An intelligent cabinet transfer robot and its transfer method

Abstract

This application relates to the field of electrical equipment installation robot technology and discloses an intelligent panel transfer robot and its transfer method, including an autonomous mobile chassis, which uses laser SLAM navigation to achieve autonomous walking and obstacle avoidance; a lifting forklift mechanism located at the front of the autonomous mobile chassis for forking electrical panel cabinets to be installed; and a rotating chassis connected between the lifting forklift mechanism and the autonomous mobile chassis. This invention solves the problems of high reliance on manual labor, low efficiency, poor alignment accuracy, easy tipping during transfer, and poor adaptability to complex sites in existing technologies. It integrates autonomous navigation, automatic forking, workstation connection, safe transfer, laser scanning positioning, and closed-loop precise installation, adapting to complex construction sites such as narrow passages, slopes, and thresholds, reducing manual intervention, and improving installation efficiency, alignment accuracy, and operational safety.

Description

Technical Field

[0001] This application relates to the field of electrical equipment installation robot technology, and in particular to an intelligent panel transfer robot and its transfer method. Background Technology

[0002] In the construction of electrical rooms in industrial plants, substations, and large commercial buildings, the installation of electrical control panels has traditionally relied heavily on manual labor in conjunction with conventional tools such as forklifts, handcarts, and rollers. This existing work model has many drawbacks: the processes of forklift pickup, transport, alignment, and installation are fragmented, requiring frequent changes of tooling and resulting in low overall efficiency; manual adjustment using pry bars and jacks for millimeter-level alignment is not only time-consuming and labor-intensive, but also makes it difficult to guarantee consistent installation accuracy; electrical control panels have a high center of gravity and are heavy, making them prone to tipping and overturning during transport, posing a safety hazard of equipment damage and personnel injuries; furthermore, the areas between warehouses and electrical rooms often have narrow passages, slopes, thresholds, and other complex terrain, making it difficult for ordinary wheeled chassis to meet the demands of automated and precise installation in complex environments.

[0003] However, in the process of implementing the relevant technical solutions, at least the following technical problems were found: the existing technology lacks dedicated intelligent equipment that integrates forklift picking, connecting, transferring, and laser precision alignment installation. The overall level of automation is low, the dependence on manual labor is high, the alignment accuracy is poor, and the transfer safety is insufficient, which cannot meet the construction development requirements of standardization, intelligence, and safety in modern electrical installation engineering. Summary of the Invention

[0004] This application provides an intelligent cabinet transfer robot and its transfer method, which solves the problems of high dependence on manual labor, low efficiency, poor alignment accuracy, easy tipping during transfer, and poor adaptability to complex sites in the existing technology. It realizes autonomous navigation, automatic forklift picking, workstation connection, safe transfer, laser scanning positioning, and closed-loop precise installation. It is suitable for complex construction sites such as narrow passages, slopes, and thresholds, reduces manual intervention, and improves installation efficiency, alignment accuracy, and operational safety level.

[0005] This application provides an intelligent cabinet transfer robot, including an autonomous mobile chassis, which uses laser SLAM navigation for autonomous walking and obstacle avoidance; a lifting forklift mechanism located at the front of the autonomous mobile chassis for picking up electrical cabinets to be installed; a rotating chassis connected between the lifting forklift mechanism and the autonomous mobile chassis, and driven by a first power device to rotate the lifting forklift mechanism horizontally; a cargo carrying platform fixedly located at the rear of the autonomous mobile chassis for carrying electrical cabinets in the transfer state; a retractable protective enclosure surrounding the cargo carrying platform, which has a raised protective state and a lowered avoidance state; and a laser positioning and detection system located at the front of the robot for collecting contour and position deviation data of the foundation steel at the installation position.

[0006] Furthermore, the lifting forklift mechanism includes telescopic forks mounted on a vertical lifting column driven by a hydraulic push rod. A pressure sensor is installed at the front end of the telescopic forks to verify whether the weight of the pallet being lifted matches the target weight. A local operating platform and a remote control unit are installed on one side of the lifting forklift mechanism, and the local operating platform and the remote control unit together constitute a forklift-style dual control system.

