Carrying robot and cargo carrying method

Abstract

The embodiment of the invention provides a carrying robot and a cargo carrying method, the carrying robot comprises a vehicle frame and a fork arm assembly, the vehicle frame is provided with a containing groove used for containing the fork arm assembly, and a hanging frame is arranged in the direction, facing the containing groove, of the vehicle frame; the fork arm assembly comprises a fork arm body and a lifting mechanism, the fork arm body and the frame are both provided with walking devices, and a top plate of the fork arm body is provided with a guide component in the thickness direction in a penetrating mode. In the process that the fork arm assembly leaves the containing groove in a no-load mode, the walking device drives the fork arm body and / or the vehicle frame to advance in the horizontal direction, the lifting mechanism drives the top plate to descend so that the hanging frame can move to the position below the hanging machine through the guiding component and the top plate, and hanging connection between the fork arm assembly and the hanging frame is relieved; and in the process that the fork arm assembly returns to the containing groove in a no-load mode, the walking device drives the fork arm body and / or the frame to advance in the horizontal direction, the lifting mechanism drives the top plate to ascend so that the hanging frame can move to the position above the hanging frame through the guiding component and the top plate, and the fork arm assembly is connected with the hanging frame in a hung mode.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a handling robot and a method for handling goods. Background Technology

[0002] In existing production systems, handling robots, such as AGVs (Automated Guided Vehicles), are typically used to perform "goods-to-person" picking operations, effectively improving warehouse operation efficiency, reducing labor costs, and lowering operational errors and accident rates. On production lines, handling robots provide a fast and efficient way to enable flexible operation and accurate control of production systems, and are increasingly widely used in flexible manufacturing systems.

[0003] Existing material handling robots typically consist of a chassis and a fork arm assembly. The chassis has a receiving slot for accommodating the fork arm assembly. When the fork arm assembly leaves the receiving slot unloaded, it needs to be unattached to the chassis. When the fork arm assembly returns to the receiving slot unloaded, it needs to be reattached to the chassis. The time required for the fork arm assembly to be unattached or reattached to the chassis is relatively long, resulting in low work efficiency of the material handling robot. Summary of the Invention

[0004] Based on this, embodiments of this application provide a handling robot and a cargo handling method to solve the problem of low working efficiency of the handling robot.

[0005] Based on the above objectives, a first aspect of this application provides a handling robot, comprising: a frame and a fork arm assembly, the frame having a receiving groove for accommodating the fork arm assembly, and the frame having a hanging bracket in the direction of the receiving groove;

[0006] The fork arm assembly includes a fork arm body and a lifting mechanism. Both the fork arm body and the frame are equipped with a traveling device. The lifting mechanism drives the top plate of the fork arm body to rise and fall. The traveling device drives the fork arm assembly and / or drives the frame to move in the horizontal direction. The top plate of the fork arm body is provided with a guide component through the thickness direction.

[0007] During the process of the fork arm assembly leaving the receiving slot without load, the traveling device drives the fork arm assembly and / or drives the frame to travel in the horizontal direction, and the lifting mechanism drives the top plate to descend so that the bracket passes through the guide component. The top plate moves to below the bracket, and the fork arm assembly is disengaged from the bracket.

[0008] During the process of the fork arm assembly returning to the receiving slot without load, the traveling device drives the fork arm assembly and / or drives the frame to travel in the horizontal direction, and the lifting mechanism drives the top plate to rise so that the bracket passes through the guide member, the top plate moves above the bracket, and the fork arm assembly is engaged with the bracket.

[0009] In some embodiments, the walking device drives the fork arm assembly and / or drives the frame to travel horizontally, and the lifting mechanism drives the top plate to rise and fall, so that the top plate performs a compound motion, and the movement trajectory of the top plate relative to the bracket is at least one of a straight line or a curve.

[0010] In some embodiments, the top plate is provided with a mounting slot adapted to the bracket, and the guide member is located on the side of the mounting slot opposite to the slot opening of the receiving slot. During the process of the fork arm assembly leaving the receiving slot unloaded, the traveling device drives the fork arm assembly away from the receiving slot in the horizontal direction and / or drives the frame away from the fork arm assembly, and the lifting mechanism drives the top plate to descend so that the bracket passes through the guide member. The top plate moves to below the bracket, and the fork arm assembly is disengaged from the bracket.

[0011] During the process of the fork arm assembly returning to the receiving slot without load, the traveling device drives the fork arm assembly into the receiving slot in the horizontal direction and / or drives the frame to approach the fork arm assembly, and the lifting mechanism drives the top plate to rise so that the bracket passes through the guide member, the top plate moves above the bracket, and the fork arm assembly is engaged with the bracket.

[0012] In some embodiments, the top plate is provided with a mounting slot adapted to the bracket, the guide member is located on the side of the mounting slot away from the bottom of the receiving slot, during the process of the fork arm assembly leaving the receiving slot unloaded, the traveling device drives the fork arm assembly to approach the bottom of the receiving slot in the horizontal direction and / or drives the vehicle frame to approach the fork arm assembly, and the lifting mechanism drives the top plate to descend so that the bracket passes through the guide member, the top plate moves to below the bracket, and the fork arm assembly is unattached to the bracket;

[0013] During the process of the fork arm returning to the receiving slot without load, the fork arm assembly is located at the bottom of the receiving slot. The traveling device drives the fork arm assembly away from the receiving slot in the horizontal direction and / or drives the frame away from the fork arm assembly. The lifting mechanism drives the top plate to rise so that the bracket passes through the guide component. The top plate moves above the bracket, and the fork arm assembly is engaged with the bracket.

[0014] In some embodiments, the guide member extends in a straight line from one end toward the ground to the other end away from the ground in a direction away from the mounting groove;

[0015] Alternatively, the guide member may extend in a straight line along a direction perpendicular to the plane of the top plate, or the extension direction of the guide member may be curved, and the distance from the side of the guide member near the hook groove to the side away from the hook groove may be greater than or equal to the horizontal travel of the fork arm assembly.

[0016] In some embodiments, the mounting groove is a recess provided on the side of the top plate facing the ground. The side wall of the recess near the guide member is inclined in a direction facing the ground and towards the guide member. The distance between the side wall facing the ground and the ground is less than or equal to the distance between the side of the top plate facing the ground and the ground. The side wall of the recess away from the guide member is inclined in a direction facing the ground and away from the guide member.

[0017] In some embodiments, the guide member extends in a straight line from one end toward the ground to the other end away from the ground in a direction away from the mounting slot, and the bracket is located in the direction of the guide member extending toward the ground before the fork arm assembly leaves the receiving slot unloaded;

[0018] Before the fork arm assembly returns to the receiving slot unloaded, the bracket is positioned in the extension direction of the guide member away from the ground.

[0019] In some embodiments, the frame and the fork arm assembly are in a coupled state, wherein the lowest point of the fork arm assembly is above the ground;

[0020] Before the fork arm assembly leaves the receiving slot unloaded, and after the fork arm assembly returns to the receiving slot unloaded and before it is in the hooking state, the hooking slot is located above the hanger.

[0021] In some embodiments, the bracket is rigidly connected to the frame, and during the process of the fork arm assembly leaving the receiving slot unloaded and returning to the receiving slot unloaded, the bracket is located within the guide member and has a gap with the side wall of the guide member.

[0022] In some embodiments, a floating mechanism is provided at the connection between the hanger and the frame. During the process of the fork arm assembly leaving the receiving slot without load and during the process of the fork arm assembly returning to the receiving slot without load, the hanger is located inside the guide member and has a gap with the side wall of the guide member, or the hanger is at least partially elastically abutting against the side wall of the guide member.

[0023] In some embodiments, the floating mechanism has a floating stroke, which, in the engaged state, is less than the distance between the lowest point of the fork arm assembly and the lowest point of the frame.

[0024] In some embodiments, before the fork arm assembly leaves the receiving slot unloaded and after the fork arm assembly returns to the receiving slot unloaded, the bottom of the receiving slot and the fork arm assembly have a preset gap.

[0025] In some embodiments, the side of the mounting bracket away from the ground is higher than, equal to, or lower than the side of the vehicle frame away from the ground.

[0026] A second aspect of this application provides a cargo handling method applied to the handling robot described in any one of the first aspects, the method comprising:

[0027] During the process of the fork arm assembly leaving the receiving slot without load, the traveling device drives the fork arm assembly and / or drives the frame to travel in the horizontal direction, and the lifting mechanism drives the top plate to descend so that the bracket passes through the guide member, the top plate moves to below the bracket, and the fork arm assembly is disengaged from the bracket;

[0028] During the process of the fork arm assembly returning to the receiving slot without load, the traveling device drives the fork arm assembly and / or drives the frame to travel in the horizontal direction, and the lifting mechanism drives the top plate to rise so that the bracket passes through the guide member, the top plate moves above the bracket, and the fork arm assembly is engaged with the bracket.

[0029] In some embodiments, the walking device drives the fork arm assembly and / or the frame to travel horizontally, and the lifting mechanism drives the top plate to rise and fall, so that the top plate performs a compound motion, and the movement trajectory of the top plate relative to the bracket is at least one of a straight line or a curve.

[0030] In some embodiments, after the fork arm assembly leaves the receiving slot unloaded, the lifting mechanism drives the top plate to rise to retrieve the goods, and the traveling device drives the fork arm assembly toward the receiving slot so that the top plate is higher than the vehicle frame;

[0031] After the forklift assembly leaves the receiving slot with the cargo, the traveling device drives the forklift assembly away from the receiving slot, and the lifting mechanism drives the top plate to descend, so that the forklift assembly completes the unloading.

