A box intelligent carrying robot suitable for multi-row shelves and a use method thereof

Abstract

This invention relates to the field of cargo handling technology, specifically to an intelligent cargo handling robot suitable for multi-row racks and its usage method, comprising: a mobile frame with multiple sets of support plates; a lifting assembly capable of adjusting the height of the support plates and ensuring equal spacing between adjacent sets of support plates; a support frame with an "L"-shaped cross-section and an abutment plate rotatably mounted at its end; a drive assembly mounted on the support plates and rotatably connected to the support frame; a side plate with a lifting groove, a convex shaft rotatably mounted on the support frame engaging with the lifting groove to tilt the support frame during loading and maintain the tilted state during resetting; and a pulling assembly capable of driving the abutment plate to deflect when the support frame tilts, making the abutment plate coplanar with the upper surface of the support frame, enabling batch storage of goods and preventing damage.

Description

Technical Field

[0001] This invention relates to the field of cargo handling technology, specifically to an intelligent cargo handling robot suitable for multi-row racks and its usage method. Background Technology

[0002] In the field of automated warehousing and logistics, achieving efficient and damage-free transfer of goods between handling robots and fixed racks is a key technological challenge. Currently, the mainstream solution generally uses gripping robotic arms to accomplish this operation. This type of robotic arm applies direct clamping force to the outer surface of the goods through its grippers on its sides or around its perimeter, thereby grasping and moving the goods.

[0003] Traditional robotic arms can only pick up and place a single item at a time, resulting in low efficiency when storing goods in bulk. Furthermore, when dealing with heavy boxes or goods, the robotic arm system must apply a correspondingly increased clamping force to ensure a firm grip and prevent slippage during high-speed transport, which can easily lead to local dents, wrinkles, or even cracks in the packaging box. Summary of the Invention

[0004] The purpose of this invention is to provide an intelligent cargo handling robot suitable for multi-row shelves and a method of using it, so as to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a smart cargo handling robot suitable for multi-row racks, comprising: a mobile frame, on which multiple sets of support plates are equidistantly arranged along the vertical direction in space, and a handling robot arm is provided on the mobile frame; a lifting assembly connecting the support plates and the mobile frame, the lifting assembly being able to adjust the height of the support plates and make the spacing between adjacent sets of support plates equal; and a support frame disposed on the support plates, the support frame having an "L"-shaped cross-section. An abutment plate is rotatably mounted at the end of the support frame; a drive assembly is disposed on the support plate and rotatably connected to the support frame; a side plate is mounted on the support plate, and a lifting groove is provided on the side plate. A convex shaft rotatably mounted on the support frame cooperates with the lifting groove, enabling the support frame to tilt during material unloading and maintain the tilted state during resetting; a traction assembly connects the support frame and the side plate, and the traction assembly can drive the abutment plate to deflect when the support frame tilts, making the abutment plate coplanar with the upper surface of the support frame.

[0006] The intelligent cargo handling robot suitable for multi-row racks as described above: the drive assembly includes a guide fixedly mounted on the support plate and an extension rod slidably mounted on the guide. One end of the extension rod is rotatably mounted with a connecting part, which is rotatably connected to the side of the support frame. The drive assembly also includes a meshing structure disposed on the support plate and connected to the extension rod. The meshing structure enables the extension rod to move along the length direction of the guide.

[0007] The intelligent handling robot for multi-row racks described above: the meshing structure includes a rack plate fixedly connected to the extension rod and a drive motor fixedly mounted on the support plate. A gear is connected to the output shaft of the drive motor, and the gear meshes with the rack plate.

[0008] The intelligent handling robot for multi-row shelves described above: the lifting trough includes a reset trough and a horizontal trough that are opened on the side plate and are parallel to each other. One end of the reset trough and the horizontal trough are connected by an arc-shaped trough, and the other end is connected by an inclined trough. An extension trough is also connected to the end of the reset trough away from the arc-shaped trough.