[0007] Further, the telescopic fork includes: an L-shaped rod fixedly connected to a vertical lifting column, with a drive rod rotatably connected inside the L-shaped rod, the drive rod being driven by a second power device; an internally threaded cylinder fixedly connected inside the L-shaped rod, and the drive rod located inside the internally threaded cylinder; a first telescopic rod telescopically disposed inside the L-shaped rod, with a first threaded rod rotatably connected inside the first telescopic rod, the first threaded rod being threadedly connected to the internally threaded cylinder, and a vertical sliding groove that mates with the inside of the first threaded rod being provided on the outside of the drive rod; and a telescopic fork slidably disposed inside the first telescopic rod, with a second threaded rod fixedly connected inside the telescopic fork; a limiting groove being provided inside the drive rod, the second threaded rod engaging with the limiting groove for limiting, and a thread matching the second threaded rod being provided inside the first threaded rod.

[0008] Furthermore, the autonomous mobile chassis includes multiple sets of Mecanum wheels and support platforms, and each set of Mecanum wheels is equipped with an independent servo motor, enabling forward, backward, lateral, diagonal, and zero-radius rotation in place.

[0009] Furthermore, the load-bearing surface of the freight platform is covered with rubber anti-slip mats to support electrical control cabinets, thereby separating the forklift and transfer functions and reducing the risk of cabinet tipping during transfer.

[0010] Furthermore, the retractable protective fence adopts a three-section lifting structure, driven by an electric push rod and a guide rail.

[0011] Furthermore, the retractable protective fence has fully enclosed baffles on the left, right, and rear sides, and a protruding baffle on the front side.

[0012] Furthermore, the laser positioning and detection system includes two lidars and two laser ranging sensors. The lidars are used to scan the corners and contours of the foundation steel, and the laser ranging sensors are used to detect the installation baseline. Together, they output the X-axis deviation, Y-axis deviation, and deflection angle deviation between the cabinet and the installation position.

[0013] A transfer method for an intelligent cabinet transfer robot includes the following steps: S1: Receive task instructions and obtain the storage location information and installation point information of the target cabinet; S2: Control the autonomous mobile chassis to travel to the target storage location, complete the pallet / cabinet retrieval through the lifting forklift mechanism, and verify the retrieval weight through the pressure sensor; S3: Control the rotating chassis to rotate, transfer the forklifted container to the top of the freight carrying platform, and lower the container to the freight carrying platform; S4: Raise the retractable protective barrier, control the autonomous mobile chassis to travel to the target installation point, and lower the retractable protective barrier after arrival; S5: Start the laser positioning and detection system to collect and calculate the multi-dimensional positional deviation between the cabinet and the installation position; S6: The rotating chassis and lifting forklift mechanism work together again to adjust the position of the cabinet based on the deviation value. When the deviation falls into the preset threshold, the cabinet is lowered to complete the installation.

[0014] Furthermore, the rotating chassis drives the lifting forklift mechanism and the loaded pallet to rotate, transferring the pallet to the top of the freight carrying platform. The telescopic forks are then extended to push the pallet onto the surface of the freight carrying platform, after which the forks descend and retract to their original positions.

[0015] The technical solution provided in this application has at least the following technical effects or advantages: (1) Integrated operation: This invention integrates electrical panel forklift, workstation connection, long-distance transfer and laser precision installation. It eliminates the need for multiple tool changes, manual pry bar alignment and auxiliary hoisting, greatly shortens the installation time of a single panel, and significantly improves construction efficiency.

[0016] (2) Dual control safety redundancy: Equipped with a local operating platform and a remote control unit, it can be manually operated on-site or remotely issued instructions for unmanned operation. The two control methods are redundant to each other and can be adapted to different construction scenarios.

[0017] (3) Reliable safety protection during transport: The cargo carrying platform lowers the center of gravity of the cabinet during transport and is fully protected by a retractable protective fence, which effectively prevents the cabinet from tipping over or overturning during the robot's acceleration, braking and turning, and at the same time prevents small components such as buttons and switches on the front of the cabinet from being scratched and damaged.

[0018] (4) Strong adaptability to complex sites: It adopts a Mecanum wheel omnidirectional mobile chassis, which can realize lateral movement and zero-radius rotation in place. With laser SLAM navigation and automatic obstacle avoidance, it can smoothly pass through complex construction sites such as narrow corridors, slopes, and thresholds.

[0019] (5) High laser positioning installation accuracy: The dual laser radar and dual laser ranging sensors work together to automatically calculate the X and Y translation deviations and the Z axis deflection angle deviation, drive the whole machine to close the loop for fine adjustment, replace manual rough alignment, achieve millimeter-level precise installation, and have good installation consistency.

