Cargo carrying method and carrying robot

Abstract

The invention belongs to the technical field of robot transportation, and particularly relates to a cargo carrying method and a carrying robot. The method comprises the following steps: setting a carrying destination position and a carrying cargo type; according to the carrying destination position and the type of the carried goods, the walking path and goods scanning information of the carrying robot are determined; matching is carried out based on the type of the carried goods and a preset moving path, so that a carrying path corresponding to the type of the carried goods is determined; the whole structural design is simple and reasonable, the operation stability is high, the fork arm walking mechanism and the fork arm lifting mechanism can flexibly meet the material carrying requirements of different scenes, manual participation is not needed, and the carrying efficiency can be improved.

Description

Technical Field

[0001] This invention belongs to the field of robot transportation technology, and specifically relates to a cargo handling method and a cargo handling robot. Background Technology

[0002] With the rapid development of intelligent manufacturing, smart warehousing and automated logistics, mobile handling robots have become core equipment for industrial material transfer, warehousing sorting and production line docking, and are widely used in automobile manufacturing, electronic processing, e-commerce logistics and other scenarios.

[0003] However, existing technologies often require manual intervention for handling or transferring goods, resulting in poor handling efficiency. Therefore, it is necessary to design a goods handling method and a handling robot to solve the above problems. Summary of the Invention

[0004] To address the aforementioned problems, this invention provides a cargo handling method and a handling robot to solve the issues raised in the background section.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a cargo handling method, comprising the following steps: Set the destination location and type of goods to be transported; The robot's path and cargo scanning information are determined based on the destination location and the type of goods being transported. The matching is performed based on the type of goods being transported and the preset movement path to determine the transport path corresponding to the type of goods being transported. Based on the transport path and the QR codes set on the transport path, the posture of the transport robot walking path is corrected. When the handling robot moves to the location of the goods to be handled according to the walking path, it scans the information of the goods to be handled to determine whether it is the goods to be handled. Based on the matching of the cargo information to be transported with the preset cargo information, the transport robot autonomously selects its movement state and completes the cargo transport.

[0006] Furthermore, the movement state of the transport robot is divided into two operating states, which are selected and executed based on the transported goods information.

[0007] Furthermore, the specific operation of the movement state of the transport robot is as follows: When the handling robot scans the cargo information and determines that it is in the first motion state of the handling robot, the handling robot moves in front of the cargo and the handling component is activated. The fork arm body extends horizontally from the body of the handling robot and inserts into the pallet at the bottom of the cargo. Then the lifting drive structure works to lift and support the pallet containing the goods to be transported; Then the walking mechanism works, driving the robot to move to the pallet until the transport component returns to its original position. The lifting drive structure works again to place the pallet completely on the robot. Finally, the transport robot carrying the pallet and goods moves to transport the goods. When the handling robot scans the cargo information and determines that it is in the second motion state of the handling robot, the handling robot moves in front of the cargo and the handling component is activated. The fork arm body extends horizontally from the body of the handling robot and inserts into the pallet at the bottom of the cargo. Then the forklift body moves upward to lift the pallet containing the goods to be transported, and moves in the opposite direction to above the machine body, placing the pallet completely on the machine body. Finally, the transport robot carrying the pallet and goods moves to transport the goods.

[0008] Furthermore, correcting the walking path of the transport robot also includes: obtaining QR code information, using a downward-facing camera to scan the QR code pasted on the ground, and correcting the position and posture of the vehicle body.

[0009] Furthermore, determining the type of goods to be transported also includes: using two industrial cameras to scan the label information on the pallet, obtaining the pallet's own information as well as the type and specifications of the goods on the pallet, to complete the verification of the type of goods to be transported.

[0010] Furthermore, during the operation of the fork arm body, the precise detection of the lifting height of the fork arm body is also included: when the first lead screw nut slide plate moves horizontally, it drives the sensing plate fixedly connected to it to move synchronously. The real-time position of the sensing plate is detected by the sensor fixedly connected to the fork arm body, and the displacement data of the first lead screw nut slide plate is obtained, thereby precisely controlling the lifting height of the fork arm body.

[0011] Furthermore, when the fork arm body extends horizontally from the body of the handling robot, it also includes a laser ranging probe. The laser ranging probe measures the moving distance of the fork arm support of the fork arm walking mechanism, compares the actual moving distance with the preset distance set by the system, and adjusts the moving distance of the fork arm support according to the comparison result, so as to achieve precise control of the horizontal movement of the fork arm support.