[0032] As can be seen from the above, the handling robot and cargo handling method provided in this application, during the process of the fork arm assembly leaving the receiving slot unloaded, the walking device drives the fork arm assembly and / or the drive frame to move horizontally, and the lifting mechanism drives the top plate to descend, so that the hanger passes through the guide component and the top plate is located below the hanger, realizing the unattachment with the hanger; during the process of the fork arm assembly returning to the receiving slot unloaded, the walking device drives the fork arm assembly and / or the drive frame to move horizontally, and the lifting mechanism drives the top plate to rise, so that the hanger passes through the guide component and the top plate is located above the hanger, realizing the attachment with the hanger. Whether the fork arm assembly is returning to the receiving slot unloaded or leaving the receiving slot unloaded, the walking device and the lifting mechanism cooperate and coordinate to drive the top plate to perform a compound motion in the horizontal direction and the lifting of the top plate, that is, to perform the decomposed horizontal motion and lifting motion simultaneously, reducing the action time and sequence of the fork arm assembly, effectively improving the efficiency of the fork arm assembly to attach or unattach with the hanger, and further improving the working efficiency of the handling robot.

[0033] Of course, implementing any product or method of this application does not necessarily require achieving all of the advantages described above at the same time.

[0034] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of this application 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 this application. For those skilled in the art, other embodiments can be obtained based on these drawings.

[0036] Figure 1 This is a route map for picking up goods using a handling robot in related technologies;

[0037] Figure 2 This is a route map for the handling robot's delivery process in related technologies;

[0038] Figure 3 This is a schematic diagram of a handling robot according to an embodiment of this application;

[0039] Figure 4 This is a schematic diagram of the vehicle frame according to an embodiment of this application;

[0040] Figure 5 This is a schematic diagram of the fork arm assembly according to an embodiment of this application;

[0041] Figures 6a-6gThis is a schematic diagram of a fork arm assembly leaving the receiving groove according to an embodiment of this application;

[0042] Figures 7a-7d This is a schematic diagram of another fork arm assembly leaving the receiving groove according to an embodiment of this application;

[0043] Figure 8a This is a picking process route diagram for a fork arm assembly according to an embodiment of this application;

[0044] Figure 8b This is a flowchart illustrating a loading process for a forklift assembly according to an embodiment of this application.

[0045] Figure 9a This is another picking process route diagram for the fork arm assembly according to an embodiment of this application;

[0046] Figure 9b This is another delivery process flow diagram for the fork arm assembly according to an embodiment of this application;

[0047] Figure 10 This is a schematic diagram of a first type of guide component according to an embodiment of this application;

[0048] Figure 11 This is a schematic diagram of a second type of guide component according to an embodiment of this application;

[0049] Figure 12 This is a schematic diagram of a third type of guide component according to an embodiment of this application;

[0050] Figure 13 This is a schematic diagram of the fourth type of guide component in an embodiment of this application;

[0051] Figure 14 This is a schematic diagram of the fifth type of guide component in the embodiments of this application;

[0052] Figure 15 This is a schematic diagram of the guide component located on the side of the mounting groove away from the bottom of the receiving groove, according to an embodiment of this application.

[0053] Figure 16 This is a schematic diagram of the bracket moving along an arc within the guide component according to an embodiment of this application;

[0054] Figures 17a-17e Schematic diagram of different mounting brackets and mounting slots;

[0055] Figure 18 This is a schematic diagram of a floating structure according to an embodiment of this application;

[0056] Figure 19 This is a schematic diagram of a possible sliding path of the hanger within the guide component according to an embodiment of this application.

[0057] The attached figures are labeled as follows: frame 1, fork body 2, receiving slot 11, bracket 12, base plate 21, top plate 22, lifting mechanism 23, walking device 24, mounting slot 25, guide component 26, protrusion 27, preset gap 28, mounting box 31, spring 32, connecting rod 33, fastening screw 34, mounting base 35. Detailed Implementation

[0058] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of this application.

[0059] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this application should have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms "first," "second," and similar terms used in the embodiments of this application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are only used to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0060] As described in the background section above, in the related art, reference Figure 1 As shown, the picking steps of the handling robot are as follows: ① The top plate of the fork arm body is raised using a lifting mechanism to detach the mounting slot from the rack. ② It moves horizontally a short distance away from the receiving slot so that the rack aligns with the clearance slot. ③ The lifting mechanism lowers the top plate to below the rack, and then the walking device drives the fork arm to move under the goods. A vertical clearance slot is provided on the side of the mounting slot away from the fork arm as it moves away from the receiving slot to avoid interference with the rack during the descent of the top plate. ④ The walking device drives the fork arm body to the picking location. ⑤ After the lifting mechanism lifts the top plate to pick up the goods, ⑥ the fork arm returns to the receiving slot. ⑦ The lifting mechanism lowers the mounting slot on the top plate to hook onto the rack, and after the goods are placed on the frame, the lowest point of the fork arm's walking device is raised above the lowest point of the frame. (Reference) Figure 2As shown, the loading and unloading steps of the handling robot are as follows: ① The top plate of the fork arm body is raised using the lifting mechanism, so that the drive device of the fork arm assembly contacts the ground, and at the same time the hooking slot is disengaged from the rack. ② Then the walking device drives the fork arm body away from the receiving slot to the loading position. ③ The lifting mechanism drives the top plate to lower, placing the goods at the loading position. ④ The walking device drives the fork arm assembly back to the receiving slot. ⑤ Before the fork arm assembly completely returns to the receiving slot, the lifting mechanism drives the top plate to rise, during which the rack moves from the clearance slot to below the top plate. ⑥ The walking device drives the fork arm assembly to move a short distance into the receiving slot. ⑦ The lifting mechanism then drives the top plate to lower, so that the hooking slot of the top plate is hooked onto the rack to complete the handling of the goods.

[0061] It is understandable that during the process of hooking or contacting the fork arm assembly with the frame, the lifting mechanism is used to make a straight up and down motion first, and then the walking device is used to drive the fork arm assembly to make a horizontal walking motion. Each action is decomposed and completed sequentially, which reduces the working efficiency of the handling robot. Therefore, how to improve the working efficiency of the handling robot has become an urgent problem to be solved.

[0062] Based on this, refer to Figure 3 , Figure 4 and Figure 5 As shown, this application provides a handling robot, including a frame 1 and a fork arm assembly. The frame 1 has a receiving groove 11 for accommodating the fork arm assembly, and a hanger 12 is provided on the frame 1 facing the receiving groove 11. The fork arm assembly includes a fork arm body 2 and a lifting mechanism 23. Both the fork arm body 2 and the frame 1 are provided with a traveling device 24. The lifting mechanism 23 is used to drive the top plate 22 of the fork arm body 2 to rise and fall, and the traveling device 24 is used to drive the fork arm assembly and the frame 1 to move horizontally. The top plate 22 of the fork arm body 2 is provided with a guide member 26 extending through the thickness direction. The fork arm assembly leaves the receiving groove 11 unloaded. During the process, the traveling device 24 drives the fork arm assembly and / or the drive frame 1 to travel horizontally, and the lifting mechanism 23 drives the top plate 22 to descend, so that the bracket 12 passes through the guide component 26 and the top plate 22 moves to below the bracket 12, and the fork arm assembly is disengaged from the bracket 12; during the process of the fork arm assembly returning to the receiving slot 11 without load, the traveling device 24 drives the fork arm assembly and / or the drive frame 1 to travel horizontally, and the lifting mechanism 23 drives the top plate 22 to rise, so that the bracket 12 passes through the guide component 26 and the top plate 22 moves to above the bracket 12, and the fork arm assembly is engaged with the bracket 12.

[0063] It should be noted that when the fork arm assembly moves away from the receiving slot 11 in the horizontal direction, it indicates relative movement between the fork arm assembly and the frame 1, and does not mean that the frame 1 is stationary and the fork arm assembly actively moves away from the receiving slot 11. Similarly, when the fork arm assembly returns to the receiving slot 11 in the horizontal direction, it indicates relative movement between the fork arm assembly and the frame 1, and does not mean that the frame 1 is stationary and the fork arm assembly actively moves into the receiving slot 11.

[0064] In an exemplary embodiment, the receiving groove 11 extends along a first direction X, wherein the first direction is... Figure 4 In the X direction.

[0065] It should be noted that the traveling device 24 that drives the fork arm assembly is a traveling device mounted on the fork arm assembly, and the traveling device 24 that drives the frame 1 is a traveling device mounted on the frame 1. The driving device 24 of the fork arm assembly may be the same as or different from the driving device 24 of the frame 1, and no specific limitation is made here.

[0066] In an exemplary embodiment, the frame 1 is provided with two parallel extending receiving slots 11, and correspondingly, it has two fork arm assemblies that work together.

[0067] In an exemplary embodiment, the fork arm body 2 may include a base plate 21 and a top plate 22, and the lifting mechanism 23 is located between the top plate 22 and the base plate 21.

[0068] In an exemplary embodiment, the lifting mechanism 23 is used to lift or lower the top plate 22 relative to the base plate 21. The lifting mechanism 23 can be a lead screw and nut lifting mechanism, a multi-link lifting mechanism, or a scissor lifting mechanism, or any combination of two lifting mechanisms, such as a lifting mechanism formed by a lead screw and nut and a scissor lift, etc., without specific limitations. It is understood that when the top plate 22 is limited, the distance between the base plate 21 and the top plate 22 can also be adjusted by lifting the lifting mechanism 23.

[0069] In an exemplary embodiment, the traveling device 24 on the fork arm assembly body is used to drive the fork arm assembly into or out of the receiving slot 11 for operation. The traveling device 24 on the frame 1 is used to drive the frame 1 to approach or move away from the fork arm assembly so that the fork arm assembly returns to or leaves the receiving slot 11. At the same time, the traveling device on the frame 1 can drive the frame 1 to move the fork arm assembly. The traveling device 24 may include a drive motor, a reduction mechanism connected to the drive motor, and a traveling wheel connected to the reduction mechanism. The drive motor drives the traveling wheel to move through the reduction mechanism.