[0020] (6) High degree of automation: full-process autonomous navigation, automatic forking, automatic transfer, and automatic positioning and fine adjustment, which greatly reduces manual input, reduces the intensity of manual labor, and avoids the safety accident risks caused by manual operation. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of this application; Figure 2 This is a structural schematic diagram of the entire application from another angle; Figure 3 This is a schematic diagram of the structure of the retractable protective fence in this application when it is raised; Figure 4 This is a structural schematic diagram of the cross-section of the telescopic fork portion of this application; Figure 5 for Figure 4 Enlarged structural diagram at point A in the middle.

[0022] In the diagram: 10. Autonomous mobile chassis; 101. Mecanum wheel; 102. Support platform; 1. Lifting forklift mechanism; 11. Telescopic fork; 111. L-shaped rod; 112. Drive rod; 113. Internal threaded cylinder; 114. First telescopic rod; 115. First threaded rod; 116. Vertical slide; 117. Telescopic fork; 118. Second threaded rod; 119. Limiting groove; 12. Vertical lifting column; 13. Local operating platform; 20. Rotating chassis; 30. Freight carrying platform; 301. Rubber anti-slip mat; 40. Retractable protective enclosure; 50. Laser positioning and detection system; 501. LiDAR; 502. Laser rangefinder sensor. Detailed Implementation

[0023] This application discloses an intelligent cabinet transfer robot and its transfer method. The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. 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] To better understand the above technical solution, the following will provide a detailed explanation of the above technical solution in conjunction with the accompanying drawings and specific implementation methods.

[0025] Example 1 Reference Figures 1-2 An intelligent cabinet transfer robot includes an autonomous mobile chassis 10 based on laser SLAM navigation for autonomous walking and obstacle avoidance. The front of the autonomous mobile chassis 10 is equipped with a lifting fork mechanism 1 for picking up electrical cabinets to be installed. A rotating chassis 20 is connected between the lifting fork mechanism 1 and the autonomous mobile chassis 10 and is driven by a first power device to rotate the lifting fork mechanism 1 360 degrees in the horizontal plane. The first power device is preferably a motor. The rotating chassis 20 has a built-in... The slewing bearing, deceleration mechanism and first power drive device can drive the upper lifting forklift mechanism 1 to achieve 360-degree continuous rotation without dead angles, quickly rotate the front forklift cabinet to the rear freight carrying platform 30, and automatically complete the workstation connection and transfer without manual handling and repositioning. The rear of the autonomous mobile chassis 10 is fixedly equipped with a freight carrying platform 30 for carrying electrical cabinets in the transfer state. The freight carrying platform 30 is surrounded by a retractable protective fence 40 with a raised protective state and a lowered avoidance state. The transfer robot in this application is an intelligent robot that integrates the connection, transfer, and installation of electrical control panels, and can easily operate during the installation process of the control panels.

