to their respective robotic arm bodies via corresponding mechanical and electrical connectors. The gripping part in the technical solution of the present invention can be flexibly selected according to the material type. By providing a connector at the end of the robotic arm body, different types of gripping parts can be quickly switched, improving applicability. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the structure of an embodiment of the handling robot of the present invention; Figure 2 This is a front view of an embodiment of the handling robot of the present invention; Figure 3 This is a side view of an embodiment of the handling robot of the present invention; Figure 4 This is a top view of an embodiment of the handling robot of the present invention; Figure 5 This is a schematic diagram of the main body of the handling robot in one embodiment of the present invention.

[0017] Explanation of icon numbers: Main body - 100, first robotic arm - 200, second robotic arm - 300, walking wheels - 400, battery assembly - 500, materials - 600; Mounting plane-110, chassis-120, robotic arm body-210, gripping part-220, connecting part-230; Mounting base-111, suspension structure-121, embedded hole-122.

[0018] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0020] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0021] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0022] This invention provides a handling robot that enables the first and second robotic arms to work in a collaborative manner. The robot has a compact overall structure, which is beneficial for handling goods in a small box-like space.

[0023] like Figures 1 to 4 As shown, this embodiment of the invention provides a handling robot, including a main body 100, a first robotic arm 200, and a second robotic arm 300. Figure 5 As shown, the fuselage body 100 includes a mounting plane 110 parallel to the ground, located on the side of the fuselage body 100 away from the ground. The fuselage body 100 has multiple standardized mounting holes for modular assembly of various components.

[0024] Specifically, the width of the main body 100 is 800~1100mm, the length is 1100~1400mm, and the height (including the mounting base 111) is 700~1100mm. By limiting the size of the main body 100, it is ensured that the main body 100 can freely pass through standard box-type space doors or other common narrow entrances, which greatly expands the application scenarios of the handling robot.

[0025] like Figures 1 to 4As shown, the first robotic arm 200 and the second robotic arm 300 are detachably mounted on the mounting plane 110. The first robotic arm 200 and the second robotic arm 300 are spaced apart, and when operating collaboratively, they can form contact constraints on the material 600 to jointly support it. The first robotic arm 200 has a first working area above the mounting plane 110, which is the set of positions reachable by the end-effector gripping part of the first robotic arm 200 on the mounting plane 110. The second robotic arm 300 has a second working area above the mounting plane 110, which is also the set of positions reachable by the end-effector gripping part of the second robotic arm 300 on the mounting plane 110. There is an overlapping area between the first and second working areas above the mounting plane 110.

[0026] While maintaining a compact main body 100, the overlapping areas ensure that the working range of the first robotic arm 200 and the second robotic arm 300 is covered without any blind spots, eliminating the need to expand the working range by increasing the size of the main body 100. For example, with a body length of only 1100~1400mm, it can achieve full coverage of the front, sides, and top of the main body 100. Within the box-like space, the material 600 can be grasped and transferred without frequent movement of the main body 100, which helps to improve operational efficiency.

[0027] The technical solution of this invention involves assembling a detachable first robotic arm 200 and a second robotic arm 300 on the main body 100. When operating collaboratively, the first robotic arm 200 and the second robotic arm 300 can form contact constraints on the material 600 to jointly support it. In dual-arm working mode, the two robotic arms can form multi-contact point constraints from different positions on the material 600, with the gripping points concentrated in the overlapping area. The two robotic arms work together to support the material 600, resulting in more even force distribution and effective weight distribution. By setting an overlapping area between the first and second working areas, the overall projected area and ineffective space of the handling robot are significantly reduced. Through precise kinematic optimization, the structural compactness is improved while ensuring the range of motion and load capacity of each robotic arm joint. Furthermore, the overlapping area provides more possibilities for action combinations for the two robotic arms, allowing for collaborative adjustment of the gripping angle and posture to adapt to complex working conditions such as irregular placement of the material 600 in narrow box-like spaces and gripping in narrow corners.