[0012] Furthermore, the preset movement path is the path information pre-planned and stored in the robot control system according to the storage location, handling conditions and site layout of different types of goods. When matching paths, the path with the shortest distance and the fewest obstacles is selected as the handling path. Furthermore, the process of completing cargo handling includes: the handling robot moves to the destination along the corrected walking path according to the set destination location, places the pallet and cargo in the designated position, and sends a handling completion signal to the control system to complete a complete cargo handling process.

[0013] The present invention also discloses a transport robot, including a walking component and a transport component; A walking assembly, comprising a body and a walking mechanism, wherein the walking mechanism is disposed on the body and is used to drive the body to move; The transport assembly includes a fork arm traveling mechanism and a fork arm lifting mechanism. The fork arm traveling mechanism is mounted on the machine body and moves horizontally relative to the machine body. The fork arm lifting mechanism is mounted on the fork arm traveling mechanism and moves vertically relative to the fork arm traveling mechanism. The fork arm lifting mechanism is used to carry a pallet. The fork arm traveling mechanism includes a fork arm bracket, a fork arm motor, a fork arm gear, and a fork arm rack. The fork arm bracket is slidably connected to the machine body in the front-back direction. The fork arm rack is connected to the machine body and is arranged in the front-back direction. The fork arm motor is connected to the fork arm bracket and is drivenly connected to the fork arm gear. The fork arm gear meshes with the fork arm rack. The fork arm lifting mechanism includes a fork arm body, a lifting drive structure, a first lead screw, a first lead screw nut slide plate, a second lead screw, a second lead screw nut slide plate, a first X-type linkage mechanism, and a second X-type linkage mechanism. The fork arm body is slidably connected to the fork arm bracket in the vertical direction. The lifting drive structure is disposed on the fork arm body and is drivenly connected to the first lead screw. The second lead screw is connected to the right end of the first lead screw. Both the first and second lead screws are arranged in the left-right direction. The thread directions of the left and right parts of the first and second lead screws are opposite. The first lead screw nut slide plate is disposed on both the left and right parts of the first lead screw. The second lead screw nut slide plate is disposed on both the left and right parts of the second lead screw. Both first lead screw nut slide plates are connected to the first X-type linkage mechanism, and both second lead screw nut slide plates are connected to the second X-type linkage mechanism. The forklift mechanism further includes a first deep groove ball bearing and a second deep groove ball bearing. The first X-type linkage mechanism includes two first links, which are rotatably connected at the middle. Two sets of first deep groove ball bearings are provided. The upper ends of the two first links are respectively connected to the two first lead screw nut slide plates, and the lower ends of the two first links are respectively connected to the two sets of first deep groove ball bearings. The second X-type linkage mechanism includes two second linkages, which are rotatably connected at the middle. Two sets of second deep groove ball bearings are provided. The upper ends of the two second linkages are respectively connected to the two second lead screw nut slide plates, and the lower ends of the two second linkages are respectively connected to the two sets of second deep groove ball bearings.

[0014] The fork arm lifting mechanism also includes a sensing plate and a sensor. The sensor is connected to the fork arm body, and the sensing plate is connected to the first lead screw nut slide plate. The lifting drive structure includes a lifting motor, a lifting reducer, and a lifting coupling. The lifting motor, the lifting reducer, and the lifting coupling are sequentially connected in a transmission manner, and the lifting coupling is connected in a transmission manner to the first lead screw. The traveling mechanism includes a vehicle body traveling motor, a vehicle body traveling reducer, and vehicle body traveling wheels. The vehicle body traveling motor is connected to the machine body, and the vehicle body traveling motor, the vehicle body traveling reducer, and the vehicle body traveling wheels are sequentially connected in a transmission manner.

[0015] Compared with the prior art, the cargo handling method and handling robot of the present invention have the following technical effects and advantages: 1. The cargo handling method and handling robot provided by this invention are adapted to the industry development needs of intelligent manufacturing, smart warehousing and automated logistics. They achieve innovation and optimization from multiple dimensions such as process design, equipment structure, operation precision and scenario adaptation. Compared with traditional handling methods, they have significant advantages. This invention has fully automated operation, improves efficiency and reduces costs, has scientific path planning, precise and controllable movement, and adaptively switches handling modes according to cargo information. It has strong adaptability, which not only ensures the stability of handling heavy or large cargo, but also improves the flexibility of handling light or small cargo.