[0009] The intelligent handling robot for multi-row shelves described above includes: an elastic support structure between the reset groove and the tilting groove; the elastic support structure includes a support block slidably mounted on the side plate, a horizontal shaft connected to the support block, the horizontal shaft being slidably connected to the side plate, and a first cylindrical spring sleeved on the horizontal shaft, one end of the first cylindrical spring being connected to the side plate and the other end being connected to the support block; the support block has an inclined surface on the side facing the tilting groove, and the inclined surface abuts and adapts to the convex shaft.

[0010] The intelligent cargo handling robot applicable to multi-row racks as described above: the pulling assembly includes an elastic support structure disposed on the support frame, a grooved wheel and a connecting rod rotatably mounted on the elastic support structure, and the end of the connecting rod away from the elastic support structure is rotatably connected to the abutment plate; the pulling assembly also includes a horizontal member fixedly mounted on the side plate, the horizontal member being provided with a retaining groove along its length direction, and the grooved wheel being able to roll within the retaining groove.

[0011] The intelligent handling robot for multi-row racks described above: the elastic support structure includes multiple sets of stop members fixedly installed on the support frame and a vertical shaft slidably installed on the stop members, and a second cylindrical spring is sleeved on the vertical shaft; the vertical shaft connects the grooved wheel and the connecting rod, and the vertical shaft is provided with a limit groove along its length direction, and the limit groove is slidably connected to a limit block provided in the stop member.

[0012] The intelligent cargo handling robot suitable for multi-row shelves as described above: the mobile frame is provided with a vertical guide groove, and the sliding connection part provided on the side of the support plate can slide within the vertical guide groove.

[0013] The intelligent cargo handling robot suitable for multi-row racks as described above: the support plate at the bottom is fixedly installed on the mobile frame; the lifting assembly includes multiple sets of electric telescopic rods fixedly installed on the mobile frame, a traction rod is fixed on the moving end of the electric telescopic rod, multiple sets of sliding members are slidably installed on the traction rod, the sliding members are located between two adjacent sets of support plates; two sets of support rods are also symmetrically installed on the sliding members, and the two sets of support plates corresponding to the sliding members are rotatably connected to the two sets of support rods respectively.

[0014] A method for using a smart cargo handling robot suitable for multi-row racks, as described above, includes the following steps: Step 1: Adjust the height of each support plate using the lifting assembly; Step 2: Control the drive components to move the support frame and abutment plate towards the shelf; Step 3: When the support frame and the abutment plate move to the predetermined position, the convex shaft cooperates with the lifting groove to deflect the support frame. At this time, under the action of the traction component, the abutment plate will deflect relative to the support frame, and in the final state, the abutment plate and the upper surface of the support frame are coplanar. At this time, the goods can slide onto the shelf. Step 4: The drive component drives the support bracket to reset. At this time, the support bracket remains in an inclined state. When the support bracket resets to the end of its stroke, the support bracket switches to a horizontal state, and the abutment plate resets at the same time.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: Firstly, the designed support frame, drive assembly, and side plates enable batch storage of goods, significantly improving work efficiency. Secondly, during the process of the support frame moving goods to the top of the shelf, the goods are kept horizontal, thereby improving the stability of the goods during transfer. Thirdly, when the support frame moves to the top of the shelf, it will deflect, allowing the goods to slide down naturally. Simultaneously, further movement of the support frame can push the goods towards the inside of the shelf, reducing the distance required for subsequent relocation. Furthermore, during the reverse movement of the support frame… When the goods are placed on the shelf, they can be released slowly, ensuring that they are placed smoothly and avoiding unnecessary vibration that could damage them. The pull mechanism ensures that when the support frame is horizontal, the abutment plate remains in contact with the end of the support frame, effectively limiting the movement of the goods on the support frame and preventing them from falling during transport. When the support frame is tilted, the abutment plate can rotate relative to the support frame and eventually remain coplanar with the upper surface of the support frame, ensuring that the goods can slide onto the shelf via the support frame and the abutment plate. Attached Figure Description