[0028] Preferably, the volume of the overlapping area is 40%-70% of the sum of the volumes of the first working area and the second working area. For example, when grabbing a large piece of material 600 near a corner inside a container, the first robotic arm 200 and the second robotic arm 300 can form an angled gripping within the overlapping area, without needing to significantly adjust the position of the main body 100, making the operation more flexible.

[0029] like Figures 1 to 4 As shown, the mounting plane 110 is provided with mounting bases 111 for detachably mounting the first robotic arm 200 and the second robotic arm 300. The distance between the center of the mounting base 111 of the first robotic arm 200 and the center of the mounting base 111 of the second robotic arm 300 is 0.6-1m. This invention achieves a more compact layout for the first and second robotic arms 200 by setting the distance between the centers of the mounting bases 111 of the first robotic arm 200 and the second robotic arm 300 to 0.6-1m. By optimizing the distance between the first and second robotic arms 300, the lateral dimensions of the main body 100 are maximized while ensuring the overlap area ratio, thus improving structural compactness.

[0030] Furthermore, the mounting base 111 is rigidly connected to the main body 100 by welding or bolts to form a closed rigid force-bearing frame, which is used to disperse and transmit the bending moment and torque generated by the first robotic arm 200 and the second robotic arm 300 when the first robotic arm 200 and the second robotic arm 300 work together, thereby improving the overall torsional stiffness and load-bearing capacity, and further enhancing the heavy load-bearing stability of the first robotic arm 200 and the second robotic arm 300.

[0031] Specifically, the handling robot includes a dual-arm working mode. When the handling robot is configured in dual-arm working mode, the first working area and the second working area are located within the overlapping area. The rated load of the two arms working together is not less than 50 kg. A larger rated load range can be achieved by switching between robotic arms with different load capacities. The first robotic arm 200 and the second robotic arm 300 can dynamically allocate the load ratio of different robotic arms according to information such as the weight distribution of the material 600 and the position of the gripping point, so as to avoid overloading of a single arm and thus help extend the service life of the robotic arms.

[0032] For example, when it is necessary to move tall goods, one of the first robotic arm 200 and the second robotic arm 300 can use the gripping part 220 to suck up or clamp the goods from the side, while the other can lift the goods from the bottom, or lift them by reversing the gripping part 220 (such as a suction cup).

[0033] Alternatively, when it is necessary to move heavy goods, the first robotic arm 200 and the second robotic arm 300 can work together to grip the goods from the top of the goods through the gripping part 220, or they can grip the goods from the left and right sides or the top and bottom sides to move the heavy objects together.

[0034] It is understandable that a handling robot can also include a single-arm working mode. For example, three mounting bases 111 for the robotic arm are reserved on the mounting plane 110: two mounting bases 111 symmetrically arranged on the left and right sides of the mounting plane 110, and one mounting base 111 located at the center of the mounting plane 110. When the handling robot is configured in single-arm working mode, the robotic arm can be directly installed in the mounting base 111 located at the center of the mounting plane 110.

[0035] Specifically, even with dual robotic arms installed, the handling robot can actually operate in a single-arm mode. When handling lighter goods, the two robotic arms can operate independently to pick up the items, working without interference, which helps improve the efficiency of picking up the items.

[0036] The technical solution of this invention supports rapid switching between single-arm and dual-arm working modes. Operators can choose the configuration according to their work needs and cost budget. For example, the single-arm working mode is suitable for extreme scenarios with light loads and narrow spaces, while the dual-arm working mode is suitable for heavy loads and complex material handling scenarios. This is beneficial for covering various application scenarios such as logistics sorting, heavy-load handling, and box-type space loading and unloading, and has strong versatility.

[0037] like Figures 1 to 5 As shown, the fuselage body 100 also includes a chassis 120 disposed parallel to the ground, with the chassis 120 located on the side of the fuselage body 100 closest to the ground. Figures 1 to 3 As shown, the handling robot also includes multiple wheels 400 mounted on the ground side of the chassis 120, such as Mecanum wheels or drive wheels with independent steering. Three or four omnidirectional wheels 400 can be evenly arranged on the ground side of the chassis 120; this application does not impose any limitation on this.

