Robot and warehouse logistics system

Abstract

The utility model relates to the technical field of warehouse logistics, and discloses a robot and a warehouse logistics system.The robot comprises a chassis device, a lifting device and a box taking device, the chassis device comprises a chassis body, a walking driving assembly and a rotary connecting assembly, and the walking driving assembly is connected to the chassis body through the rotary connecting assembly; the walking driving assembly can rotate relative to the chassis body so as to adjust the walking direction of the walking driving assembly, the lifting device is arranged on the chassis body, the box taking device is arranged on the lifting device and can ascend and descend under the action of the lifting device, the box taking device comprises at least one box taking mechanism, and the box taking mechanism is suitable for applying force to a to-be-carried piece. And under the lifting action of the lifting device, the to-be-carried piece is taken and returned to the storage equipment. The robot has high flexibility, and the operation efficiency of the robot is improved.

Description

Technical Field

[0001] The present application relates to the field of warehousing and logistics technology, and in particular to a robot and a warehousing and logistics system. Background Art

[0002] This section merely provides background information related to the present application and is not necessarily prior art.

[0003] Robots are an important part of the intelligent warehousing and logistics system. They can realize operations such as loading, unloading and transferring of objects such as cargo boxes. During the working process, robots usually need to complete the operation of picking up and returning boxes and walking and transferring operations. For example, robots can transfer cargo boxes between shelves and docking positions. In the process of transferring cargo boxes on shelves to docking positions, the robot needs to first take out the cargo boxes from the shelves, and then carry the cargo boxes from the docking position of the shelf to the docking position; in the process of transferring cargo boxes from the docking position to the shelf, the robot carries the cargo boxes from the docking position to the docking position of the shelf, and then places the cargo boxes on the shelf.

[0004] The convenience of the robot's operation process has a great impact on the operating efficiency and cost of the warehouse logistics system. How to improve the convenience of the robot's object handling process has always been a problem that needs to be solved in the process of robot research and development. Utility Model Content

[0005] The purpose of this application is to at least improve the convenience of the robot in the process of carrying objects. This purpose is achieved through the following technical solutions:

[0006] The first aspect of the present application proposes a robot, including a chassis device, a lifting device and a box-taking device, the chassis device includes a chassis body, a walking drive component and a rotating connection component, the walking drive component is connected to the chassis body through the rotating connection component, and the walking drive component and the rotating connection component can rotate relative to the chassis body to adjust the walking direction of the walking drive component; the lifting device is arranged on the chassis body; the box-taking device is arranged on the lifting device and can be lifted and lowered under the action of the lifting device, the box-taking device includes at least one box-taking mechanism, the box-taking mechanism is suitable for applying force to the items to be transported, and taking and returning the items to be transported to the storage device under the lifting action of the lifting device.

[0007] The robot of the present application can adjust the walking direction of the walking drive assembly by rotating the walking drive assembly relative to the chassis body when the box taking mechanism of the box taking device is in a state of docking with the storage device, thereby making the walking direction of the robot adjustable, which is beneficial for the robot to walk to assist in the retrieval and return of the items to be transported, making the robot more flexible, improving the convenience of the robot in box retrieval and return operations and walking and transfer operations, and is beneficial to improving the robot's operating efficiency.

[0008] In addition, the robot according to the present application may also have the following additional technical features:

[0009] In some embodiments of the present application, the rotating connection assembly includes a slewing support and a rotating disk, the slewing support is connected to the chassis body, the rotating disk is rotatably connected to the slewing support, and the travel drive assembly is connected to the rotating disk.

[0010] In some embodiments of the present application, the travel drive assembly includes a mounting seat, a first drive wheel structure and a second drive wheel structure, the mounting seat is connected to the rotating disk, the first drive wheel structure and the second drive wheel structure are respectively installed on opposite sides of the mounting seat, and the first drive wheel structure and the second drive wheel structure are coaxially arranged;

[0011] When the first driving wheel structure and the second driving wheel structure rotate in the same direction, the travel drive assembly drives the chassis body to travel, and when the first driving wheel structure and the second driving wheel structure rotate in opposite directions, the first driving wheel structure and the second driving wheel structure drive the mounting seat to rotate relative to the chassis body.