[0016] 2. The handling robot of the present invention is composed of a walking component and a handling component. The components are compactly connected and the transmission is smooth. The first and second deep groove ball bearings in the fork arm lifting mechanism can effectively reduce the frictional resistance of the lifting motion of the X-type linkage mechanism, reduce component wear, and improve the overall stability and reliability of the equipment.

[0017] 3. The forklift traveling mechanism is mounted on the machine body and can move horizontally relative to the machine body, allowing adjustment of the horizontal position of the forklift lifting mechanism. The forklift lifting mechanism is mounted on the forklift traveling mechanism and can move vertically relative to the forklift traveling mechanism, allowing adjustment of the height of the forklift lifting mechanism, thereby enabling the picking, carrying, and placing of pallets.

[0018] 4. The overall structure is simple and reasonable, with high operational stability. The forklift travel mechanism and forklift lifting mechanism can be flexibly adapted to the material handling needs of different scenarios without manual intervention, which helps to improve handling efficiency.

[0019] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures pointed out in the description and drawings. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 A flowchart of a cargo handling method according to an embodiment of the present invention is shown; Figure 2 A schematic diagram of the structure of the handling robot according to an embodiment of the present invention is shown; Figure 3 This diagram illustrates the usage state of the fork arm body moving horizontally to the working position according to an embodiment of the present invention. Figure 4 This diagram illustrates the usage state of the fork arm body moving vertically to the working position according to an embodiment of the present invention. Figure 5 A schematic diagram of the forklift lifting mechanism according to an embodiment of the present invention is shown; Figure 6 This diagram illustrates the first usage state of the fork arm body picking up the pallet according to an embodiment of the present invention. Figure 7 This diagram illustrates a second usage state of the fork arm body fork-lifting the pallet according to an embodiment of the present invention. Figure 8 This diagram illustrates a third usage state of the fork arm body picking up a pallet according to an embodiment of the present invention. Figure 9 A schematic diagram of a transport robot with a gear and rack structure according to another embodiment of the present invention is shown; Figure 10 A schematic diagram of a transport robot with a gear and rack structure according to another embodiment of the present invention is shown; Figure 11 A schematic diagram of the structure of a forklift lifting mechanism according to another embodiment of the present invention is shown; Figure 12 A schematic diagram of the structure of a forklift lifting mechanism according to another embodiment of the present invention is shown; Figure 13 A schematic diagram of the structure of the laser ranging probe according to an embodiment of the present invention is shown; Figure 14 A schematic diagram of the structure of an industrial camera according to an embodiment of the present invention is shown.

[0022] Reference numerals: 1. Walking assembly; 11. Body; 12. Walking mechanism; 121. Body walking motor; 122. Body walking reducer; 123. Body walking wheel; 2. Transport assembly; 211. Fork arm bracket; 212. Fork arm motor; 213. Fork arm gear; 214. Fork arm rack; 221. Fork arm body; 222. Lifting drive structure; 223. First lead screw; 224. First lead screw nut slide plate; 225. 226. Second lead screw; 227. First X-type linkage mechanism; 228. Second X-type linkage mechanism; 231. First deep groove ball bearing; 232. Second deep groove ball bearing; 241. Induction plate; 242. Sensor; 251. Lifting motor; 252. Lifting reducer; 253. Lifting coupling; 3. Pallet; 4. Rear control frame of the vehicle body; 5. Downward-looking camera; 6. Industrial camera; 7. Laser rangefinder probe. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] This invention provides a method for handling goods, such as... Figures 1-14 As shown, the method includes the following steps: Set the destination location and type of goods to be transported; The robot's path and cargo scanning information are determined based on the destination location and the type of goods being transported. The matching is performed based on the type of goods being transported and the preset movement path to determine the transport path corresponding to the type of goods being transported. Based on the transport path and the QR codes set on the transport path, the posture of the transport robot walking path is corrected. When the handling robot moves to the location of the goods to be handled according to the walking path, it scans the information of the goods (which may be the weight, volume, type and other markings of the goods) to determine whether it is the goods to be handled. Based on the matching of the cargo information to be transported with the preset cargo information, the transport robot autonomously selects its movement state and completes the cargo transport.

[0025] Optionally, the movement state of the handling robot is divided into two operating states, which are selected and executed based on the information of the goods being handled.