[0070] In an exemplary implementation, such as Figure 6aAs shown, the fork arm assembly and the frame 1 are in a hooked state. In the hooked state, the fork arm assembly can be hooked to the bracket 12 of the frame 1 through the hooking slot 25 on the top plate 22, so that the fork arm assembly can move with the frame 1 during the movement of the frame 1.

[0071] In an exemplary embodiment, the process of the fork arm assembly leaving the receiving slot 11 unloaded can be the fork arm assembly picking up goods, and the process of the fork arm assembly returning to the receiving slot unloaded can be the process after the fork arm assembly puts goods in.

[0072] In an exemplary embodiment, the guide member 26 may be a guide groove formed on the top plate 22.

[0073] It is understandable that the movement of the top plate 22 represents a compound movement relative to the hanging bracket 12, and correspondingly, the movement of the hanging bracket 12 can also represent a movement relative to the top plate 22 and a compound movement relative to the top plate 22.

[0074] In this embodiment, during the process of the fork arm assembly leaving the receiving slot 11 unloaded, such as Figures 6b-6c As shown in the process, the traveling device 24 drives the fork arm assembly and / or the frame 1 to move away from each other in the horizontal direction. During this process, the bracket 12, via the guide member 26, causes the top plate 22 to move from top to bottom until the top plate 22 moves below the bracket 12. The traveling device 24 then drives the fork arm assembly and / or the frame 1 to move away from each other, and the lifting mechanism 23 drives the top plate 22 to descend, causing the top plate 22 to perform a compound motion relative to the bracket 12. (Refer to...) Figure 8a The compound motion in step ②; or as... Figures 7b-7c As shown in the process, the walking device 24 drives the fork arm assembly and / or the frame 1 to move closer to each other, and the lifting mechanism 23 drives the top plate 22 to descend, causing the top plate 22 to perform a compound movement relative to the bracket 12. (Refer to...) Figure 9a The compound motion in step ② combines the two actions of uncoupling the fork arm assembly and the frame 1 into one action, that is, the horizontal movement of the fork arm assembly and / or the frame 1 and the descent of the top plate 22 are completed at the same time. This reduces the need to first use the walking device 24 to drive the fork arm assembly to move horizontally a short distance so that the guide component 26 on the top plate 22 corresponds to the bracket 12, and then use the lifting mechanism 23 to drive the top plate 22 to descend. This improves the efficiency of uncoupling the fork arm assembly and the frame 1 and further improves the picking efficiency of the handling robot.

[0075] During the unloaded return of the fork arm assembly to the receiving slot 11, the top plate 22 is lower than the height of the bracket 12, as referenced. Figures 6c-6aAs shown in the process, the top plate 22 is lower than the height of the bracket 12. The traveling device 24 drives the fork arm assembly and / or the frame 1 to move closer to each other, and the lifting mechanism 23 drives the top plate 22 to rise. The bracket 12 moves the top plate 22 above the bracket 12 via the guide member 26. During this process, the top plate 22 undergoes a compound movement relative to the bracket 12; or as... Figures 7c-7b As shown in the process, the traveling device 24 drives the fork arm assembly and / or the frame 1 to move away from each other, and the lifting mechanism 23 drives the top plate 22 to rise, so that the top plate 22 performs a compound movement relative to the bracket 12. (Refer to...) Figure 9b The compound motion in step ⑤ combines the two actions of connecting the fork arm assembly and the frame 1 into one action, that is, the horizontal movement of the fork arm assembly and / or the frame 1 and the rise of the top plate 22 are completed at the same time; the guide component 26 on the top plate 22 first aligns with the hanger 12, reducing the action and time of the lifting mechanism 23 first driving the top plate 22 to rise, and then using the walking device 24 to drive the fork arm assembly to move horizontally a short distance, thereby improving the connection efficiency of the fork arm assembly and the frame 1 and further improving the working efficiency of the handling robot.

[0076] In an exemplary embodiment, the walking device 24 driving the fork arm assembly and / or the frame 1 away from each other may include the walking device 24 driving the fork arm assembly away from the receiving slot 11, or the walking device 24 driving the frame 1 away from the fork arm assembly, or the walking device 24 driving the frame 1 and the fork arm assembly away from each other; correspondingly, the walking device 24 driving the fork arm assembly and / or the frame 1 approaching each other may include the walking device 24 driving the fork arm assembly into the receiving slot 11, or the walking device 24 driving the frame 1 towards the fork arm assembly, or the walking device 24 driving the fork arm assembly and the frame 1 towards each other.

[0077] In an exemplary embodiment, the frame 1 and the fork arm assembly are equipped with position sensors for detecting the positional relationship between the frame 1 and the fork arm assembly.

[0078] In an exemplary embodiment, the fork arm assembly is equipped with a height sensor for detecting the height of the top plate 22 relative to the bracket 12.

[0079] In an exemplary embodiment, the guide member 26 is disposed through the thickness of the top plate 22. The guide member 26 may be disposed on the side of the hanging groove 25 away from the bottom of the receiving groove 11, or on the side of the hanging groove 25 away from the opening of the receiving groove 11, or the guide member 26 may be disposed on both the side of the hanging groove 25 away from the bottom of the receiving groove 11 and the side of the hanging groove 25 away from the opening of the receiving groove 11.

[0080] In some embodiments, reference Figures 10 to 16As shown, the walking device 24 drives the fork arm assembly and / or the drive frame 1 to travel in the horizontal direction, and the lifting mechanism 23 drives the top plate 22 to rise and fall, so that the top plate 22 performs a compound motion relative to the bracket 12, and the movement trajectory of the top plate 22 relative to the bracket 12 is at least one of a straight line or a curve.

[0081] It is understood that the compound motion can represent any position of the top plate 22, the movement trajectory of that position relative to the bracket 12 when the traveling device 24 drives the fork arm assembly and / or the frame 1 to travel in the horizontal direction, and the lifting mechanism 23 drives the top plate 22 to rise and fall. Correspondingly, the movement trajectory of the bracket 12 relative to the top plate 22 within the guide member 26 is the same as the trajectory of the compound motion.

[0082] In an exemplary embodiment, the trajectory of the composite motion or the trajectory of the hanger 12 within the guide member 26 can be a straight line, a curve, or a composite trajectory of a straight line and a curve.

[0083] In an exemplary embodiment, the lifting mechanism 23 drives the top plate 22 to rise and fall at a constant speed, and the traveling device 24 drives the frame 1 and / or the fork arm body 2 to move horizontally at a constant speed. In this case, the trajectory of the combined motion and the trajectory of the hanging bracket 12 within the guide member 26 are straight lines. When the lifting mechanism 23 drives the top plate 22 to rise and fall at an accelerated or decelerated speed, and the traveling device 24 drives the frame 1 and / or the fork arm body 2 to move horizontally at a constant speed, the trajectory of the combined motion and the trajectory of the hanging bracket 12 within the guide member 26 are curved lines. When the lifting mechanism 23 drives the top plate 22 to rise and fall at a constant speed followed by an accelerated or decelerated speed, and the traveling device 24 drives the frame 1 and / or the fork arm body 2 to move horizontally at a constant speed, the trajectory of the combined motion and the trajectory of the hanging bracket 12 within the guide member 26 are first straight lines and then curved lines.

[0084] In this embodiment, during the process of the fork arm assembly leaving the receiving slot 11 unloaded, the traveling device 24 drives the fork arm assembly horizontally, and the lifting mechanism 23 drives the top plate 22 to descend; or the traveling device 24 drives the frame 1 to travel horizontally, and the lifting mechanism 23 drives the top plate 22 to descend; or the traveling device 24 drives the fork arm assembly and the frame 1 to travel horizontally simultaneously, and the lifting mechanism 23 drives the top plate 22 to descend. This combines the horizontal movement of the fork arm assembly and the vertical descent of the top plate 22 into a single action. Under this combined motion, as long as the width of the guide member 26 is sufficient, regardless of whether the extension direction of the guide member 26 is straight or curved, the hanger 12 can move in a straight line within the guide member 26. Figures 10 to 15 The linear movement trajectory of the middle bracket 12 within the guide component 26; or the bracket 12 can move along a curve within the guide component 26, such as... Figure 16Similarly, during the process of the fork arm assembly returning to the receiving slot 11 without load, the traveling device 24 drives the fork arm assembly in the horizontal direction, and the lifting mechanism 23 drives the top plate 22 to rise. Alternatively, the traveling device 24 drives the frame 1 to travel in the horizontal direction, and the lifting mechanism 23 drives the top plate 22 to rise. Or, the traveling device 24 drives the fork arm assembly and the frame 1 to travel in the horizontal direction at the same time, and the lifting mechanism 23 drives the top plate 22 to rise. This makes the horizontal movement of the fork arm assembly and the rise of the top plate 22 a combined action. Under this combined movement, as long as the width of the guiding component 26 is sufficient, regardless of whether the extension direction of the guiding component 26 is a straight line or an arc, the hanger 12 can also move in a straight line or a curve within the guiding component 26.

[0085] In some embodiments, the top plate 22 is provided with a mounting slot 25 adapted to the bracket 12. The guide member 26 is located on the side of the mounting slot 25 away from the slot opening of the receiving slot 11. During the process of the fork arm assembly leaving the receiving slot 11 unloaded, the traveling device 24 drives the fork arm assembly away from the receiving slot and / or drives the frame 12 away from the fork arm assembly in the horizontal direction, and the lifting mechanism 23 drives the top plate 22 to descend so that the bracket 12 passes through the guide member 26 and the top plate 22 moves to below the bracket 12, and the fork arm body 2 is unattached to the bracket 12. During the process of the fork arm assembly returning to the receiving slot 11 unloaded, the traveling device 24 drives the fork arm assembly into the receiving slot 11 in the horizontal direction and / or drives the frame 1 to approach the fork arm assembly, and the lifting mechanism 23 drives the top plate 22 to rise so that the bracket 12 passes through the guide member 26 and the top plate 22 moves to above the bracket 12, and the fork arm assembly is attached to the bracket 12.