[0012] In some embodiments of the present application, the first driving wheel structure and the second driving wheel structure both include a hub motor and a rim sleeved on the outer side of the hub of the hub motor.

[0013] In some embodiments of the present application, the travel drive assembly also includes a connecting shaft, and the mounting seat and the rotating disk are hinged through the connecting shaft. The axial direction of the connecting shaft is perpendicular to the axial direction of the first driving wheel structure and perpendicular to the lifting direction of the box taking device. The mounting seat can swing around the connecting shaft to make the first driving wheel structure and the second driving wheel structure swing relative to each other.

[0014] In some embodiments of the present application, the bottom of the rotating disk has a first protrusion, and two second protrusions are spaced apart on the top of the mounting seat, the first protrusion is arranged between the two second protrusions, and the first protrusion and the second protrusion are both provided with connecting holes, and the connecting shaft is passed through the connecting holes of the first protrusion and the connecting holes of the second protrusion, so that the mounting seat is connected to the rotating disk through the connecting shaft.

[0015] In some embodiments of the present application, the box taking device also includes a base plate, the lifting device is connected to the base plate, a plurality of the box taking mechanisms are arranged on the base plate, and the plurality of the box taking mechanisms are arranged in sequence along a direction perpendicular to the lifting direction of the lifting device.

[0016] In some embodiments of the present application, the extension directions of the multiple box taking mechanisms are the same, and the extension direction of the box taking mechanism, the arrangement direction of the multiple box taking mechanisms, and the lifting direction are perpendicular to each other.

[0017] In some embodiments of the present application, the robot has a first posture and a second posture, in which the walking direction of the walking drive assembly is perpendicular to the extension direction of the box-taking mechanism, and in the second posture, the walking direction of the walking drive assembly is consistent with the extension direction of the box-taking mechanism;

[0018] The robot is configured to switch between the first posture and the second posture by rotating the travel drive assembly 90 degrees relative to the chassis body.

[0019] In some embodiments of the present application, the robot is configured as follows: the robot walks to a docking position on one side of the storage device in the first posture, and at the docking position, the walking drive assembly is rotated 90 degrees relative to the chassis body, so that the robot switches from the first posture to the second posture; the robot moves forward in the second posture, so that the box-taking mechanism docks with the storage device, so that the box-taking mechanism can retrieve the object to be transported from the storage device; after the robot completes the retrieval of the object to be transported, the robot retreats in the second posture, so that the robot moves back to the docking position; at the docking position, the walking drive assembly is rotated 90 degrees relative to the chassis body again, so that the robot switches from the second posture to the first posture;

[0020] The docking position is a position where the storage device and the robot face each other.

[0021] In some embodiments of the present application, the box taking device also includes a bottom plate, the lifting device is connected to the bottom plate, the box taking mechanism includes a comb tooth assembly, the comb tooth assembly includes a first limit plate, a second limit plate and a support plate, the first limit plate, the support plate and the second limit plate are arranged on the bottom plate in sequence, a limit portion is provided at the end of the support plate, and a limit space for supporting the piece to be transported is formed between the first limit plate, the limit portion and the second limit plate.

[0022] In some embodiments of the present application, the robot is configured such that, when the item to be transported is moved away from the storage device, the robot walks so that the box picking mechanism docks with the storage device, and then the lifting device drives the box picking mechanism to move upward and insert into the storage device, and lifts up the item to be transported, so that the item to be transported is transferred from the storage device to the box picking mechanism.

[0023] In some embodiments of the present application, the robot is configured to walk when transporting the items to be transported to the storage device, so that the box picking mechanism docks with the storage device and is inserted into the storage device, and then the lifting device drives the box picking mechanism to move downward to disengage from the items to be transported, so that the items to be transported are transferred from the box picking mechanism to the storage device.