[0026] Optionally, the movement state of the handling robot is specifically operated as follows: When the handling robot scans the cargo information (which may be the weight, volume, type and other markings of the cargo) and determines that it is in the first motion state of the handling robot, the handling robot moves to the front of the cargo and the handling component 2 is activated. The fork arm body 221 extends horizontally from the body 11 of the handling robot and inserts into the pallet 3 at the bottom of the cargo (it may be fully inserted, inserted two-thirds or half inserted, etc., depending on the cargo information). Then the lifting drive structure 222 works to lift and support the pallet 3 containing the transported goods; Then the walking mechanism 12 works, driving the body 11 to move to the pallet 3 until the transport component 2 returns to its original position, and the lifting drive structure 222 works again to place the pallet 3 completely on the body 11. Finally, the transport robot carrying the pallet and goods moves to transport the goods.

[0027] When the handling robot scans the cargo information (which may be the weight, volume, type and other markings of the cargo) and determines it to be the second motion state of the handling robot, the handling robot moves to the front of the cargo and the handling component 2 is activated. The fork arm body 221 extends horizontally from the body 11 of the handling robot and inserts into the pallet 3 at the bottom of the cargo. Then the fork arm body 221 works upward to lift the pallet 3 containing the goods to be transported, and moves in the opposite direction to above the body 11, placing the pallet 3 completely on the body 11. Finally, the transport robot carrying the pallet and goods moves to transport the goods.

[0028] Optionally, correcting the walking path of the transport robot also includes: obtaining QR code information, using the downward-facing camera 5 to scan the QR code pasted on the ground, and correcting the position and posture of the vehicle body.

[0029] Optionally, determining the type of goods to be transported also includes: using two industrial cameras 6 to scan the label information on the pallet 3, obtaining the information of the pallet 3 itself and the information of the goods such as the type and specifications on the pallet 3, to complete the verification of the type of goods to be transported.

[0030] Optionally, during the operation of the fork arm body 221, the lifting height of the fork arm body 221 is also accurately detected: when the first lead screw nut slide plate moves horizontally, it drives the sensing plate 241 fixed to it to move synchronously. The sensor 242 fixed to the fork arm body 221 detects the real-time position of the sensing plate 241 and obtains the displacement data of the first lead screw nut slide plate, thereby accurately controlling the lifting height of the fork arm body 221.

[0031] Optionally, when the fork arm body extends horizontally from the body 11 of the handling robot, it also includes a laser ranging probe 7. The laser ranging probe 7 measures the moving distance of the fork arm support 211 of the fork arm walking mechanism 12, compares the actual moving distance with the preset distance set by the system, and adjusts the moving distance of the fork arm support 211 according to the comparison result to achieve precise control of the horizontal movement of the fork arm support.

[0032] Optionally, the preset movement path is the path information pre-planned and stored in the robot control system based on the storage location, handling conditions and site layout of different types of goods. When matching paths, the path with the shortest distance and the fewest obstacles is selected as the handling path.

[0033] Optionally, completing the cargo handling process includes: the handling robot moves to the destination along a corrected walking path according to the set destination location, places the pallet and cargo in the designated location, and sends a handling completion signal to the control system to complete a complete cargo handling process.

[0034] This invention also discloses a transport robot, such as Figures 2-14 As shown, it includes a walking assembly 1, a transport assembly 2, and a rear control frame 4. The walking assembly 1 includes a body 11 and a walking mechanism 12. The walking mechanism 12 is mounted on the body 11 and is used to drive the body 11 to move. The handling assembly 2 includes a fork arm traveling mechanism and a fork arm lifting mechanism. The fork arm traveling mechanism is mounted on the body 11 and moves horizontally relative to the body 11. A downward-looking camera 5 is located at the center of the bottom of the body 11 to scan the QR codes pasted on the ground and correct the vehicle's position and posture. The fork arm lifting mechanism is mounted on the fork arm traveling mechanism and moves vertically relative to it. The fork arm lifting mechanism is used to carry the pallet 3. A laser ranging probe 7 is located on one side of the rear control frame 4 of the vehicle. The laser ranging probe 7 forms a laser ranging optical path with the fork arm traveling mechanism. The laser ranging probe 7 measures the moving distance of the fork arm support 211 of the fork arm traveling mechanism to determine whether the moving distance of the fork arm support 211 is equal to the distance set by the system, thereby controlling the moving distance of the fork arm support 211. Two industrial cameras 6 are located on one side of the rear control frame 4 of the vehicle to scan the code information on the cargo pallet, read the pallet and the cargo information on the pallet, and feed it back to the control system. The control system issues motion control commands based on the information description.