[0026] Reference Figures 1-5 The lifting forklift mechanism 1 includes a telescopic fork 11, which is mounted on a vertical lifting column 12. The vertical lifting column 12 is driven by a hydraulic push rod, and a pressure sensor is installed at the front end of the telescopic fork 11 to verify whether the weight of the forklifted tray matches the target weight. The lifting forklift mechanism 1 is equipped with a local operating platform 13 and a remote control unit on one side. The local operating platform 13 and the remote control unit together form a forklift-style dual control system. The front end of the fork is integrated with a pressure sensor that can collect the weight of the pallet cabinet in real time for model verification and overload alarm. The side is integrated with the local operating platform 13 and the remote control unit to realize local and remote dual-mode control. The telescopic fork 11 includes an L-shaped rod 111 fixedly connected to a vertical lifting column 12, and a drive rod 112 rotatably connected inside the L-shaped rod 111. The drive rod 112 is driven by a second power device. An internal threaded cylinder 113 is fixedly connected inside the L-shaped rod 111, and the drive rod 112 is located inside the internal threaded cylinder 113. The second power device is preferably a motor. A first telescopic rod 114 is telescopically provided inside the L-shaped rod 111. A first threaded rod 115 is rotatably connected inside the first telescopic rod 114. The first threaded rod 115 is threadedly connected to the internal threaded cylinder 113, and the drive rod 112 is externally open. A vertical groove 116 is provided to mate with the interior of the first threaded rod 115. A limiting block is fixedly connected inside the first threaded rod 115. The limiting block matches the vertical groove 116, which is used to ensure that the first threaded rod 115 can only move radially relative to the drive rod 112 and cannot rotate. A telescopic fork 117 is slidably provided inside the first telescopic rod 114, and a second threaded rod 118 is fixedly connected inside the telescopic fork 117. A limiting groove is provided inside the drive rod 112. The second threaded rod 118 is limited by cooperating with the limiting groove. The first threaded rod 115 has a thread that matches the second threaded rod 118. When it is necessary to forklift the electrical panel cabinet, the forward extension length of the first telescopic rod 114 and the telescopic fork 117 can be controlled according to the width of the electrical panel cabinet. First, the second power unit is not shown in the start diagram. It is installed inside the L-shaped rod 111 and coaxially connected to the drive rod 112, which drives the drive rod 112 to rotate. This causes the first threaded rod 115 to have a threaded transmission with the internal threaded rod and move upward under the limit of the vertical slide groove 116 of the drive rod 112. At the same time as the first threaded rod 115 rotates, it is also threadedly connected to the second threaded rod 118 inside the telescopic fork 117, which can drive the telescopic fork 117 to move at the same time, thereby realizing synchronous telescopic movement. It can quickly realize the forklifting of the electrical panel cabinet. Its telescopic principle is the series movement of the lead screw. The autonomous mobile chassis 10 includes multiple sets of Mecanum wheels 101 and support platforms 102, and each set of Mecanum wheels 101 is equipped with an independent servo motor, which can realize forward, backward, lateral, diagonal movement and zero-radius rotation in place. The load-bearing surface of the freight carrying platform 30 is covered with rubber anti-slip mats 301 for supporting the electrical cabinet. The rubber anti-slip mats 301 can increase friction to prevent the cabinet from slipping, making the placement more stable, realizing the separation of forklift and transfer functions, and reducing the risk of cabinet tipping during transfer. The retractable protective enclosure 40 adopts a three-section lifting structure, driven by an electric push rod and guide rail. In the transfer state, the enclosure is raised to the highest position, forming a protective structure that is fully enclosed on the left, right and rear sides and has a protruding baffle on the front side. In the non-transfer state, the enclosure is lowered to a position no higher than the plane of the freight carrying platform 30. In the transfer mode, the retractable protective enclosure 40 is raised as a whole, forming a structure that is fully enclosed on the left, right and rear sides and has a protective shield on the front side. In the installation mode, the retractable protective enclosure 40 is completely lowered and stored, without obstructing the scanning field of the front laser positioning detection system 50, and without interfering with the lifting and retracting action of the forklift mechanism. It should also be noted that the height of the freight carrying platform 30 is set lower than the maximum lifting height of the forks, so that the overall center of gravity of the electrical cabinet is lowered after placement, making the transfer more stable and significantly improving the anti-tipping ability. The laser positioning and detection system 50 includes two lidars 501 and two laser rangefinders 502. The lidars 501 are used to scan the corners and contours of the foundation steel, and the laser rangefinders 502 are used to detect the installation reference line. The two work together to output the X-axis deviation, Y-axis deviation and deflection angle deviation between the cabinet and the installation position. The control system calculates the X and Y-axis translational deviation and angular deflection deviation between the cabinet and the installation reference in real time based on the collected data, and sends control commands to drive the rotating chassis 20 and the lifting forklift mechanism 1 to make fine adjustments until the installation accuracy requirements are met before the cabinet is lowered into position for installation.

[0027] A transfer method for an intelligent cabinet transfer robot includes the following steps: S1: Receive task instructions and obtain the storage location information and installation point information of the target cabinet; S2: Control the autonomous mobile chassis 10 to travel to the target storage location, complete the pallet / cabinet retrieval through the lifting forklift mechanism 1, and verify the retrieval weight through the pressure sensor. S3: Control the rotating chassis 20 to rotate, transfer the forklifted container to the top of the freight carrying platform 30, and lower the container to the freight carrying platform 30; S4: Raise the retractable protective barrier 40, control the autonomous mobile chassis 10 to travel to the target installation point, and lower the retractable protective barrier 40 after arrival; S5: Start the laser positioning and detection system 50 to collect and calculate the multi-dimensional positional deviation between the cabinet and the installation position; S6: The rotating chassis 20 and the lifting forklift mechanism 1 are used again to adjust the position of the cabinet based on the deviation value. When the deviation falls into the preset threshold, the cabinet is lowered to complete the installation.