[0024] In some embodiments of the present application, the lifting device includes:

[0025] A scissor-type lifting frame, wherein the upper end of the scissor-type lifting frame has a first end and a second end that are hinged to each other, the first end is hinged to the box-taking device, the second end is hinged to the box-taking device, and the second end can move close to or away from the first end, and the lower end of the scissor-type lifting frame has a third end and a fourth end that are hinged to each other, the third end is hinged to the chassis body, the fourth end is hinged to the chassis body, and the fourth end can move close to or away from the third end, the third end is correspondingly arranged below the first end, and the fourth end is correspondingly arranged below the second end;

[0026] The lifting drive assembly is connected to the scissor-type lifting frame and drives the scissor-type lifting frame to lift.

[0027] In some embodiments of the present application, the scissor-type lifting frames include two, the two scissor-type lifting frames are arranged side by side, the two scissor-type lifting frames are connected by a connecting rod, and the lifting drive assembly is connected to the connecting rod to drive the two scissor-type lifting frames to lift synchronously.

[0028] In some embodiments of the present application, the lifting drive assembly includes a first motor and a screw assembly, both of which are installed on the scissors-type lifting frame, the first motor is connected to the screw assembly, and drives the scissors-type lifting frame to rise and fall through the screw assembly.

[0029] A second aspect of the present application proposes a warehousing logistics system, including a storage device and a robot proposed in the present application or any embodiment of the present application, wherein the robot is used to retrieve the items to be transported from the storage device.

[0030] In addition, the robot according to the present application may also have the following additional technical features:

[0031] In some embodiments of the present application, a comb-tooth structure is provided on the storage device, and the box-removing mechanism is used to cooperate with the comb-tooth structure and can be inserted into the comb-tooth structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Moreover, the same reference numerals are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0033] Figure 1 The structure diagram of the robot of some embodiments of the present application is schematically shown;

[0034] Figure 2 Schematically shows Figure 1 A schematic diagram of the lifting device of the robot shown in the raised state;

[0035] Figure 3 The structure diagram of the box-taking device of some embodiments of the present application is schematically shown;

[0036] Figure 4 A schematic diagram schematically shows another perspective of a box-taking device according to some embodiments of the present application;

[0037] Figure 5 The structure diagram of the lifting device of some embodiments of the present application is schematically shown;

[0038] Figure 6 The schematic diagram of assembling the lifting device and the box taking device of some embodiments of the present application is schematically shown;

[0039] Figure 7 Schematically showing a schematic diagram of a chassis device of some embodiments of the present application;

[0040] Figure 8 A schematic diagram schematically shows another perspective of a chassis device according to some embodiments of the present application;

[0041] Fig. 9 The schematic diagram of assembling the travel drive assembly and the rotation connection assembly of some embodiments of the present application is schematically shown;

[0042] Fig.10 Schematically shows Fig. 9 A schematic diagram of the structure shown;

[0043] Fig.11 A state diagram schematically shows a robot in some embodiments of the present application moving an object to be transported away from a storage device;

[0044] Fig.12 A state diagram schematically shows a robot in some embodiments of the present application moving an object to be transported away from a storage device;

[0045] Fig.13A state diagram schematically shows a robot in some embodiments of the present application moving an object to be transported away from a storage device;

[0046] Fig.14 A state diagram schematically shows a robot in some embodiments of the present application moving an object to be transported from a storage device.

[0047] The reference numerals are as follows:

[0048] 1. Robot; 2. Storage equipment; 21. Comb structure; 3. Parts to be transported;

[0049] 100, chassis device; 110, chassis body; 111, body; 112, support part; 113, through-hole; 120, travel drive assembly; 121, first drive wheel structure; 122, second drive wheel structure; 123, mounting seat; 124, mounting hole; 125, mounting shaft; 126, second protrusion; 127, wheel hub motor; 128, wheel rim; 130, rotating connection assembly; 131, slewing support; 132, rotating disk; 133, first protrusion; 134, connecting hole; 135, connecting shaft; 140, universal auxiliary wheel;

[0050] 200, lifting device; 210, scissor lift; 211, first end; 212, second end; 213, third end; 214, fourth end; 215, first hinge seat; 216, second hinge seat; 2161, track; 217, third hinge seat; 218, fourth hinge seat; 2181, slide; 219, guide wheel; 220, lifting drive assembly; 221, first motor; 222, lead screw assembly; 230, connecting rod; 240, first hinge shaft; 250, second hinge shaft; 260, third hinge shaft; 270, fourth hinge shaft;

[0051] 400, box taking device; 410, box taking mechanism; 411, bottom plate; 412, comb tooth assembly; 413, first limit plate; 414, second limit plate; 415, support plate; 416, limit part;

[0052] A, walking direction; B, axial direction of the connecting shaft; C, axial direction of the first driving wheel structure; Z, lifting direction; X, arrangement direction; Y, extension direction. DETAILED DESCRIPTION

[0053] The exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present application and to fully convey the scope of the present application to those skilled in the art.