[0038] Preferably, such as Figure 1 As shown, four omnidirectional wheels 400 can be installed at each of the four corners of the chassis 120 near the ground, for a total of four wheels 400. The wheel diameter of the wheels 400 is 9.5~12 inches, supporting 360° omnidirectional movement and turning.

[0039] like Figure 3 As shown, a suspension structure 121 is provided between the chassis 120 and the traveling wheels 400. For example, the suspension structure 121 can be in the form of a torsion beam, a rubber spring suspension structure 121, or a semi-active damping structure. Specifically, the suspension travel of the suspension structure 121 between the chassis 120 and the traveling wheels 400 is 15~35mm.

[0040] The technical solution of this invention, by setting omnidirectional drive wheels 400, helps to reduce the turning radius of the handling robot, enabling it to move and turn omnidirectionally in narrow box-like spaces (such as a 1.6m wide passageway within a box-like space). This avoids situations such as turning jams and wasted space, improving the deployment flexibility of the handling robot and further enhancing its adaptability to operations in confined spaces. The suspension structure 121 between the chassis 120 and the wheels 400 helps to improve the robot's posture stability on bumpy surfaces.

[0041] like Figures 1 to 2 As shown, the handling robot also includes a battery assembly 500. The main body 100 has a cavity for installing the battery assembly 500, which is detachably installed in the cavity.

[0042] Specifically, the battery assembly 500 includes a battery holder and a battery detachably disposed within the battery holder. A guide portion is provided within the receiving cavity, and the battery holder has a sliding portion that slidably engages with the guide portion. The sliding portion is slidably disposed on the guide portion to slide the battery holder into or out of the receiving cavity. The guide portion is also provided with a locking member and a buffer member. The locking member limits the pull-out distance of the battery holder, and the buffer member absorbs the kinetic energy of the battery holder.

[0043] Furthermore, the battery interfaces with the internal electrical connectors of the battery pack 500 via a quick-connect power supply and BMS communication interface. The transport robot can then tow it to a dedicated charging room for centralized charging, eliminating the need for manual handling.

[0044] This invention provides a battery bracket and a detachable battery within the battery assembly 500. The battery bracket has a sliding part that slides into or out of the receiving cavity, allowing operators to quickly replace the battery. This significantly reduces the power interruption time of the handling robot, effectively improving its continuous operation capability and enhancing maintenance convenience. A locking component limits the pull-out distance of the battery bracket to prevent it from falling out, while a buffer absorbs the kinetic energy when the battery bracket is pushed in, preventing impact damage to the battery or the robot's structure.

[0045] Preferably, the handling robot also includes a main heat dissipation duct and a controller air duct located on the chassis 120. The main heat dissipation duct and the controller air duct are integrated and connected to the receiving cavity. This invention, by integrating the main heat dissipation duct and the controller air duct, forms a highly efficient and concentrated cooling flow field, ensuring that core electronic devices such as batteries and controllers maintain a suitable operating temperature within the sealed environment of the main body 100 and the box-like space, thus preventing overheating failures and improving the safety of handling operations.

[0046] like Figures 1 to 2 As shown, the chassis 120 is symmetrically provided with recessed holes 122 for forklift lifting on either side, and the diameter of the recessed holes 122 is adapted to standard forklift forks. The technical solution of this invention provides recessed holes 122 for forklift lifting on either side of the chassis 120. These recessed holes 122 are hidden inside the chassis 120. Without increasing the overall dimensions of the main body 100 and while retaining the ability to operate in confined spaces, the robot can be quickly deployed to platformsless environments such as containers and truck beds by connecting to the recessed holes 122 via a forklift, thus improving deployment flexibility.