[0028] The rotating chassis 20 drives the lifting forklift mechanism 1 and the pallet it carries to rotate 180 degrees, transferring the pallet to the top of the freight carrying platform 30. The telescopic forks 11 are then extended to push the pallet onto the surface of the freight carrying platform 30. After that, the forks descend and retract to their original positions. The multi-dimensional positional deviations include X-axis translational deviation, Y-axis translational deviation, and deflection angle deviation around the Z-axis. When adjusting the position, the autonomous moving chassis 10 is simultaneously driven to move laterally, forward and backward, and rotate in place, completing closed-loop fine-tuning in conjunction with the telescopic and lifting movements of the forks.

[0029] How this application works: This intelligent cabinet transfer robot is an integrated robot that combines docking, transfer, and installation. It uses an autonomous mobile chassis 10 equipped with laser SLAM navigation as its support, and relies on independent servo drives of Mecanum wheels 101 to achieve omnidirectional movement, in-situ rotation, and autonomous obstacle avoidance in complex terrains. The front lifting fork mechanism 1 is driven by a hydraulic push rod to lift the vertical column 12, and through a motor driving the drive rod 112, internal and external threaded cylinders, and multi-stage threaded rods to form a screw-type series transmission, enabling the telescopic forks 11 to adaptively extend and retract to accommodate different specifications of electrical cabinets. Pressure sensors at the front of the forks detect the cabinet weight in real time, performing model verification and overload protection. It forms a dual control system with the local operating platform 13 and the remote control unit. The rotating chassis 20, in conjunction with the first power unit, slewing bearing, and reduction mechanism, can drive the lifting fork mechanism 1 and the cabinet to rotate 360 ​​degrees horizontally, automatically transferring the electrical cabinet picked up at the front to the rear cargo carrying platform 30. The cargo carrying platform 30 has a rubber protective layer. The sliding pad 301 prevents the electrical control panel from sliding, and the platform is lower than the maximum lifting height of the telescopic forks 11 to lower the center of gravity during transport and improve driving stability; the retractable protective enclosure 40 of the freight carrying platform 30 uses an electric push rod and guide rail to achieve three-stage lifting. During transport, it is raised to form a full-enclosed protection to prevent the control panel from tipping over and scratching components. During installation, it is lowered for storage to avoid the laser detection field of view and working space; the front-end laser positioning detection system 50 scans the contour corners of the basic steel frame with dual laser radars 501. The dual laser rangefinder 502 detects the installation baseline and calculates the X-axis and Y-axis translational deviations and the Z-axis deflection angle deviations between the cabinet and the installation position in real time. It drives the autonomous moving chassis 10, rotating chassis 20 and lifting forklift mechanism 1 to complete omnidirectional closed-loop position and posture fine adjustment, so that the electrical cabinet can be accurately aligned and lowered for installation. The whole machine can automatically complete the intelligent operation of the entire process, including task reception, autonomous navigation and picking, forklift weight verification, rotating workstation connection, safe protection and transfer, laser positioning detection and accurate alignment installation.

[0030] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

[0031] The above description is merely a preferred embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present application, based on the technical solution and concept of the present application, should be covered within the scope of protection of the present application.

Claims

1. An intelligent cabinet transfer robot, characterized in that, include: An autonomous mobile chassis (10) is used for autonomous walking and obstacle avoidance based on laser SLAM navigation; A lifting forklift mechanism (1) is located at the front of the autonomous mobile chassis (10) and is used to forklift the electrical panel cabinet to be installed. A rotating chassis (20) is connected between the lifting forklift mechanism (1) and the autonomous moving chassis (10), and is driven by a first power device to drive the lifting forklift mechanism (1) to rotate 360 ​​degrees in the horizontal plane; The freight carrying platform (30) is fixedly installed at the rear of the autonomous mobile chassis (10) and is used to carry the electrical panel cabinet in the transfer state; A retractable protective enclosure (40) is provided around the perimeter of the freight carrying platform (30), and has a raised protective state and a lowered avoidance state; A laser positioning and detection system (50) is located at the front end of the robot and is used to collect data on the contour and position deviation of the foundation steel at the installation position.