[0054] It should be understood that the terms used herein are only for the purpose of describing specific example embodiments and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "one", "an" and "" as used herein may also be meant to include plural forms. The terms "include", "comprise", "contain", and "have" are inclusive and therefore specify the presence of stated features, steps, operations, elements and / or parts, but do not exclude the presence or addition of one or more other features, steps, operations, elements, parts, and / or combinations thereof. The method steps, processes, and operations described herein are not interpreted as necessarily requiring them to be performed in the specific order described or illustrated, unless the execution order is clearly indicated. It should also be understood that additional or alternative steps may be used.

[0055] Although the terms first, second, third, etc. can be used in the text to describe multiple elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these terms. These terms can only be used to distinguish an element, component, region, layer or section from another region, layer or section. Unless the context clearly indicates, terms such as "first", "second" and other numerical terms do not imply order or sequence when used in the text. Therefore, the first element, component, region, layer or section discussed below can be referred to as the second element, component, region, layer or section without departing from the teaching of the example embodiments.

[0056] For ease of description, spatial relative terms may be used herein to describe the relationship of one element or feature relative to another element or feature as shown in the figure, such as "inside", "outside", "inner side", "outer side", "below", "below", "above", "above", etc. Such spatial relative terms are intended to include different orientations of the device in use or operation in addition to the orientation depicted in the figure. For example, if the device in the figure is turned over, then the elements described as "below other elements or features" or "below other elements or features" will subsequently be oriented as "above other elements or features" or "above other elements or features". Therefore, the example term "below..." can include both upper and lower orientations. The device can be oriented otherwise (rotated 90 degrees or in other directions) and the spatial relative descriptors used in the text are interpreted accordingly.

[0057] like Figures 1 to 14As shown, the embodiment of the present application proposes a robot 1, including a chassis device 100, a lifting device 200 and a box-taking device 400. The chassis device 100 includes a chassis body 110 and a walking mechanism, the lifting device 200 is arranged on the chassis body 110, and the box-taking device 400 is connected to the lifting device 200 and can be lifted and lowered under the drive of the lifting device 200. The box-taking device 400 includes at least one box-taking mechanism 410, which is suitable for applying force to the object to be transported, and taking and returning the object to be transported 3 to the storage device 2 under the lifting action of the lifting device 200.

[0058] The chassis body 110 is the mounting carrier of the robot 1, and the chassis body 110 supports the relevant components of the robot 1. The lifting device 200 can be arranged above the chassis body 110, and the walking mechanism is connected to the bottom side of the chassis body 110, which is used to drive the chassis body 110 to walk, thereby realizing the walking and other operations of the robot 1. The walking mechanism includes a walking drive assembly 120 and a rotating connection assembly 130. The walking drive assembly 120 is rotatably connected to the chassis body 110 through the rotating connection assembly 130. Through the rotating connection assembly 130, the walking drive assembly 120 can rotate relative to the chassis body 110 to adjust the walking direction A of the walking drive assembly 120. Optionally, the walking drive assembly 120 may include one or more drive wheel structures, each of which is independently driven by a motor to walk. The travel drive assembly 120 can be driven to rotate relative to the chassis device 100 by its own structural design and its own driving wheel structure as the power; or the rotating connection assembly 130 can be provided with a rotating drive member, and the travel drive assembly 120 can be driven to rotate relative to the chassis device 100 by the rotating drive member. One travel drive assembly 120 can be connected to the chassis body 110, or two or more travel drive assemblies 120 can be connected to the chassis body 110. When there are two or more travel drive assemblies 120, each travel drive assembly 120 can be provided with a corresponding rotating connection assembly 130 so that each travel drive assembly 120 can rotate independently relative to the chassis body 110. This embodiment is described by taking two travel drive assemblies 120 as an example. Figure 1 and Figure 8 As shown, the two travel drive assemblies 120 can be arranged at intervals along the length direction of the chassis body 110, and the two travel drive assemblies 120 can be symmetrically arranged with the center line of the chassis body 110 along the width direction as the symmetry axis.