[0035] Specifically, the body 11 is the basic load-bearing component of the entire robot. The walking mechanism 12 is mounted on the body 11, providing power to the body 11 and driving it to complete movement actions, thereby realizing the switching of the transport robot's position in different work areas.

[0036] The forklift traveling mechanism is mounted on the machine body 11 and can move horizontally relative to the machine body 11, allowing adjustment of the horizontal position of the forklift lifting mechanism. The forklift lifting mechanism is mounted on the forklift traveling mechanism and can move vertically relative to the forklift traveling mechanism, allowing adjustment of the height of the forklift lifting mechanism, thereby enabling the picking, carrying, and placing of the pallet 3.

[0037] Therefore, the overall structural design is simple and reasonable, with high operational stability. The forklift walking mechanism and forklift lifting mechanism can flexibly adapt to the pallet handling needs of different scenarios, without the need for manual intervention, which is conducive to improving handling efficiency.

[0038] In this embodiment, the pallet 3 carries goods, and the goods have goods information on them.

[0039] like Figures 2 to 4 As shown, optionally, the fork arm traveling mechanism includes a fork arm bracket 211, a fork arm motor 212, a fork arm gear 213, and a fork arm rack 214. The fork arm bracket 211 is slidably connected to the machine body 11 in the front-back direction. The fork arm rack 214 is connected to the machine body 11 and is arranged in the front-back direction. The fork arm motor 212 is connected to the fork arm bracket 211 and is connected to the fork arm gear 213 for transmission. The fork arm gear 213 meshes with the fork arm rack 214.

[0040] Specifically, the fork arm bracket 211 is slidably connected to the machine body 11 in the front-to-back direction to ensure guiding accuracy during movement. The fork arm motor 212 drives the fork arm gear 213 to rotate. Utilizing the meshing relationship between the fork arm gear 213 and the fork arm rack 214, the rotation of the fork arm gear 213 is converted into horizontal linear motion of the fork arm bracket 211 relative to the machine body 11 in the left-to-right direction, thereby achieving precise adjustment of the horizontal position of the fork arm bracket 211 and the fork arm lifting mechanism.

[0041] like Figures 2-12As shown, optionally, the forklift lifting mechanism includes a forklift body 221, a lifting drive structure 222, a first lead screw 223, a first lead screw nut slide plate 224, a second lead screw 225, a second lead screw nut slide plate 226, a first X-shaped linkage mechanism 227, and a second X-shaped linkage mechanism 228. The forklift body 221 is slidably connected to the forklift bracket 211 in the vertical direction. The lifting drive structure 222 is mounted on the forklift body 221 and is drivenly connected to the first lead screw 223. The second lead screw 225 is connected to the first lead screw 226. 3. The right end is connected. The first lead screw 223 and the second lead screw 225 are both set in the left and right direction. The thread directions of the left and right parts of the first lead screw 223 and the second lead screw 225 are opposite. The left and right parts of the first lead screw 223 are each provided with a first lead screw nut slide plate 224. The left and right parts of the second lead screw 225 are each provided with a second lead screw nut slide plate 226. The two first lead screw nut slide plates 224 are connected to the first X-type linkage mechanism 227. The two second lead screw nut slide plates 226 are connected to the second X-type linkage mechanism 228.

[0042] Specifically, when the lifting drive structure 222 drives the first lead screw 223 to rotate, the second lead screw 225 will rotate synchronously. Since the threads of the left and right parts of the first lead screw 223 are opposite, they will drive the two first lead screw nut slide plates 224 to make horizontal movements in opposite directions, thereby pushing or pulling the first X-type linkage mechanism 227 to unfold or fold, ultimately realizing the vertical lifting movement of the left side of the fork arm body 221.

[0043] Secondly, the two parts of the second lead screw 225 have opposite thread directions, which will drive the two second lead screw nut slide plates 226 to move horizontally towards or away from each other, thereby pushing or pulling the second X-type linkage mechanism 228 to unfold or fold, and finally realize the vertical lifting and lowering movement of the right side of the fork arm body 221.

[0044] Therefore, by using the lifting drive structure 222 to simultaneously drive the first lead screw 223 and the second lead screw 225 to rotate, the left and right sides of the fork arm body 221 can be lifted and lowered at the same time, which helps to ensure the stability of the movement of the fork arm body 221.