2. The intelligent cabinet transfer robot as described in claim 1, characterized in that, The lifting forklift mechanism (1) includes a telescopic fork (11), which is mounted on a vertical lifting column (12). The vertical lifting column (12) is driven by a hydraulic push rod, and a pressure sensor is installed at the front end of the telescopic fork (11) to verify whether the weight of the forklift tray matches the target weight. A local operating platform (13) and a remote control unit are installed on one side of the lifting forklift mechanism (1). The local operating platform (13) and the remote control unit together form a dual control system for forklifts.

3. The intelligent cabinet transfer robot as described in claim 2, characterized in that, The telescopic forks (11) include: An L-shaped rod (111) is fixedly connected to a vertical lifting column (12), and a drive rod (112) is rotatably connected inside the L-shaped rod (111). The drive rod (112) is driven by a second power device. An internal threaded cylinder (113) is fixedly connected inside the L-shaped rod (111), and the drive rod (112) is located inside the internal threaded cylinder (113). The first telescopic rod (114) is telescopically disposed inside the L-shaped rod (111). The first telescopic rod (114) is rotatably connected to the first threaded rod (115). The first threaded rod (115) is threadedly connected to the inner threaded cylinder (113). The drive rod (112) has a vertical groove (116) on its outside that cooperates with the inside of the first threaded rod (115). The telescopic fork (117) is slidably disposed inside the first telescopic rod (114), and a second threaded rod (118) is fixedly connected inside the telescopic fork (117). A limit groove is opened inside the drive rod (112), and the second threaded rod (118) cooperates with the limit groove to limit the movement. The first threaded rod (115) has a thread inside that matches the second threaded rod (118).

4. The intelligent cabinet transfer robot as described in claim 1, characterized in that, The autonomous mobile chassis (10) includes multiple sets of Mecanum wheels (101) and a support platform (102), and each set of Mecanum wheels (101) is equipped with an independent servo motor, which can realize forward, backward, lateral movement, diagonal movement and zero-radius rotation in place.

5. The intelligent cabinet transfer robot as described in claim 1, characterized in that, The bearing surface of the freight carrying platform (30) is covered with rubber anti-slip mats (301) for bearing electrical cabinets, realizing the separation of forklift and transfer functions, and reducing the risk of cabinet tipping during transfer.

6. The intelligent cabinet transfer robot as described in claim 1, characterized in that, The retractable protective fence (40) adopts a three-section lifting structure, driven by an electric push rod and a guide rail.

7. The intelligent cabinet transfer robot as described in claim 6, characterized in that, The retractable protective fence (40) has fully enclosed baffles on the left, right, and rear three sides, and a protruding baffle on the front side.

8. The intelligent cabinet transfer robot as described in claim 1, characterized in that, The laser positioning and detection system (50) includes two lidars (501) and two laser rangefinders (502). The lidars (501) are used to scan the corners and contours of the base steel, and the laser rangefinders (502) are used to detect the installation baseline. The two work together to output the X-axis deviation, Y-axis deviation and deflection angle deviation between the cabinet and the installation position.

9. A transfer method for an intelligent cabinet transfer robot, implemented based on the robot described in any one of claims 1-8, characterized in that, Includes the following steps: S1: Receive task instructions and obtain the storage location information and installation point information of the target cabinet; S2: Control the autonomous mobile chassis (10) to travel to the target storage location, complete the pallet retrieval through the lifting forklift mechanism (1), and verify the retrieval weight through the pressure sensor; S3: Control the rotating chassis (20) to rotate, transfer the forklifted cabinet to the freight carrying platform (30) and lower the cabinet to the freight carrying platform (30). S4: Raise the retractable protective barrier (40), control the autonomous mobile chassis (10) to travel to the target installation point, and lower the retractable protective barrier (40) after arrival. S5: Start the laser positioning detection system (50) to collect and calculate the multi-dimensional positional deviation between the cabinet and the installation position; S6: The rotating chassis (20) and lifting forklift mechanism (1) are used again to adjust the position of the cabinet based on the deviation value. When the deviation falls into the preset threshold, the cabinet is lowered to complete the installation.

10. The transfer method of an intelligent cabinet transfer robot as described in claim 9, characterized in that, Step S3 specifically includes: controlling the rotating chassis (20) to drive the lifting forklift mechanism (1) and the loaded pallet to rotate 180 degrees, transferring the pallet to the top of the freight carrying platform (30), controlling the telescopic forks (11) to extend and push the pallet to the surface of the freight carrying platform (30), and then the forks descend and retract to reset.

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