[0086] In an exemplary embodiment, the mounting slot 25 is located on the top plate 22.

[0087] In an exemplary embodiment, the fork arm assembly may include a fork tip and a fork tail, and the fork tip is away from the bottom of the receiving groove 11 regardless of whether the fork arm assembly is in the receiving groove 11.

[0088] In this embodiment, when the guide member 26 is located on the side of the hook groove 25 away from the groove opening of the receiving groove 11, such as Figures 6a to 6cAs shown in the process, when the guide component 26 is set near the bottom of the receiving groove 11 in the hooking groove 25, after the hooking groove 25 is detached from the bracket 12, the traveling device 24 drives the fork arm assembly to move directly in the direction away from the receiving groove 11, while the lifting mechanism 23 drives the top plate 22 to descend, or the traveling device 24 drives the frame 1 to move directly away from the fork arm assembly, while the lifting mechanism 23 drives the top plate 22 to descend, or the traveling device 24 drives the frame 1 and the fork arm assembly to move away from each other, while the lifting mechanism 23 drives the top plate 22 to descend. The bracket 12 is in the guide component 26, and the top plate 22 moves from top to bottom to avoid interference between the bracket 12 and the top plate 22, until the top plate 22 moves above the bracket 12, and the fork arm assembly is disengaged from the bracket 12.

[0089] like Figures 6c-6a As shown in the process, during the process of the fork arm assembly returning to the receiving slot 11 under no load, the traveling device 24 drives the fork arm assembly to move directly in the direction of entering the receiving slot 11, while the lifting mechanism 23 drives the top plate 22 to rise, or the traveling device 24 drives the frame 1 to directly approach the fork arm assembly, while the lifting mechanism 23 drives the top plate 22 to rise, or the traveling device 24 drives the frame 1 and the fork arm assembly to approach each other respectively, while the lifting mechanism 23 drives the top plate 22 to rise. While the top plate 22 is rising, the bracket 12 is in the guide component 26, and the top plate 22 moves from bottom to top to avoid interference between the bracket 12 and the top plate 22, until the bracket 12 moves to below the top plate 22, so that the subsequent mounting slot 25 can be attached to the bracket 12 to complete the attachment of the fork arm assembly and the frame 1.

[0090] In some embodiments, the top plate 22 is provided with a mounting groove adapted to the bracket 12, and the guide member 26 is located on the side of the mounting groove 25 away from the bottom of the receiving groove 11. During the process of the fork arm assembly leaving the receiving groove 11 unloaded, the traveling device 24 drives the fork arm assembly to approach the bottom of the receiving groove 11 in the horizontal direction and / or drives the vehicle frame 1 to approach the fork arm assembly, and the lifting mechanism 23 drives the top plate 22 to descend so that the bracket 12 passes through the guide member 26 and the top plate 22 moves to below the bracket 12. During the process of the fork arm assembly returning to the receiving groove 11 unloaded, the fork arm assembly is located at the bottom of the receiving groove 11, the traveling device 24 drives the fork arm assembly to leave the receiving groove 11 in the horizontal direction and / or drives the vehicle frame 1 away from the fork arm assembly, and the lifting mechanism 23 drives the top plate 22 to rise so that the bracket 12 passes through the guide member 26 and the top plate 22 moves to above the bracket 12, and the fork arm body 2 is hooked with the bracket 12.

[0091] In this embodiment, when the guide member 26 is located on the side of the mounting groove 25 away from the bottom of the receiving groove 11, such as Figures 7a to 7dAs shown in the process, when the guide component 26 is positioned on the side of the mounting slot 25 near the slot opening of the receiving slot 11, after the mounting slot 25 is disengaged from the hanger 12, the traveling device 24 drives the fork arm assembly to move towards the receiving slot 11, while the lifting mechanism 23 drives the top plate 22 to descend, or the traveling device 24 drives the frame 1 closer to the fork arm assembly, while the lifting mechanism 23 drives the top plate 22 to descend, or the traveling device 24 drives the frame 1 and the fork arm assembly to move closer to each other, while the lifting mechanism 23 drives the top plate 22 to descend. The hanger 12 is inside the guide component 26, and the top plate 22 moves from top to bottom to avoid interference between the hanger 12 and the top plate 22, until the hanger 12 is above the top plate 22. During this process, the fork arm assembly enters the bottom direction of the receiving slot 11, and the traveling device 24 can then drive the fork arm assembly and / or the frame 1 to make the fork arm assembly leave the receiving slot 11, facilitating the subsequent retrieval of goods by the fork arm assembly.

[0092] During the process of the fork arm assembly returning to the receiving slot 11 under no-load conditions, such as Figures 7c-7a As shown in the process, the traveling device 24 drives the fork arm assembly to be located at the bottom of the receiving groove 11. The traveling device 24 drives the fork arm assembly to move in the direction away from the receiving groove 11 in the horizontal direction. At the same time, the lifting mechanism 23 drives the top plate 22 to rise, or the traveling device 24 drives the frame 1 away from the fork arm assembly. At the same time, the lifting mechanism 23 drives the top plate 22 to rise, or the traveling device 24 drives the frame 1 and the fork arm assembly away from each other respectively. At the same time, the lifting mechanism 23 drives the top plate 22 to rise. The bracket 12 is in the guide component 26. The top plate 22 moves from bottom to top to avoid interference between the bracket 12 and the top plate 22, until the bracket 12 is located below the top plate, so that the subsequent mounting slot 25 can be attached to the bracket 12.

[0093] In an exemplary embodiment, when the guide member 26 is located on the side of the hook-up groove 25 away from the bottom of the receiving groove 11 and on the side of the hook-up groove 25 away from the opening of the receiving groove 11, that is, when the guide member 26 is provided on both the side of the hook-up groove 25 near the bottom of the receiving groove 11 and the side of the hook-up groove 25 near the opening of the receiving groove 11, the hook-up can be released in any of the above methods during the process of the fork arm assembly leaving the receiving groove 11 unloaded, and the hook-up can also be attached to the frame 1 in any of the above methods during the process of the fork arm assembly returning to the receiving groove 11 unloaded.

[0094] In an exemplary embodiment, the guide component 26 is preferably disposed on the side of the hooking slot 25 away from the opening of the receiving slot 11. When the fork arm assembly is unhooked, it is convenient for the fork arm assembly to drive away from the receiving slot 11, which improves the efficiency of picking up goods. At the same time, the efficiency of the fork arm assembly returning to the receiving slot 11 for hooking is also higher.

[0095] It should be noted that before the fork arm assembly leaves the receiving slot 11 under no-load, the top plate 22 must first be raised by the lifting mechanism 23 to disengage the mounting slot 25 from the bracket 12, such as... Figure 6b and Figure 7b As shown, the traveling device 24 then drives the fork arm assembly and / or the drive frame 1 horizontally, and the lifting mechanism 23 drives the top plate 22 to descend. After the fork arm assembly returns to the receiving slot 11 unloaded, the lifting mechanism 23 drives the top plate 22 to descend so that the mounting slot 25 is engaged with the bracket 12, as shown. Figure 6a and Figure 7a As shown, the lifting mechanism 23 then drives the top plate 22 to descend so that the fork arm assembly does not contact the ground and is hooked onto the frame 1.

[0096] In some alternative embodiments, after the fork arm assembly leaves the receiving slot 11 unloaded, the lifting mechanism 23 drives the top plate 22 to rise so that the top plate 22 abuts the bottom of the goods, and the traveling device 24 drives the fork arm assembly to move horizontally toward the receiving slot 11, and the lifting mechanism 23 rises; after the fork arm assembly leaves the receiving slot 11 loaded with goods, the traveling device 24 drives the fork arm assembly to move horizontally toward the unloading point, and the lifting mechanism 23 drives the top plate 22 to fall until the goods are placed at the unloading point, and the lifting mechanism 23 drives the top plate 22 to fall so that the top plate 22 is detached from the goods.

[0097] like Figure 8a and Figure 9a As shown in step ④, after the forklift assembly leaves the receiving slot 11 unloaded, during the forklift assembly's retrieval process, the traveling device 24 drives the forklift assembly to move horizontally, and the lifting mechanism 23 drives the top plate 22 to rise. The top plate 22 can also perform combined actions, improving the retrieval efficiency of the forklift assembly. Figure 8b and Figure 9b As shown in step ③, after the fork arm assembly leaves the receiving slot 11 with the load, during the unloading process of the fork arm assembly, the traveling device 24 drives the fork arm assembly to move in the horizontal direction, and the lifting mechanism 23 drives the top plate 22 to descend. The top plate 22 can also perform compound actions to improve the unloading efficiency of the fork arm assembly.

[0098] In some embodiments, reference Figure 10 , Figure 11 , Figure 12 , Figure 13 , Figure 14 and Figure 15As shown, the guide component 26 extends in a straight line from one end toward the ground to the other end away from the ground in a direction away from the mounting groove 25, or the guide component 26 extends in a straight line along a plane perpendicular to the top plate 22, or the extension direction of the guide component 26 is curved. The distance from the side of the guide component 26 near the mounting groove 25 to the side away from the mounting groove 25 is greater than or equal to the horizontal travel of the fork arm assembly.

[0099] It is understandable that the composite motion is the movement of the top plate 22 relative to the bracket 12. Correspondingly, the distance from the side of the guide member 26 near the mounting groove 25 to the side away from the mounting groove 25 can also be expressed as the horizontal movement of the bracket 12 relative to the top plate 22 within the guide member 26.