[0045] In this embodiment, the left portion of the first lead screw 223 has a left-hand thread, and the right portion has a right-hand thread. Secondly, the left portion of the second lead screw 225 has a left-hand thread, and the right portion has a right-hand thread. Furthermore, the fork arm body 221 is used to support the pallet 3.

[0046] like Figures 4-12As shown, optionally, the forklift lifting mechanism also includes a first deep groove ball bearing 231 and a second deep groove ball bearing 232. The first X-type linkage mechanism 227 includes two first links, which are rotatably connected in the middle. Two sets of first deep groove ball bearings 231 are provided. The upper ends of the two first links are respectively connected to the two first lead screw nut slide plates 224, and the lower ends of the two first links are respectively connected to the two sets of first deep groove ball bearings 231. The second X-type linkage mechanism 228 includes two second links, which are rotatably connected at the middle. Two sets of second deep groove ball bearings 232 are provided. The upper ends of the two second links are respectively connected to the two second lead screw nut slide plates 226, and the lower ends of the two second links are respectively connected to the two sets of second deep groove ball bearings 232.

[0047] Specifically, the two first connecting rods are rotatably connected at their middle sections, forming an X-shaped structure. The upper ends of the two first connecting rods are respectively connected to the two first lead screw nut slide plates 224, and the lower ends are respectively connected to the two sets of first deep groove ball bearings 231. The first deep groove ball bearings 231 can reduce the frictional resistance during the lifting and lowering process and improve the smoothness of the operation of the first X-shaped connecting rod mechanism 227.

[0048] Secondly, the two second connecting rods are rotatably connected at their middle sections, forming an X-shaped structure. The upper ends of the two second connecting rods are connected to the two second lead screw nut slide plates 226, and the lower ends are connected to the two sets of second deep groove ball bearings 232. The second deep groove ball bearings 232 can reduce the frictional resistance during the lifting and lowering process, and improve the smoothness of the operation of the second X-shaped connecting rod mechanism 228.

[0049] In this embodiment, the first X-shaped linkage mechanism 227 further includes a first base, on which two sets of first deep groove ball bearings 231 are mounted. The second X-shaped linkage mechanism 228 further includes a second base, on which two sets of second deep groove ball bearings 232 are mounted. The first and second bases are used to support the mechanism on the ground.

[0050] like Figure 12 As shown, optionally, the fork arm lifting mechanism also includes a sensing plate 241 and a sensor 242. The sensor 242 is connected to the fork arm body 221, and the sensing plate 241 is connected to the first lead screw nut slide plate 224.

[0051] Specifically, when the first lead screw nut slide plate 224 rotates horizontally with the first lead screw 223, it will drive the sensing plate 241 to move synchronously. The sensor 242 can obtain the displacement data of the first lead screw nut slide plate 224 in real time by detecting the position of the sensing plate 241, thereby accurately controlling the lifting height of the fork arm body 221, and thus accurately transporting the materials on the pallet 3.

[0052] like Figures 7-12As shown, optionally, the lifting drive structure 222 includes a lifting motor 251, a lifting reducer 252, and a lifting coupling 253. The lifting motor 251, the lifting reducer 252, and the lifting coupling 253 are sequentially connected in a transmission manner, and the lifting coupling 253 is connected in a transmission manner to the first lead screw 223.

[0053] Specifically, the lifting motor 251 provides power, and the lifting reducer 252 adjusts the speed and torque output by the lifting motor 251 to achieve speed reduction and torque increase, thus meeting the power requirements of the lifting drive structure 222. The lifting coupling 253 serves as a connection and buffer, smoothly transmitting the adjusted power to the first lead screw 223, facilitating the rotation of the first lead screw 223 and the second lead screw 225.

[0054] like Figure 10 As shown, optionally, the walking mechanism 12 includes a vehicle body walking motor 121, a vehicle body walking reducer 122, and a vehicle body walking wheel 123. The vehicle body walking motor 121 is connected to the machine body 11, and the vehicle body walking motor 121, the vehicle body walking reducer 122, and the vehicle body walking wheel 123 are sequentially connected for transmission.

[0055] Specifically, the vehicle body walking motor 121 provides power, which is reduced and increased in torque by the vehicle body walking reducer 122 and then transmitted to the vehicle body walking wheel 123, driving the vehicle body walking wheel 123 to rotate, thereby driving the entire body 11 to move, which is conducive to realizing the position transfer of the handling robot in the work site.