[0016] Figure 1 This is a structural diagram of a smart cargo handling robot suitable for multi-row racks; Figure 2 This is a side view of a smart cargo handling robot suitable for multi-row racks, after the mobile frame has been removed. Figure 3 This is a structural diagram of the support frame, drive assembly, side plate, and traction assembly in an intelligent cargo handling robot suitable for multi-row racks. Figure 4 This is a structural diagram of the support frame, drive assembly, side plate, and traction assembly of a smart cargo handling robot suitable for multi-row racks from another angle. Figure 5 This is a structural diagram of the drive components and side plates in a smart cargo handling robot suitable for multi-row racks; Figure 6 Exploded view of the drive components and side panels in a smart cargo handling robot suitable for multi-row racks; Figure 7 This is a schematic diagram of the side panel structure in an intelligent cargo handling robot suitable for multi-row racks; Figure 8 for Figure 7 Enlarged view of the structure at point A in the middle; Figure 9 This is a structural diagram of the support frame, abutment plate, and traction assembly in a smart cargo handling robot suitable for multi-row racks.

[0017] In the diagram: 1. Moving frame; 101. Vertical guide groove; 2. Support plate; 201. Sliding connection; 3. Support rod; 4. Sliding component; 5. Pull rod; 6. Electric telescopic rod; 7. Drive motor; 8. Gear; 9. Guide component; 10. Extension rod; 11. Connecting part; 12. Rack plate; 13. Side plate; 1301. Reset groove; 1302. Extension groove; 1303. Arc groove; 13 04. Horizontal groove; 1305. Inclined groove; 14. Support block; 1401. Inclined surface; 15. Horizontal shaft; 16. First cylindrical spring; 17. Support frame; 1701. Roller; 18. Abutment plate; 19. Stop; 20. Second cylindrical spring; 21. Vertical shaft; 22. Grooved wheel; 23. Connecting rod; 24. Convex shaft; 25. Horizontal component; 2501. Holding groove; 26. Handling robot. Detailed Implementation

[0018] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0019] Please see Figures 1-9 As an embodiment of the present invention, the intelligent handling robot for multi-row shelves includes: a mobile frame 1, a lifting assembly, a support frame 17, a drive assembly, a side plate 13, and a pulling assembly.

[0020] The mobile frame 1 is provided with multiple sets of support plates 2 equidistantly arranged along the vertical direction in space. The support plates 2 located at the bottom are fixedly installed on the mobile frame 1. Furthermore, the mobile frame 1 is provided with a vertical guide groove 101, and the sliding connection part 201 located on the side of the support plate 2 can slide within the vertical guide groove 101. The mobile frame is provided with a handling robot 26, which can directly transport the goods on the support frame 17 to the corresponding shelf height. Furthermore, the goods on the support frame 17 can be handled in two ways: one is by using the aforementioned handling robot 26, which can move the goods to a certain height for single-item handling; the other is by deflecting the support frame 17 to handle the goods. In a large warehouse environment, the goods in a single area have the same specifications and the shelf height is the same. In this case, the support frame 17 can directly place the goods in batches on the shelf, improving handling efficiency.

[0021] The lifting assembly connects the support plate 2 and the mobile frame 1. The lifting assembly can adjust the height of the support plate 2 and make the spacing between two adjacent sets of support plates 2 the same. The lifting assembly includes multiple sets of electric telescopic rods 6 fixedly installed on the mobile frame 1. A pull rod 5 is fixed on the moving end of the electric telescopic rod 6. Multiple sets of sliding members 4 are slidably installed on the pull rod 5. The sliding members 4 are located between two adjacent sets of support plates 2. Two sets of support rods 3 are also symmetrically installed on the sliding members 4. The two sets of support plates 2 corresponding to the sliding members 4 are rotatably connected to the two sets of support rods 3 respectively.

[0022] In this embodiment, during the process of transferring goods to the shelf, the shelf heights of different types of goods are not consistent. To make the transfer process more convenient and to ensure that the goods do not fall, the goods need to be transported to the top of the shelf. At this time, the height of the support plate 2 needs to be adjusted for different types of shelves. The specific adjustment method is as follows: When the height of the support plate 2 needs to be increased, the electric telescopic rod 6 is controlled to pull the pull rod 5 towards the electric telescopic rod 6. At this time, since the bottom support plate 2 is in a fixed state, the sliding member 4 corresponding to the support plate 2 can support the support. Supported by the strut 3, the support rod moves upward along the length of the pull rod 5. At this time, another set of support rods 3 connected to the sliding member 4 will act on another set of support plates 2, so that this set of support plates 2 can move upward a certain distance relative to the lower support plate 2. In this way, each set of support plates 2 can generate a certain displacement relative to the lower support plate 2, so that while the height of the support plate 2 increases, the distance between two adjacent sets of support plates 2 will also change, so as to ensure that the height of the support plate 2 can match the height of the shelf, thereby improving the stability of the goods transfer process and preventing the occurrence of falling.