[0100] In this embodiment, the guide member 26 can be located on the side of the hook slot 25 away from the opening of the receiving slot 11. The extension direction of the guide member 26 can be an inclined straight line. During the process of the fork arm assembly leaving the receiving slot 11 under no load, the walking device 24 drives the fork arm assembly and / or the frame 1 to move away from each other in the horizontal direction, and the lifting mechanism 23 drives the top plate 22 to descend. The composite motion trajectory of the top plate 22 is the same as the extension direction of the guide member 26. While the horizontal movement of the fork arm assembly relative to the frame 1 and the descent of the top plate 22 are combined into one action, the hanger 12 moves along the extension direction of the inclined guide member 26 to the top plate 22, so as to avoid interference between the hanger 12 and the top plate 22 during the combined action.

[0101] The extension direction of the guide component 26 can also be a vertical straight line, and the extension direction is perpendicular to the plane where the top plate 22 is located. Similarly, during the process of the fork arm assembly leaving the receiving groove 11 without load, the traveling device 24 drives the fork arm assembly and / or the frame 1 to move away from each other in the horizontal direction, and the lifting mechanism 23 drives the top plate 22 to descend. The composite motion trajectory of the top plate 22 can be decomposed into a composite movement of downward and horizontal movement away from the receiving groove 11. The distance from the side of the guide component 26 near the hook groove 25 to the side away from the hook groove 25 is greater than or equal to the horizontal movement stroke of the fork arm assembly. At the same time, the horizontal movement of the fork arm assembly and the descent of the top plate 22 are combined into one action. The bracket 12 moves along the guide component 26, and the top plate 22 moves to below the bracket 12. Similarly, interference between the bracket 12 and the top plate 22 is avoided during the composite action.

[0102] The extension direction of the guide component 26 can be curved. When the speed at which the lifting mechanism 23 drives the top plate 22 to descend is greater than the speed at which the traveling device 24 drives the fork arm assembly to travel, or when the speed at which the traveling device 24 drives the fork arm assembly to travel is greater than the speed at which the lifting mechanism 23 drives the top plate 22 to descend, the horizontal movement of the fork arm assembly and the descent of the top plate 22 to the picking height are combined into one action. Under this combined action, the movement trajectory of the hanger 12 within the guide component 26 is an arc. The guide component 26, with its extension direction being an arc, facilitates the hanger 12 to pass through the guide component until the top plate 22 moves to the bottom of the hanger 12 and is unattached. This also avoids interference between the hanger 12 and the top plate 22 during the combined action.

[0103] In this embodiment, the guide component 26 can also be located on the side of the hook slot 25 away from the bottom of the receiving slot 11. The extension direction of the guide component 26 can be an inclined straight line. During the process of the fork arm assembly leaving the receiving slot 11 unloaded, the traveling device 24 drives the fork arm assembly and / or the drive frame 1 to move closer to each other in the horizontal direction, and the lifting mechanism 23 drives the top plate 22 to descend. The movement trajectory of the top plate 22 is the same as the extension direction of the guide component 26. The horizontal movement of the fork arm assembly and the descent of the top plate 22 are combined into one action. At the same time, the top plate 22 moves from top to bottom so that the hanger 12 is located above the top plate 22 along the extension direction of the inclined guide component 26, avoiding interference between the hanger 12 and the top plate 22 during the combined action. The extension direction of the guide component 26 can also be a vertical straight line, and the extension direction is perpendicular to the plane where the top plate 22 is located.

[0104] Similarly, during the process of the fork arm assembly leaving the receiving slot 11 unloaded, the traveling device 24 drives the fork arm assembly and / or the driving frame 1 to move closer to each other in the horizontal direction, and the lifting mechanism 23 drives the top plate 22 to descend. The movement trajectory of the top plate 22 can be decomposed into a compound movement of vertical downward and horizontal movement towards the bottom of the receiving slot 11. The distance from the side of the guide component 26 near the hook slot 25 to the side away from the hook slot 25 is greater than or equal to the horizontal movement stroke of the fork arm assembly. By combining the horizontal movement of the fork arm assembly and the descent of the top plate 22 into one action, the hanger 12 moves relative to the top plate 22 along the lateral width of the guide component 26 until it is above the top plate 22. This also avoids interference between the hanger 12 and the top plate 22 during the compound action.

[0105] The extension direction of the guide component 26 is curved. The end of the guide component 26 facing the ground extends away from the end away from the ground and away from the hook groove 25. When the lifting mechanism 23 drives the top plate 22 to descend at a speed greater than the walking device 24 drives the fork arm assembly to walk, or when the walking device 24 drives the fork arm assembly to walk at a speed greater than the lifting mechanism 23 drives the top plate 22 to descend, the horizontal movement of the fork arm assembly and the descent of the top plate 22 are combined into one action. Under the combined action, the trajectory of the hanger 12 relative to the top plate 22 in the guide component 26 is an arc. The guide component 26, which extends in an arc direction, facilitates the hanger 12 to pass through the guide component until the top plate 22 moves to the bottom of the hanger 12 and the hook is released. Similarly, interference between the hanger 12 and the top plate 22 is avoided during the combined action.

[0106] It should be noted that the width of the guide component 26, i.e. the distance between the side of the guide component 26 that is close to the mounting groove 25 and the side that is far away from the mounting groove 25, can be different depending on the extension direction of the guide component 26. No specific limitation is made here.

[0107] In an exemplary embodiment, where the guide member 26 is located on the side of the mounting groove 25 opposite to the opening of the receiving groove 11, the bracket 12 can be as follows: Figure 17a The symmetrical three-point bracket 12 shown can also be as follows: Figure 17b The asymmetrical three-point bracket 12 shown is correspondingly provided with a mounting groove 25 on the top plate 22 at the position of the bracket 12. It can be understood that when the bracket 12 is provided at the bottom of the receiving groove 11, it is to avoid interference between the fork arm assembly and the bracket 12 during the process of leaving the receiving groove 11 unloaded.

[0108] In an exemplary embodiment, where the guide member 26 is located on the side of the hanging groove 25 opposite to the bottom of the receiving groove 11 and / or the guide member 26 is located on the side of the hanging groove 25 opposite to the opening of the receiving groove 11, the hanger 12 can be as follows: Figure 17c The symmetrical four-point bracket 12 shown can also be as follows: Figure 17d The asymmetrical four-point bracket 12 shown can also be as follows: Figure 17e The four-point bracket 12 shown has corresponding mounting slots 25 on the top plate 22. This application does not limit the specific form of the bracket 12.

[0109] It is understandable that when there is no hanger 12 at the bottom of the receiving groove 11, a preset gap 28 can be provided between the fork arm assembly and the bottom of the receiving groove 11. The guide component 26 can be located on the side of the hook groove 25 away from the bottom of the receiving groove 11, or on the side of the hook groove 25 away from the opening of the receiving groove 11, or both on the side of the hook groove 25 at the bottom of the receiving groove 11 and on the side of the hook groove 25 away from the opening of the receiving groove 11.

[0110] In an exemplary embodiment, the bracket 12 can be any form such as a cylinder, polygonal prism, triangular prism, or semi-cylinder. Correspondingly, the bottom of the mounting groove 25 can be adapted to the outline of the bracket 12, and no specific limitation is made here.

[0111] In some embodiments, the mounting groove 25 is a groove provided on the side of the top plate 22 facing the ground. The side wall of the groove near the guide member 26 is inclined in a direction facing the ground and towards the guide member 26. The distance between the end of the side wall facing the ground and the ground is less than or equal to the distance between the side of the top plate 22 facing the ground and the ground. The side wall of the groove away from the guide member 26 is inclined in a direction facing the ground and away from the guide member 26.

[0112] In an exemplary embodiment, the sidewall in this embodiment is the sidewall of the mounting groove 25.

[0113] In an exemplary embodiment, the end of the sidewall facing the ground is the same as the end of the sidewall facing the base plate 21.

[0114] In this embodiment, the side wall of the mounting groove 25 (groove) near the guide member 26 is inclined in a direction towards the ground and towards the guide member 26. The connection between the mounting groove 25 and the guide member 26 has a protrusion 27 in a direction towards the ground. After the top plate 22 is mounted on the bracket 12 through the mounting groove 25, during the movement and stopping of the fork arm assembly driven by the frame 1, the protrusion 27 effectively prevents the bracket 12 from slipping off the mounting groove 25 and into the guide member 26 due to inertia, so that the fork arm assembly cannot move with the frame 1.

[0115] In addition, the inclined sidewalls of the mounting groove 25 allow the hanging bracket 12 to slide along the inclined sidewalls into the bottom of the mounting groove 25 during the process of the top plate 22 being attached to the bracket 12. Even if the bottom of the mounting groove 25 and the bracket 12 are not perfectly aligned, the inclined sidewalls of the mounting groove 25 allow the bracket 12 to slide into the bottom of the mounting groove 25, improving the efficiency of the mounting groove 25 being attached to the bracket 12. Simultaneously, the distance between the end of the sidewall of the mounting groove 25 (groove) facing the guide component 26 and the ground is less than or equal to the distance between the top plate 22 and the ground. That is, the protrusion 27 does not exceed the ground-facing side of the top plate 22. This prevents the protrusion 27 from being too large, which would require the lifting mechanism 23 to raise the top plate 22 to a higher height during the process of the mounting groove 25 detaching from the bracket 12 or attaching to the bracket 12, thus affecting the efficiency of both attachment and disengagement.

[0116] In some embodiments, the guide member 26 extends in a straight line from the end facing the ground to the end away from the ground in a direction away from the mounting slot 25. Before the fork arm assembly leaves the receiving slot 11 unloaded, the bracket 12 is located in the direction of extension of the guide member 26 facing the ground; before the fork arm assembly returns to the receiving slot 11 unloaded, the bracket 12 is located in the direction of extension of the guide member 26 away from the ground.