[0056] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for handling goods, characterized in that, include: Set the destination location and type of goods to be transported; The robot's path and cargo scanning information are determined based on the destination location and the type of goods being transported. The matching is performed based on the type of goods being transported and the preset movement path to determine the transport path corresponding to the type of goods being transported. Based on the transport path and the QR codes set on the transport path, the posture of the transport robot walking path is corrected. When the handling robot moves to the location of the goods to be handled according to the walking path, it scans the information of the goods to be handled to determine whether it is the goods to be handled. Based on the matching of the cargo information to be transported with the preset cargo information, the transport robot autonomously selects its movement state and completes the cargo transport.

2. The cargo handling method according to claim 1, characterized in that, The movement state of the handling robot is divided into two operating states, which are selected and executed based on the information of the goods being handled.

3. The cargo handling method according to claim 2, characterized in that, The specific operation of the movement state of the transport robot is as follows: When the handling robot scans the cargo information and determines that it is in the first motion state of the handling robot, the handling robot moves in front of the cargo and the handling component is activated. The fork arm body extends horizontally from the body of the handling robot and inserts into the pallet at the bottom of the cargo. Then the lifting drive structure works to lift and support the pallet containing the goods to be transported; Then the walking mechanism works, driving the robot to move to the pallet until the transport component returns to its original position. The lifting drive structure works again to place the pallet completely on the robot. Finally, the transport robot carrying the pallet and goods moves to transport the goods. When the handling robot scans the cargo information and determines that it is in the second motion state of the handling robot, the handling robot moves in front of the cargo and the handling component is activated. The fork arm body extends horizontally from the body of the handling robot and inserts into the pallet at the bottom of the cargo. Then the forklift body moves upward to lift the pallet containing the goods to be transported, and moves in the opposite direction to above the machine body, placing the pallet completely on the machine body. Finally, the transport robot carrying the pallet and goods moves to transport the goods.

4. The cargo handling method according to claim 3, characterized in that, Correcting the walking path of the transport robot also includes: obtaining QR code information, using a downward-facing camera to scan the QR code pasted on the ground, and correcting the position and posture of the vehicle body.

5. The cargo handling method according to claim 4, characterized in that, Determining the type of goods to be transported also includes: using two industrial cameras to scan the label information on the pallet, obtaining the information of the pallet itself and the goods on the pallet, and completing the verification of the type of goods to be transported.

6. The cargo handling method according to claim 5, characterized in that, During the operation of the fork arm body, precise detection of the lifting height of the fork arm body is also included: when the first lead screw nut slide plate moves horizontally, it drives the sensing plate fixedly connected to it to move synchronously. The real-time position of the sensing plate is detected by the sensor fixedly connected to the fork arm body, and the displacement data of the first lead screw nut slide plate is obtained, thereby precisely controlling the lifting height of the fork arm body.

7. The cargo handling method according to claim 6, characterized in that, When the fork arm body extends horizontally from the body of the handling robot, it also includes a laser ranging probe. The laser ranging probe measures the moving distance of the fork arm support of the fork arm walking mechanism, compares the actual moving distance with the preset distance set by the system, and adjusts the moving distance of the fork arm support according to the comparison result, so as to achieve precise control of the horizontal movement of the fork arm support.

8. The cargo handling method according to claim 7, characterized in that, The preset movement path is the path information pre-planned and stored in the robot control system based on the storage location, handling conditions and site layout of different types of goods. When matching paths, the path with the shortest distance and the fewest obstacles is selected as the handling path.

9. The cargo handling method according to claim 8, characterized in that, The process of handling goods includes: the handling robot moves to the destination along the corrected walking path according to the set destination location, places the pallet and goods in the designated position, and sends a signal to the control system to complete the handling process, thus completing a complete handling process.

10. A handling robot, applied in the cargo handling method according to any one of claims 1-9, characterized in that, The system includes a walking component and a transport component. The walking component includes a body and a walking mechanism. The walking mechanism is mounted on the body and is used to drive the body to move. The transport component includes a fork arm walking mechanism and a fork arm lifting mechanism. The fork arm walking mechanism is mounted on the body and moves horizontally relative to the body. The fork arm lifting mechanism is mounted on the fork arm walking mechanism and moves vertically relative to the fork arm walking mechanism. The fork arm lifting mechanism is used to support a pallet.

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