[0023] Furthermore, for shelves with different layer spacing, when placing goods, the movement of the support plate 2 or the movement of the handling robot 26 needs to be linked with the electric telescopic rod 6 to ensure that when moving goods at a certain height, the height of the corresponding support frame 17 matches the height of the corresponding shelf layer.

[0024] Furthermore, when transferring goods to the support frame 17, the distance between two adjacent support frames 17 can be reduced by the operation of the electric telescopic rod 6 to facilitate loading. At this time, the goods to be transported are transferred to the corresponding support frame 17 by the robot arm 26 or other loading device.

[0025] Please see Figure 3 , Figure 5 , Figure 6The support frame 17 is disposed on the support plate 2. The cross-section of the support frame 17 is "L" shaped. An abutment plate 18 is rotatably installed at the end of the support frame 17. Multiple sets of rollers 1701 are also rotatably installed on the support frame 17. The rollers 1701 can reduce the friction force on the goods when the support frame 17 is tilted to allow the goods to slide, so that the goods can be transferred smoothly.

[0026] The drive assembly is disposed on the support plate 2 and rotatably connected to the support frame 17. The drive assembly includes a guide member 9 fixedly mounted on the support plate 2 and an extension rod 10 slidably mounted on the guide member 9. One end of the extension rod 10 is rotatably mounted with a connecting part 11, which is rotatably connected to the side of the support frame 17. When the support frame 17 deflects, the support frame 17 rotates about the rotatable connection between the connecting part 11 and the extension rod 10 as the axis of rotation. The drive assembly also includes a geared structure disposed on the support plate 2 and connected to the extension rod 10. The geared structure enables the extension rod 10 to move along the length direction of the guide member 9. The geared structure includes a rack plate 12 fixedly connected to the extension rod 10 and a drive motor 7 fixedly mounted on the support plate 2. A gear 8 is connected to the output shaft of the drive motor 7, and the gear 8 meshes with the rack plate 12.

[0027] In this embodiment, when the drive motor 7 is working, it can drive the gear 8 connected to its output shaft to rotate. The gear 8 is in a state of meshing with the rack plate 12. This allows the rack plate 12 to drive the extension rod 10 to move along the length direction of the guide member 9 when the gear 8 rotates, thereby driving the support frame 17 to move so as to pull the goods from above the mobile frame 1 to above the shelf. During the tilting process of the support frame 17, the goods can slide onto the shelf.

[0028] Please see Figures 7-9The side plate 13 is mounted on the support plate 2. A lifting groove is provided on the side plate 13. A convex shaft 24, rotatably mounted on the support frame 17, cooperates with the lifting groove, enabling the support frame 17 to tilt during material release and maintain its tilted state during resetting. The lifting groove includes a resetting groove 1301 and a horizontal groove 1304 parallel to each other on the side plate 13. One end of the resetting groove 1301 and the horizontal groove 1304 are connected by an arc-shaped groove 1303, and the other end is connected by an inclined groove 1305. An extension groove is also connected to the end of the resetting groove 1301 away from the arc-shaped groove 1303. 1302; An elastic support structure is provided between the reset groove 1301 and the inclined groove 1305. The elastic support structure includes a support block 14 slidably mounted on the side plate 13. A horizontal shaft 15 is connected to the support block 14. The horizontal shaft 15 is slidably connected to the side plate 13, and a first columnar spring 16 is sleeved on the horizontal shaft 15. One end of the first columnar spring 16 is connected to the side plate 13, and the other end is connected to the support block 14. An inclined surface 1401 is provided on the side of the support block 14 facing the inclined groove 1305. The inclined surface 1401 abuts and is adapted to the convex shaft 24.