[0117] In this embodiment, the guide component 26 is inclined. Before the fork arm assembly leaves the receiving slot 11 unloaded, the lifting mechanism 23 is used to lift the top plate 22 first, so that the hook slot 25 is disengaged from the bracket 12. Then, the traveling device 24 drives the fork arm assembly and / or the frame 1 to move in the horizontal direction, and the lifting mechanism 23 drives the top plate 22 to descend, so that the fork arm assembly performs a compound movement relative to the bracket 12. The bracket 12 is located in the extension direction of the guide component 26 towards the ground. During the compound movement, the top plate 22 can easily and quickly avoid the bracket 12 through the guide component 26, avoiding interference between the top plate 22 and the bracket 12, and improving the efficiency of disengagement. Similarly, before the fork arm assembly returns to the receiving slot 11 under no load, the traveling device 24 drives the fork arm assembly and / or the frame 1 to move in the horizontal direction, and simultaneously the lifting mechanism 23 drives the top plate 22 to rise, performing a compound movement. The hanger 12 is located in the extension direction of the guide component 26 away from the ground. During the compound movement, the top plate 22 can also easily and quickly avoid the hanger 12 through the guide component 26, avoiding interference between the top plate 22 and the hanger 12, and improving the hanging efficiency.

[0118] In some embodiments, reference Figure 6a and Figure 7a As shown, the frame 1 and the fork arm assembly are in a coupled state. In the coupled state, the lowest point of the fork arm assembly is higher than the ground. (Refer to...) Figure 6b and Figure 7b As shown, after the fork arm assembly returns to the receiving slot 11 unloaded and before it is in the hooking state, or after it is unhooked and before the fork arm assembly leaves the receiving slot 11 unloaded to retrieve goods, the hooking slot 25 is located above the hanger 12.

[0119] In this embodiment, when the frame 1 and the fork arm assembly are in the attached state, that is, the top plate 22 of the fork arm assembly is attached to the bracket 12 through the attachment slot 25, the lowest point of the fork arm assembly is higher than the ground, and the fork arm assembly is lowered by the lifting mechanism 23 so that the fork arm assembly is suspended off the ground and does not contact the ground. When the frame 1 is traveling to the vicinity of the pickup point or the drop-off point, the friction between the fork arm assembly and the ground is reduced, which is beneficial to improving the service life of the fork arm assembly. After the fork arm assembly returns to the receiving slot 11 unloaded, the bracket 12 moves to below the top plate 22, and the attachment slot 25 is located above the bracket 12, which facilitates the subsequent driving of the top plate 22 to descend through the lifting mechanism 23, so that the attachment slot 25 and the bracket 12 cooperate to achieve the attached state.

[0120] Before the fork arm leaves the receiving slot 11 under no load and after it is in the attached state, the top plate 22 is driven to rise by the lifting mechanism 23 to release the fork arm assembly from the ground until the attachment slot 25 is above the bracket 12, so that the attachment slot 25 is detached from the bracket 12, which facilitates the subsequent travel device 24 to drive the fork arm assembly and / or the frame 1 to travel in the horizontal direction, and the lifting mechanism 23 drives the top plate 22 to fall in the combined action of releasing the attachment between the fork arm assembly and the bracket 12.

[0121] In some embodiments, the bracket 12 is rigidly connected to the frame 1. During the process of the fork arm assembly leaving the receiving slot 11 unloaded and during the process of the fork arm assembly returning to the receiving slot 11 unloaded, the bracket 12 is located inside the guide member 26 and has a gap with the side wall of the guide member 26.

[0122] In this embodiment, the bracket 12 is rigidly connected to the frame 1. During the process of the fork arm assembly leaving the receiving slot 11 unloaded, the bracket 12 is located inside the guide component 26 and has a gap with the guide component 26, which effectively prevents the traveling device 24 from driving the fork arm assembly and / or the frame 1 in the horizontal direction. During the combined action of the lifting mechanism 23 driving the top plate 22 to descend, the bracket 12 rigidly interferes with the side wall of the guide component 26, improving the efficiency of the fork arm assembly to disengage. Similarly, during the process of the fork arm assembly returning to the receiving slot 11 unloaded, the bracket 12 is located inside the guide component 26 and has a gap with the side wall of the guide component 26, which also effectively prevents the traveling device 24 from driving the fork arm assembly and / or the frame 1 in the horizontal direction. During the combined action of the lifting mechanism 23 driving the top plate 22 to rise, the bracket 12 rigidly interferes with the side wall of the guide component 26, improving the engagement efficiency of the fork arm assembly.

[0123] In some embodiments, a floating mechanism is provided at the connection between the hanger 12 and the frame 1. During the process of the fork arm assembly leaving the receiving groove 11 unloaded and during the process of the fork arm assembly returning to the receiving groove 11 unloaded, the hanger 12 is located inside the guide member 26 and has a gap with the side wall of the guide member 26, or the hanger 12 is at least partially elastically abutting against the side wall of the guide member 26.

[0124] In an exemplary embodiment, the floating mechanism may have a floating stroke.

[0125] In this embodiment, a floating mechanism is provided between the hanger 12 and the frame 1. That is, the hanger 12 is not fixed relative to the frame 1. During the process of the fork arm assembly leaving the receiving groove 11 without load, due to the floating stroke of the floating mechanism, the elastic contact between the hanger 12 and the side wall of the guide member 26 does not affect the hanger 12 passing through the guide member 26 to move the top plate 22 below the hanger 12, so that the fork arm assembly is unattached. Similarly, during the process of the fork arm assembly returning to the receiving groove 11 without load, the hanger 12 abuts against the side wall of the guide member 26, which also does not affect the hanger 12 moving within the guide member 26 to below the top plate 22 for attachment. Similarly, the floating stroke of the floating mechanism provides fault tolerance accuracy for the movement of the hanger 12 within the guide member 26. Even if the composite motion trajectory is not very precise during the composite motion of the top plate 22 relative to the hanger 12, the fault tolerance accuracy provided by the floating mechanism can still meet the requirements for the fork arm assembly to be attached or unattached.

[0126] In an exemplary embodiment, the floating mechanism may also have multiple floating directions, which are not specifically limited here.

[0127] In an exemplary implementation, reference Figure 19 As shown, the theoretical trajectory of the hanger 12 within the guide component 26 is A→B→C→D. In the case of deviation from the theoretical trajectory, for example, the trajectory to the left is A1→B1→C1→D, and the trajectory to the right is A2→B2→C2→D. In the case of left or right deviation, even if the hanger 12 abuts against the side wall of the guide component 26, the floating stroke of the floating mechanism can provide avoidance for the hanger 12, thus preventing interference between the hanger 12 and the top plate 22.

[0128] In an exemplary implementation, reference Figure 18 As shown, the floating mechanism may include a mounting box 31, connecting rods 33, fastening screws 34, springs 32, and a mounting base 35. The mounting box 31 is located on the side of the frame 1 facing the receiving groove 11. The mounting base 35 is located inside the mounting box 31 and is fixedly connected to the end of the hanger 12 away from the receiving groove 11. Two parallel connecting rods 33 pass through the mounting base 35 and are fixed inside the mounting box 31 by fastening screws 34. Springs 32 are sleeved on both sides of the connecting rods 33 located on the mounting base 35. The floating mechanism can be installed according to the required fault tolerance direction, so as to provide avoidance for the hanger 12 in the fault tolerance direction by utilizing the floating characteristics of the floating mechanism.

[0129] In some embodiments, the floating mechanism has a floating stroke, which, in the engaged state, is less than the distance between the lowest point of the fork arm assembly and the lowest point of the frame 1.

[0130] In this embodiment, when the floating mechanism has multiple floating directions, due to the floating stroke of the floating mechanism, the weight of the fork arm assembly will cause the hanger 12 to float to a certain extent when it is attached. By utilizing the fact that the floating stroke of the floating mechanism is less than the distance between the lowest point of the fork arm assembly and the lowest point of the frame 1, the lowest point of the fork arm assembly is still suspended after it is attached to the hanger 12. The floating stroke of the floating mechanism provides fault tolerance accuracy for the movement of the hanger 12 within the guide component 26, while avoiding friction between the fork arm assembly and the ground during the movement of the frame 1, thus reducing the walking resistance of the frame 1.

[0131] In some embodiments, reference Figure 7a As shown, before the fork arm assembly leaves the receiving groove 11 unloaded, and after the fork arm assembly returns to the receiving groove 11 unloaded, there is a preset gap 28 between the bottom of the receiving groove 11 and the fork arm assembly.

[0132] In this embodiment, the guide component 26 is disposed on the side of the hooking groove 25 away from the bottom of the receiving groove 11. During the process of the fork arm assembly leaving the receiving groove 11 unloaded, that is, during the compound movement of the walking device 24 driving the fork arm assembly and / or the frame 1 to move closer to each other, and the lifting mechanism 23 driving the top plate 22 to descend, since the walking device drives the fork arm assembly to move horizontally towards the bottom of the receiving groove 11, the preset gap 28 provides the fork arm assembly with horizontal movement space, avoiding interference between the fork arm assembly and the receiving groove 11, so that the fork arm assembly cannot be unhooked.

[0133] In some embodiments, the side of the bracket 12 away from the ground is higher than, equal to or lower than the height of the side of the frame 1 away from the ground.

[0134] In this embodiment, the bracket 12 can be lower than the height of the side of the vehicle frame 1 away from the ground, or equal to the height of the side of the vehicle frame 1 away from the ground, or higher than the height of the side of the vehicle frame 1 away from the ground, as long as the lowest point of the walking device 24 is higher than the lowest point of the vehicle frame 1 when it is attached.

[0135] Preferably, the side of the hanger 12 away from the ground is lower than the side of the frame 1 away from the ground. After the top plate 22 is attached to the hanger 12 via the mounting slot 25, the side of the top plate 22 away from the ground can be lower than the side of the frame 1 away from the ground or the side of the top plate 22 away from the ground is equal to the height of the side of the frame 1 away from the ground. After the fork arm assembly completes the pickup and returns to the receiving slot 11, the mounting slot 25 cooperates with the hanger 12, and the weight of the goods mainly acts on the side of the frame 1 away from the ground.