[0047] Preferably, the handling robot also includes a sensor assembly disposed on either side of the chassis 120. The sensor assembly has pre-installed cables, cable chain channels, power / communication interfaces, etc., supporting electrical connection with sensors such as RGB-D, multi-line 3D / 4D LiDAR, and IMU. Multiple mounting holes for installing the sensor assembly are provided on either side of the chassis 120, arranged in an array to provide adjustment space for the sensor assembly installation. This invention, by placing the sensor assembly on either side of the chassis 120, facilitates flexible adjustment of the sensor assembly's installation height according to operational needs, improving the adaptability of environmental perception. This application does not limit the position of the sensor assembly on the chassis 120; those skilled in the art can determine the position of the sensor assembly according to actual needs.

[0048] Specifically, a stiffening plate is provided on either side of the chassis 120, parallel to the chassis 120. The sensor assembly is mounted on the stiffening plate, which provides a unified mounting reference for the sensor assembly. The stiffening plate serves as the mounting reference for the sensor assembly and can move flexibly on the chassis 120 depending on the position of the sensor assembly. This application does not limit the position of the stiffening plate on the chassis 120. The stiffening plate has enhanced rigidity, and its edge is bolted to the main body 100. The uniform mounting reference of the stiffening plate ensures the coordinate system consistency of each sensor assembly, reducing data fusion errors and improving sensing accuracy.

[0049] Multiple mounting holes for installing stiffening plates are provided on either side of the chassis 120, and each mounting hole is a standard mounting hole position. By installing the stiffening plate into different mounting holes, the stiffening plate can move within a small range while remaining parallel to the chassis 120, thereby adjusting the installation position of the sensor assembly. This allows for flexible adjustment of the installation height of the sensor assembly according to operational requirements, improving the adaptability of environmental perception.

[0050] like Figures 1 to 3As shown, the first robotic arm 200 and the second robotic arm 300 each include a robotic arm body 210 and a gripping part 220 disposed at the end of the robotic arm body 210. A connector 230 is also provided at the end of the robotic arm body 210. The connector 230 includes a mechanical connector and an electrical connector. The gripping parts 220 of the first robotic arm 200 and the second robotic arm 300 are detachably connected to their respective robotic arm bodies 210 via corresponding mechanical and electrical connectors. The gripping part 220 in this invention can be flexibly selected according to the type of material 600. By providing the connector 230 at the end of the robotic arm body, different types of gripping parts 220 can be quickly switched, improving applicability.

[0051] Specifically, the mechanical connector includes a standard flange, and the electrical connector includes a pneumatic / electrical signal interface. The gripping unit 220 is detachably connected to the robotic arm body 210 via the standard flange and the pneumatic / electrical signal interface. This application does not limit the specific form of the connector; those skilled in the art can determine the form of the connector according to actual needs.

[0052] Specifically, the gripping part 220 can be flexibly selected according to the type of material 600. For example, the gripping part 220 may include a gripper, a flexible pneumatic actuator or a suction cup. The gripper is suitable for rigid materials 600 such as hard boxes and regular components. The flexible pneumatic actuator is suitable for easily deformable and fragile materials 600. The suction cup is suitable for materials 600 without rigid support such as soft packaging and large cardboard boxes.

[0053] Preferably, the handling robot also includes safety protection components, which include mechanical soft limit mechanisms, full-coverage protective covers, easily accessible emergency stop buttons, wiring with anti-wear sleeves, and independent wiring channels.

[0054] A mechanical soft limit mechanism is installed at the joints of the robotic arm to restrict its range of motion and prevent collisions between the arms or interference with the main body 100 and the material 600. A full-coverage protective cover encloses the main body 100 and key components of the robotic arm to prevent foreign object intrusion or accidental contact by personnel. Easily accessible emergency stop buttons are located on the side and top of the main body 100 for quick shutdown in emergencies. Wiring with anti-wear sleeves and independent wiring channels physically separate strong and weak current circuits, eliminating the risk of short circuits caused by wiring wear and ensuring comprehensive safety for both human and machine operators. Multiple safety protection components eliminate risks of collisions and short circuits from both mechanical and electrical perspectives, ensuring operational safety.