[0029] In the initial state, the convex shaft 24 is in the horizontal groove 1304 away from the inclined groove 1305. At this time, the upper surface of the support frame 17 is horizontal. When the goods are placed on the support frame 17, the goods will have higher stability.

[0030] When the extension rod 10 moves along the length of the guide 9, the support frame 17 will also be pulled and moved. During this process, the convex shaft 24 will first move along the length of the transverse groove 1304. During this process, the support frame 17 will remain horizontal, which can ensure the stability of the goods during the transfer of goods to the shelf. When the goods are transferred to the shelf, the convex shaft 24 will move from the transverse groove 1304 to the inclined groove 1305. At this time, the end of the support frame 17 away from the abutment plate 18 will be pushed upward, so that the support frame 17 will tilt. During this process, the abutment plate 18 will tilt relative to the support frame 17 under the action of the pulling component, so that the goods can move further when sliding towards the shelf, thereby reducing the distance of subsequent movement of goods.

[0031] When the cam shaft 24 moves to the end of the inclined groove 1305, the cam shaft 24 will abut against the inclined surface 1401 on the support block 14. At this time, the support block 14 will move toward the first columnar spring 16 and make a yielding action, so that the cam shaft 24 can move from the inclined surface 1401 toward the extension groove 1302. During this process, the goods can be pushed further into the shelf, so that the goods enter the shelf deeper and further reduce the distance of subsequent movement of goods.

[0032] When the cam shaft 24 moves into the extension groove 1302, the support block 14 can be reset under the action of the first columnar spring 16, thereby sealing the upper end of the inclined groove 1305. At this time, when the extension rod 10 pulls the support frame 17 to move in the opposite direction, the cam shaft 24 can move along the extension groove 1302 and the reset groove 1301. During this process, the support frame 17 will remain in an inclined state, and the goods have already been attached to the shelf at one end. When the support frame 17 moves away from the shelf in an inclined state, the support frame 17 will slowly release the goods to place them flat on the shelf.

[0033] When the support bracket 17 is about to return to the end of its stroke, the cam shaft 24 will move to the end of the reset groove 1301. At this time, under the action of gravity, the cam shaft 24 can move along the arc groove 1303 until the cam shaft 24 abuts against the lower surface of the horizontal groove 1304, completing the reset action so that the upper surface of the support bracket 17 can be in a horizontal state when the goods are placed next time.

[0034] Based on the above configuration, firstly, the goods can be kept horizontal during the process of moving them to the top of the shelf by the support frame 17, thus improving the stability of the goods during the transfer process. Secondly, when the support frame 17 moves to the top of the shelf, it will deflect, allowing the goods to slide down naturally. At the same time, the further movement of the support frame 17 can push the goods toward the inside of the shelf, reducing the distance of subsequent movement of the goods. In addition, when the support frame 17 moves in the opposite direction, it can achieve the effect of slowly releasing the goods, ensuring that the goods can be placed on the shelf smoothly and avoiding unnecessary vibration that could damage the goods.

[0035] It should be noted that when the convex shaft 24 is in the arc groove 1303, the rotating shaft of the connecting part 11 is exactly at the center of the arc groove 1303.

[0036] Please see Figures 3-4 , Figure 6 , Figure 9The traction assembly connects the support frame 17 and the side plate 13. When the support frame 17 tilts, the traction assembly can drive the abutment plate 18 to deflect, making the abutment plate 18 coplanar with the upper surface of the support frame 17. The traction assembly includes an elastic support structure disposed on the support frame 17. A grooved wheel 22 and a connecting rod 23 are rotatably mounted on the elastic support structure. One end of the connecting rod 23 away from the elastic support structure is rotatably connected to the abutment plate 18. The traction assembly also includes a horizontal member 25 fixedly mounted on the side plate 13. The transverse member 25 is provided with a retaining groove 2501 along its length, and the grooved wheel 22 can roll within the retaining groove 2501; the elastic support structure includes multiple sets of stop members 19 fixedly installed on the support frame 17 and a vertical shaft 21 slidably installed on the stop members 19, and a second columnar spring 20 is sleeved on the vertical shaft 21; the vertical shaft 21 connects the grooved wheel 22 and the connecting rod 23, and the vertical shaft 21 is provided with a limiting groove along its length, and the limiting groove is slidably connected to a limiting block provided in the stop member 19.