[0136] Based on the same inventive concept, this application provides a cargo handling method applicable to the handling robot described in any of the above embodiments, including:

[0137] S10. During the process of the fork arm assembly leaving the receiving slot without load, the traveling device 24 drives the fork arm assembly 2 and / or the frame 1 to travel in the horizontal direction, and the lifting mechanism 23 drives the top plate 22 to descend, so that the bracket 12 passes through the guide component 26, the top plate 22 moves to the bottom of the bracket 12, and the fork arm assembly is disengaged from the bracket 12.

[0138] In this step, during the process of the fork arm assembly leaving the receiving slot 11 unloaded, such as Figures 6b-6c As shown in the process, the traveling device 24 drives the fork arm assembly to move away from the receiving slot 11 in a horizontal reverse direction, while the lifting mechanism 23 drives the top plate 22 to descend; or the frame 1 moves away from the fork arm assembly 2 in a horizontal direction, while the lifting mechanism 23 drives the top plate 22 to descend; or the fork arm assembly and the frame 1 move away from each other in a first direction, while the lifting mechanism 23 drives the top plate 22 to descend. During this process, the bracket 12, through the guide component 26, causes the top plate 22 to move from top to bottom until the top plate 22 moves below the bracket 12. The traveling device 24 drives the fork arm assembly and / or the frame 1 to move away from each other, and the lifting mechanism 23 drives the top plate 22 to descend, so that the top plate 22 performs a compound movement relative to the bracket 12; refer to the compound movement in step ② of 8a; or as... Figures 7b-7c As shown in the process, the walking device 24 drives the fork arm assembly and / or the frame 1 to move closer to each other, and the lifting mechanism 23 drives the top plate 22 to descend, causing the top plate 22 to perform a compound movement relative to the bracket 12. (Refer to...) Figure 9a The compound motion in step ② combines the two actions of uncoupling the fork arm assembly and the frame 1 into one action, that is, the horizontal movement of the fork arm assembly and / or the frame 1 and the descent of the top plate 22 are completed at the same time. This reduces the need to first use the walking device 24 to drive the fork arm assembly to move horizontally a short distance so that the guide component 26 on the top plate 22 corresponds to the bracket 12, and then use the lifting mechanism 23 to drive the top plate 22 to descend. This improves the efficiency of uncoupling the fork arm assembly and the frame 1 and further improves the picking efficiency of the handling robot.

[0139] Before the traveling device 24 drives the fork arm assembly and / or the frame 1 to travel horizontally, the top plate 22 must be lifted by the lifting mechanism 23 so that the mounting slot 25 is disengaged from the bracket 12 and the traveling device 24 comes into contact with the ground.

[0140] S20. During the process of the fork arm assembly returning to the receiving slot 11 under no load, the traveling device 24 drives the fork arm body 2 and / or the driving frame 1 to travel in the horizontal direction, and the lifting mechanism 23 drives the top plate 22 to rise, so that the bracket 12 moves to the bottom of the top plate 22 through the guide component 26, and the fork arm assembly is engaged with the bracket 12.

[0141] In this step, refer to Figures 6c-6aAs shown in the process, the top plate 22 is lower than the height of the bracket 12. The traveling device 24 drives the fork arm assembly and / or the frame 1 to move closer to each other, and the lifting mechanism 23 drives the top plate 22 to rise. The bracket 12 moves the top plate 22 above the bracket 12 via the guide member 26. During this process, the top plate 22 undergoes a compound movement relative to the bracket 12. (Refer to...) Figure 8b The compound motion in step ⑤; or as... Figures 7c-7b As shown in the process, the traveling device 24 drives the fork arm assembly and / or the frame 1 to move away from each other, and the lifting mechanism 23 drives the top plate 22 to rise, causing the top plate 22 to perform a compound motion, as shown in the reference. Figure 9b The compound motion in step ⑤ combines the two actions of connecting the fork arm assembly and the frame 1 into one action, that is, the horizontal movement of the fork arm assembly and / or the frame 1 and the rise of the top plate 22 are completed at the same time; the guide component 26 on the top plate 22 first aligns with the hanger 12, reducing the action and time of the lifting mechanism 23 first driving the top plate 22 to rise, and then using the walking device 24 to drive the fork arm assembly to move horizontally a short distance, thereby improving the connection efficiency of the fork arm assembly and the frame 1 and further improving the working efficiency of the handling robot.

[0142] Before the traveling device drives the fork arm assembly and / or the frame to move, and before the lifting mechanism 23 drives the top plate 22 to rise, the fork arm assembly needs to travel to a preset position. Otherwise, the guide component 26 cannot be accurately aligned with the bracket 12, causing the top plate 22 to interfere with the bracket 12, and the fork arm assembly cannot effectively return to the receiving slot 11.

[0143] In some embodiments, the walking device 24 drives the fork arm assembly and / or the frame 1 to travel in a horizontal direction, and the lifting mechanism 23 drives the top plate 22 to rise and fall, so that the top plate 22 performs a compound motion relative to the bracket 12, and the movement trajectory of the top plate 22 relative to the bracket 12 is at least one of a straight line or a curve.

[0144] In an exemplary embodiment, the trajectory of the composite motion or the trajectory of the hanger 12 within the guide member 26 can be a straight line, a curve, or a composite trajectory of a straight line and a curve.

[0145] In an exemplary embodiment, the lifting mechanism 23 drives the top plate 22 to rise and fall at a constant speed, and the traveling device 24 drives the frame 1 and / or the fork arm body 2 to move horizontally at a constant speed. In this case, the trajectory of the combined motion and the trajectory of the hanging bracket 12 within the guide member 26 are straight lines. When the lifting mechanism 23 drives the top plate 22 to rise and fall at an accelerated or decelerated speed, and the traveling device 24 drives the frame 1 and / or the fork arm body 2 to move horizontally at a constant speed, the trajectory of the combined motion and the trajectory of the hanging bracket 12 within the guide member 26 are curved lines. When the lifting mechanism 23 drives the top plate 22 to rise and fall at a constant speed followed by an accelerated or decelerated speed, and the traveling device 24 drives the frame 1 and / or the fork arm body 2 to move horizontally at a constant speed, the trajectory of the combined motion and the trajectory of the hanging bracket 12 within the guide member 26 are first straight lines and then curved lines.

[0146] In this embodiment, during the process of the fork arm assembly leaving the receiving slot 11 unloaded, the traveling device 24 drives the fork arm assembly horizontally, and the lifting mechanism 23 drives the top plate 22 to descend; or the traveling device 24 drives the frame 1 to travel horizontally, and the lifting mechanism 23 drives the top plate 22 to descend; or the traveling device 24 drives the fork arm assembly and the frame 1 to travel horizontally simultaneously, and the lifting mechanism 23 drives the top plate 22 to descend. This combines the horizontal movement of the fork arm assembly and the vertical descent of the top plate 22 into a single action. Under this combined motion, as long as the width of the guide member 26 is sufficient, regardless of whether the extension direction of the guide member 26 is straight or curved, the hanger 12 can move in a straight line within the guide member 26. Figures 10 to 15 The linear movement trajectory of the middle bracket 12 within the guide component 26; or the bracket 12 can move along a curve within the guide component 26, such as... Figure 16 Similarly, during the process of the fork arm assembly returning to the receiving slot 11 without load, the traveling device 24 drives the fork arm assembly in the horizontal direction, and the lifting mechanism 23 drives the top plate 22 to rise. Alternatively, the traveling device 24 drives the frame 1 to travel in the horizontal direction, and the lifting mechanism 23 drives the top plate 22 to rise. Or, the traveling device 24 drives the fork arm assembly and the frame 1 to travel in the horizontal direction at the same time, and the lifting mechanism 23 drives the top plate 22 to rise. This makes the horizontal movement of the fork arm assembly and the rise of the top plate 22 a combined action. Under this combined movement, as long as the width of the guiding component 26 is sufficient, regardless of whether the extension direction of the guiding component 26 is a straight line or an arc, the hanger 12 can also move in a straight line or a curve within the guiding component 26.

[0147] In some embodiments, the method further includes: after the fork arm assembly leaves the receiving slot 11 unloaded, the lifting mechanism 23 drives the top plate 22 to rise to pick up the goods, and the traveling device 24 drives the fork arm assembly to move towards the receiving slot so that the top plate 22 is higher than the frame 1; after the fork arm assembly leaves the receiving slot 11 loaded with goods, the traveling device 24 drives the fork arm assembly away from the receiving slot 11, and the lifting mechanism 23 drives the top plate 22 to fall so that the fork arm assembly completes the unloading.

[0148] In this step, the lifting and moving of the forklift assembly towards the receiving slot 11 are combined into a single action. Specifically, the lifting mechanism 23 drives the forklift assembly to lift the top plate 22 to retrieve the goods, and the traveling device 24 drives the forklift assembly to move horizontally towards the receiving slot simultaneously. This effectively avoids the sequential actions of the lifting mechanism 23 driving the top plate 22 to rise to retrieve the goods and the traveling device 24 driving the forklift assembly to approach the receiving slot 11, reducing the action time caused by this sequential action sequence and improving the retrieval efficiency of the forklift assembly. Similarly, the lowering and moving away from the receiving slot 11 are also combined into a single action. This effectively avoids the sequential actions of the lifting mechanism 23 driving the top plate 22 to lower ...