[0055] Preferably, the handling robot also includes a lighting structure, which comprises multiple high-brightness LED lighting modules. These modules feature a modular design and are detachably mounted on the outside of the robot body, preventing interference from the lighting light on the sensor components. The lighting module's control is linked to the sensor component's sensing. When the sensor component detects that the ambient brightness is below a preset value, it automatically turns on the lighting and adjusts it to an appropriate brightness. When the first robotic arm 200 and the second robotic arm 300 engage in a grasping action, the lighting module increases its brightness to ensure grasping accuracy. When the task is completed or the handling robot exits the box-shaped space, the lighting automatically turns off to save energy.

[0056] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A transport robot, characterized in that, include: The fuselage body includes a mounting plane that is parallel to the ground, the mounting plane being located on the side of the fuselage body away from the ground; as well as A first robotic arm and a second robotic arm are detachably mounted on the mounting plane. The first robotic arm and the second robotic arm are spaced apart. When the first robotic arm and the second robotic arm work together, they can form contact constraints on the material to jointly support the material. The first robotic arm has a first working area in the region above the mounting plane, the first working area being the set of positions that the end-effector gripper of the first robotic arm can reach on the mounting plane. The second robotic arm has a second working area in the region above the mounting plane, the second working area being the set of positions that the end-effector gripper of the second robotic arm can reach on the mounting plane. There is an overlapping area between the first working area and the second working area in the region above the mounting plane.

2. The handling robot as described in claim 1, characterized in that, The volume of the overlapping region is 40%-70% of the sum of the volumes of the first working region and the second working region.

3. The handling robot as described in claim 2, characterized in that, The mounting plane is provided with mounting bases for detachably mounting the first robotic arm and the second robotic arm, and the distance between the center of the mounting base of the first robotic arm and the center of the mounting base of the second robotic arm is 0.6-1m.

4. The handling robot as described in any one of claims 1 to 3, characterized in that, The handling robot includes a dual-arm working mode. When the handling robot is configured in dual-arm working mode, the first working area and the second working area are both located in the overlapping area, and the rated load of the two arms working together is not less than 50 kg.

5. The handling robot as described in any one of claims 1 to 3, characterized in that, The main body of the robot also includes a chassis that is parallel to the ground. The chassis is located on the side of the main body closer to the ground. The handling robot also includes multiple wheels that are mounted on the side of the chassis closer to the ground. Each wheel is an omnidirectional drive wheel. A suspension structure is provided between the chassis and the wheels.

6. The handling robot as described in claim 5, characterized in that, The transport robot also includes a battery assembly, and the main body of the robot has a cavity for housing the battery assembly, which is detachably disposed within the cavity. The battery assembly includes a battery bracket and a battery detachably disposed within the battery bracket. A guide portion is provided in the receiving cavity, and the battery bracket has a sliding portion that slides in cooperation with the guide portion. The sliding portion is slidably disposed on the guide portion to slide the battery bracket into or out of the receiving cavity. The guide portion is also provided with a locking element and a buffer element. The locking element is used to limit the pull-out distance of the battery bracket, and the buffer element is used to absorb the kinetic energy of the battery bracket.

7. The handling robot as described in claim 6, characterized in that, The transport robot also includes a main heat dissipation duct and a controller duct installed on the chassis. The main heat dissipation duct and the controller duct are integrated and connected to the receiving cavity.

8. The handling robot as described in claim 5, characterized in that, The chassis has symmetrical recessed holes on either side for forklift lifting.

9. The handling robot as described in claim 6, characterized in that, The transport robot also includes a sensor assembly disposed on any side of the chassis. The chassis has multiple mounting holes for mounting the sensor assembly, and the multiple mounting holes are arranged in an array.

10. The handling robot according to any one of claims 1 to 3, characterized in that, The first robotic arm and the second robotic arm each include a robotic arm body and a gripping part disposed at the end of the robotic arm body. The end of the robotic arm body is also provided with a connector, which includes a mechanical connector and an electrical connector. The gripping parts of the first robotic arm and the second robotic arm are detachably connected to the corresponding robotic arm body through the corresponding mechanical connector and the electrical connector, respectively.

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