[0037] In this embodiment, the grooved wheel 22 is always in the retaining groove 2501. In the initial state, the support frame 17 is in a horizontal state, and the vertical shaft 21 has a pulling force on the abutment plate 18 through the connecting rod 23, so that the abutment plate 18 can fit against the end of the support frame 17. In this state, the support frame 17 and the abutment plate 18 form a U-shaped structure to ensure the stability of the goods on the support frame 17. When the support frame 17 deflects, the distance between the end of the support frame 17 away from the abutment plate 18 and the retaining groove 2501 will decrease, so that the vertical shaft 21 can slide relative to the stop member 19 toward the support frame 17. During this process, the vertical shaft 21 can drive the abutment plate 18 to deflect through the connecting rod 23, so that when the support frame 17 deflects to the maximum angle, the abutment plate 18 can be coplanar with the upper surface of the support frame 17, so that the goods can slide onto the shelf through the support frame 17 and the abutment plate 18.

[0038] When the convex shaft 24 is reset from the arc groove 1303 to the horizontal groove 1304, the vertical shaft 21 will slide upward relative to the support frame 17. At this time, the vertical shaft 21 will drive the abutment plate 18 to reset through the connecting rod 23, and keep the abutment plate 18 and the end of the support frame 17 in a close fit.

[0039] Specifically, when the abutment plate 18 is deflected to be coplanar with the upper surface of the support frame 17, and the lower end of the abutment plate 18 is just in contact with the shelf, that is, there is no height difference between the lower end of the abutment plate 18 and the shelf, so as to prevent the goods from causing large vibrations during the process of slipping off the shelf.

[0040] Based on the above configuration, when the support frame 17 is horizontal, the abutment plate 18 can maintain abutment with the end of the support frame 17, which can effectively limit the goods placed on the support frame 17 and prevent the goods from moving or even falling during transfer. When the support frame 17 is tilted, the abutment plate 18 can rotate relative to the support frame 17 and eventually maintain a state that is coplanar with the upper surface of the support frame 17, ensuring that the goods can slide smoothly onto the shelf through the support frame 17 and the abutment plate 18.

[0041] Optionally, the robotic arm can adopt the same structure as the support plate 2 mentioned above to solve the problem that traditional robotic arms are prone to damage when gripping goods.

[0042] As an embodiment of the present invention, a method for using a smart cargo handling robot suitable for multi-row racks as described above is also proposed, comprising the following steps: Step 1: Adjust the height of each support plate 2 using the lifting assembly; Step 2: Control the drive components to move the goods toward the shelf via the support frame 17 and the abutment plate 18; Step 3: When the support frame 17 and the abutment plate 18 move to the predetermined position, the convex shaft 24 cooperates with the lifting groove to deflect the support frame 17. At this time, under the action of the traction component, the abutment plate 18 will deflect relative to the support frame 17, and in the final state, the abutment plate 18 and the upper surface of the support frame 17 are coplanar. At this time, the goods can slide onto the shelf. Step 4: The drive component drives the support bracket 17 to reset. At this time, the support bracket 17 remains in an inclined state. When the support bracket 17 resets to the end of its stroke, the support bracket 17 switches to a horizontal state, and the abutment plate 18 resets at the same time.