[0149] Understandably, reference Figure 8a , Figure 9a and Figures 6d to 6g As shown in the process, after the fork arm assembly leaves the receiving slot 11, ③ the traveling device 24 drives the fork arm assembly to the picking location; ④ the lifting mechanism 23 brings the top plate 22 to contact the goods, and then lifts it while approaching the receiving slot 11; ⑤ the traveling device 24 drives the fork arm assembly and / or the frame 1 to approach, so that the fork arm assembly is close to the receiving slot; ⑥ the lifting mechanism 23 lowers the hook slot 25 on the top plate 22 and hooks it onto the hanger 12, and after the goods are placed on the frame 1, the lowest point of the fork arm assembly is raised to be higher than the lowest point of the frame 1. Then the fork arm assembly moves with the frame 1 to the vicinity of the loading location, as shown in the reference. Figure 8b , Figure 9b and Figure 6g-Figure 6d As shown in the process, before the fork arm assembly returns to the receiving slot without load, it needs to be unloaded. The frame 1 transfers the goods to the vicinity of the unloading point. The unloading steps of the handling robot are as follows: ① The lifting mechanism 23 drives the top plate 22 to rise, so that the fork arm assembly contacts the ground, and at the same time the hook slot 25 disengages from the hanger 12. ② Then the walking device 24 drives the fork arm assembly to move away from the receiving slot 11 in the horizontal direction. ③ The lifting mechanism 23 drives the top plate 22 to fall, and the walking device 24 drives the fork arm assembly to move towards the unloading point and place the goods at the unloading point. ④ The fork arm assembly returns to the receiving slot 11 without load.

[0150] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A transport robot, characterized in that, include: The frame (1) and the fork arm assembly, the frame (1) having a receiving groove (11) for accommodating the fork arm assembly, and the frame (1) having a bracket (12) in the direction of the receiving groove (11). The fork arm assembly includes a fork arm body (2) and a lifting mechanism (23). Both the fork arm body (2) and the frame (1) are provided with a traveling device (24). The lifting mechanism (23) drives the top plate (22) of the fork arm body (2) to rise and fall. The traveling device (24) drives the fork arm assembly and / or drives the frame (1) to move in the horizontal direction. The top plate (22) of the fork arm body (2) is provided with a guide member (26) through the thickness direction. During the process of the fork arm assembly leaving the receiving slot (11) unloaded, the walking device (24) drives the fork arm assembly and / or drives the frame (1) to travel in the horizontal direction, and the lifting mechanism (23) drives the top plate (22) to descend so that the bracket (12) passes through the guide member (26), the top plate (22) moves to below the bracket (12), and the fork arm assembly is disengaged from the bracket (12); During the process of the fork arm assembly returning to the receiving slot (11) under no-load conditions, the walking device (24) drives the fork arm assembly and / or drives the frame (1) to travel in the horizontal direction, and the lifting mechanism (23) drives the top plate (22) to rise so that the bracket (12) passes through the guide member (26), the top plate (22) moves above the bracket (12), and the fork arm assembly is hooked to the bracket (12).

2. The handling robot according to claim 1, characterized in that, The walking device (24) drives the fork arm assembly and / or drives the frame (1) to travel in the horizontal direction, and the lifting mechanism (23) drives the top plate (22) to rise and fall, so that the top plate (22) performs a compound motion relative to the bracket (12), and the movement trajectory of the top plate (22) relative to the bracket (12) is at least one of a straight line or a curve.

3. The handling robot according to claim 1, characterized in that, The top plate (22) is provided with a mounting groove (25) adapted to the bracket (12), and the guide component (26) is located on the side of the mounting groove (25) away from the groove opening of the receiving groove (11); During the process of the fork arm assembly leaving the receiving slot (11) unloaded, the walking device (24) drives the fork arm assembly to leave the receiving slot (11) in the horizontal direction and / or drives the frame (1) away from the fork arm assembly, and the lifting mechanism (23) drives the top plate (22) to descend so that the bracket (12) passes through the guide member (26), the top plate (22) moves to below the bracket (12), and the fork arm assembly is disengaged from the bracket (12); During the process of the fork arm assembly returning to the receiving slot (11) under no-load conditions, the walking device (24) drives the fork arm assembly into the receiving slot (11) in the horizontal direction and / or drives the frame (1) to approach the fork arm assembly, and the lifting mechanism (23) drives the top plate (22) to rise so that the bracket (12) passes through the guide member (26), the top plate (22) moves above the bracket (12), and the fork arm assembly is hooked to the bracket (12).

4. The handling robot according to claim 1, characterized in that, The top plate (22) is provided with a hanging groove (25) adapted to the hanging bracket (12), and the guide component (26) is located on the side of the hanging groove (25) away from the bottom of the receiving groove (11); During the process of the fork arm assembly leaving the receiving slot (11) unloaded, the walking device (24) drives the fork arm assembly to approach the bottom of the receiving slot (11) in the horizontal direction and / or drives the frame (1) to approach the fork arm assembly, and the lifting mechanism (23) drives the top plate (22) to descend so that the bracket (12) passes through the guide member (26), the top plate (22) moves to below the bracket (12), and the fork arm assembly is unattached to the bracket (12); During the process of the fork arm returning to the receiving slot (11) under no-load, the fork arm assembly is located at the bottom of the receiving slot (11). The walking device (24) drives the fork arm assembly away from the receiving slot (11) in the horizontal direction and / or drives the frame (1) away from the fork arm assembly. The lifting mechanism (23) drives the top plate (22) to rise so that the hanger (12) passes through the guide member (26). The top plate (22) moves above the hanger (12) and the fork arm assembly is hooked to the hanger (12).

5. The handling robot according to claim 3 or 4, characterized in that, The guide component (26) extends in a straight line from the end facing the ground to the end away from the ground in a direction away from the mounting groove (25); Alternatively, the guide component (26) may extend in a straight line along a direction perpendicular to the plane of the top plate (22); Alternatively, the extension direction of the guide member (26) is curved, and the distance from the side of the guide member (26) near the hook groove (25) to the side away from the hook groove (25) is greater than or equal to the horizontal travel of the fork arm assembly.

6. The handling robot according to claim 3 or 4, characterized in that, The mounting groove (25) is a groove provided on the side of the top plate (22) facing the ground. The side wall of the groove near the guide member (26) is inclined in a direction facing the ground and towards the guide member (26). The distance between the side wall facing the ground and the ground is less than or equal to the distance between the side of the top plate (22) facing the ground and the ground. The side wall of the groove away from the guide member (26) is inclined in a direction facing the ground and away from the guide member (26).

7. The handling robot according to claim 3 or 4, characterized in that, The guide member (26) extends in a straight line from the end facing the ground to the end away from the ground in a direction away from the mounting groove (25). Before the fork arm assembly leaves the receiving groove (11) unloaded, the bracket (12) is located in the direction of the extension of the guide member (26) towards the ground. Before the fork arm assembly returns unloaded to the receiving slot (11), the hanger (12) is located in the extension direction of the guide member (26) away from the ground.

8. The handling robot according to claim 3 or 4, characterized in that, The frame (1) and the fork arm assembly are in a hooked state, in which the lowest point of the fork arm assembly is higher than the ground; Before the fork arm assembly leaves the receiving slot (11) unloaded, and after the fork arm assembly returns to the receiving slot (11) unloaded and before it is in the hooking state, the hooking slot (25) is located above the hanger (12).

9. The handling robot according to claim 1, characterized in that, The bracket (12) is rigidly connected to the frame (1). During the process of the fork arm assembly leaving the receiving slot (11) without load and during the process of the fork arm assembly returning to the receiving slot (11) without load, the bracket (12) is located inside the guide member (26) and has a gap with the side wall of the guide member (26).

10. The handling robot according to claim 1, characterized in that, A floating mechanism is provided at the connection between the hanger (12) and the frame (1). During the process of the fork arm assembly leaving the receiving slot (11) unloaded and during the process of the fork arm assembly returning to the receiving slot (11) unloaded, the hanger (12) is located inside the guide member (26) and has a gap with the side wall of the guide member (26), or the hanger (12) and the side wall of the guide member (26) are at least partially elastically abutting.

11. The handling robot according to claim 10, characterized in that, The floating mechanism has a floating stroke, and in the engaged state, the floating stroke is less than the distance between the lowest point of the fork arm assembly and the lowest point of the frame (1).

12. The handling robot according to claim 4, characterized in that, Before the fork arm assembly leaves the receiving groove (11) unloaded, and after the fork arm assembly returns to the receiving groove (11) unloaded, the bottom of the receiving groove (11) and the fork arm assembly have a preset gap (28).

13. The handling robot according to claim 1, characterized in that, The side of the bracket (12) away from the ground is higher than, equal to or lower than the side of the frame (1) away from the ground.

14. A method for handling goods, characterized in that, Applied to the handling robot according to any one of claims 1 to 13, the method comprises: During the process of the fork arm assembly leaving the receiving slot (11) unloaded, the traveling device (24) drives the fork arm assembly and / or drives the frame (1) to travel in the horizontal direction, and the lifting mechanism (23) drives the top plate (22) to descend so that the bracket (12) passes through the guide member (26), the top plate (22) moves to below the bracket (12), and the fork arm assembly is disengaged from the bracket (12); During the process of the fork arm assembly returning to the receiving slot (11) under no-load conditions, the walking device (24) drives the fork arm assembly and / or drives the frame (1) to travel in the horizontal direction, and the lifting mechanism (23) drives the top plate (22) to rise so that the bracket (12) passes through the guide member (26), the top plate (22) moves above the bracket (12), and the fork arm assembly is hooked to the bracket (12).

15. The method according to claim 14, characterized in that, The walking device (24) drives the fork arm assembly and / or the frame (1) to travel in the horizontal direction, and the lifting mechanism (23) drives the top plate (22) to rise and fall, so that the top plate (22) performs a compound motion, and the movement trajectory of the top plate (22) relative to the bracket (12) is at least one of a straight line or a curve.

16. The method according to claim 14, characterized in that, After the fork arm assembly leaves the receiving slot (11) unloaded, the lifting mechanism (23) drives the top plate (22) to rise to pick up the goods, and the walking device (24) drives the fork arm assembly to move toward the receiving slot (11) so that the top plate (22) is higher than the frame (1). After the fork arm assembly leaves the receiving slot (11) with the cargo loaded, the walking device (24) drives the fork arm assembly away from the receiving slot (11), and the lifting mechanism (23) drives the top plate (22) to descend so that the fork arm assembly can complete the unloading.

Images