[0043] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0044] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A smart cargo handling robot suitable for multi-row racks, comprising: A mobile frame is provided with multiple sets of support plates equidistantly arranged along the vertical direction in space, and a handling robot is provided on the mobile frame. A lifting assembly connects the support plate and the movable frame. The lifting assembly can adjust the height of the support plate and make the spacing between two adjacent sets of support plates the same. Its characteristic is that it further includes: A support frame is disposed on the support plate. The cross-section of the support frame is "L" shaped, and an abutment plate is rotatably installed at the end of the support frame. A drive assembly is disposed on the support plate and rotatably connected to the support frame; A side plate is installed on the support plate. The side plate is provided with a lifting groove. A convex shaft rotatably installed on the support frame cooperates with the lifting groove, which enables the support frame to tilt during material feeding and maintain the tilted state during the reset process. A traction assembly connects the support frame and the side plate. The traction assembly can drive the abutment plate to deflect when the support frame is tilted, and make the abutment plate coplanar with the upper surface of the support frame. The drive assembly includes a guide fixedly mounted on the support plate and an extension rod slidably mounted on the guide. One end of the extension rod is rotatably mounted with a connecting part, which is rotatably connected to the side of the support frame. The drive assembly also includes a meshing structure disposed on the support plate and connected to the extension rod, the meshing structure enabling the extension rod to move along the length direction of the guide member; The lifting trough includes a reset trough and a horizontal trough that are formed on the side plate and are parallel to each other. One end of the reset trough and the horizontal trough are connected by an arc-shaped trough, and the other end is connected by an inclined trough. The end of the reset groove away from the arc-shaped groove is also connected to an extension groove; The traction assembly includes an elastic support structure disposed on the support frame, a grooved wheel and a connecting rod are rotatably mounted on the elastic support structure, and the end of the connecting rod away from the elastic support structure is rotatably connected to the abutment plate; The traction assembly also includes a transverse member fixedly mounted on the side plate, the transverse member having a retaining groove along its length, and the grooved wheel being able to roll within the retaining groove.

2. The intelligent cargo handling robot suitable for multi-row racks according to claim 1, characterized in that, The meshing structure includes a rack plate fixedly connected to the extension rod and a drive motor fixedly mounted on the support plate. A gear is connected to the output shaft of the drive motor, and the gear meshes with the rack plate.

3. The intelligent cargo handling robot suitable for multi-row racks according to claim 1, characterized in that, An elastic support structure is provided between the reset groove and the inclined groove; The elastic support structure includes a support block slidably mounted on the side plate, a horizontal shaft connected to the support block, the horizontal shaft being slidably connected to the side plate, and a first cylindrical spring sleeved on the horizontal shaft, one end of the first cylindrical spring being connected to the side plate and the other end being connected to the support block; The support block has an inclined surface on one side facing the inclined groove, and the inclined surface abuts and is adapted to the convex shaft.

4. The intelligent cargo handling robot suitable for multi-row racks according to claim 1, characterized in that, The elastic support structure includes multiple sets of stop members fixedly installed on the support frame and a vertical shaft slidably installed on the stop members, with a second cylindrical spring sleeved on the vertical shaft; The vertical shaft connects the grooved wheel and the connecting rod, and the vertical shaft is provided with a limiting groove along its length direction. The limiting groove is slidably connected to the limiting block provided in the stop member.

5. The intelligent cargo handling robot suitable for multi-row racks according to claim 1, characterized in that, The mobile frame is provided with a vertical guide groove, and the sliding connection part provided on the side of the support plate can slide within the vertical guide groove.

6. The intelligent cargo handling robot suitable for multi-row racks according to claim 1, characterized in that, The support plate located at the bottom is fixedly installed on the mobile frame; The lifting assembly includes multiple sets of electric telescopic rods fixedly installed on the mobile frame. A traction rod is fixed to the actuating end of the electric telescopic rod. Multiple sets of sliding members are slidably installed on the traction rod. The sliding members are located between two adjacent sets of support plates. Two sets of support rods are symmetrically installed on the sliding component, and two sets of support plates corresponding to the sliding component are rotatably connected to the two sets of support rods respectively.

7. A method of using a smart cargo handling robot suitable for multi-row racks as described in any one of claims 1 to 6, characterized in that, Includes the following steps: Step 1: Adjust the height of each support plate using the lifting assembly; Step 2: Control the drive components to move the support frame and abutment plate towards the shelf; Step 3: When the support frame and the abutment plate move to the predetermined position, the convex shaft cooperates with the lifting groove to deflect the support frame. At this time, under the action of the traction component, the abutment plate will deflect relative to the support frame, and in the final state, the abutment plate and the upper surface of the support frame are coplanar. At this time, the goods can slide onto the shelf. Step 4: The drive component drives the support bracket to reset. At this time, the support bracket remains in an inclined state. When the support bracket resets to the end of its stroke, the support bracket switches to a horizontal state, and the abutment plate resets at the same time.

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