[0059] It should be noted that the walking direction A of the walking drive assembly 120 is also the walking direction of the robot 1. By rotating the walking drive assembly 120 relative to the chassis body 110, the walking direction of the robot 1 can be adjusted without rotating the chassis body 110. For example, the robot 1 can be moved sideways along the width direction of the chassis body 110 or can be moved along the length direction of the chassis body 110.

[0060] In some embodiments, the walking mechanism may further include universal auxiliary wheels 140, which are connected to the chassis body 110, used to assist in supporting the chassis body 110, and to follow the chassis body 110 to walk. The number of universal auxiliary wheels 140 can be set as needed. In some embodiments, the number of universal auxiliary wheels 140 can be four, and the four universal auxiliary wheels 140 can be divided into two pairs, one pair of universal auxiliary wheels 140 is arranged at one end of the length direction of the chassis body 110, and the other pair of universal auxiliary wheels 140 is arranged at the other end of the length direction of the chassis body 110. Each pair of universal auxiliary wheels 140 can be installed on the chassis body 110 through a caster seat. Specifically, the middle part of the caster seat can be connected to the chassis body 110 through a fixed shaft, and the two ends of the caster seat are provided with connecting parts, and the universal auxiliary wheels 140 are connected to the connecting parts.

[0061] It should be noted that the chassis device 100 may also include a vibration reduction component and a fixing connection member of the component structure, etc., which will not be described in detail here.

[0062] The lifting device 200 is used to realize the lifting and lowering of the box-taking device 400. The lifting device 200 can be in the form of a vertically arranged column guide assembly and a lifting drive assembly 220. The specific lifting device 200 includes a column guide assembly and a lifting drive assembly 220, wherein the column guide assembly is fixed on the chassis device 100 and can be composed of one, two or more columns, and the column guide assembly guides the vertical movement of the lifting drive assembly 220; the lifting drive assembly 220 is arranged on the column guide assembly and can move in the vertical direction. There are many ways to implement it, and specifically, it can be a motor with a transmission belt assembly or a motor with a chain assembly.

[0063] The lifting device 200 may also be a scissor-type lifting mechanism. This embodiment is mainly described by taking the lifting device 200 as a scissor-type lifting mechanism as an example. The scissor-type lifting mechanism includes a scissor-type lifting frame 210 and a lifting drive assembly 220. The upper end of the scissor-type lifting frame 210 has two hinged ends. For the convenience of description, one of the ends is defined as a first end 211 and the other end is defined as a second end 212; the lower end of the scissor-type lifting frame 210 has two hinged ends. For the convenience of description, one of the ends is defined as a third end 213 and the other end is defined as a fourth end 214. The third end 213 corresponds to the first end 211 in the lifting direction Z (which can be understood with reference to the vertical direction) of the lifting device 200, and specifically, the third end 213 is located directly below the first end 211; the fourth end 214 corresponds to the second end 212 in the lifting direction Z (which can be understood with reference to the vertical direction) of the lifting device 200, and specifically, the fourth end 214 is located directly below the second end 212. The first end 211 is hinged to the box taking device 400, the second end 212 is hinged to the box taking device 400, and can move closer to or away from the first end 211; the third end 213 is hinged to the chassis body 110, the fourth end 214 is hinged to the chassis body 110, and can move closer to or away from the third end 213.

[0064] The box taking device 400 may include a bottom plate 411, and the box taking mechanism 410 may be disposed on the bottom plate 411, and may be an integral structure with the bottom plate 411. Figure 1 As shown, the first end 211 and the second end 212 of the scissor lift 210 are both hinged to the lower side of the bottom plate 411. Figure 4 and Figure 6 As shown, a first hinge seat 215 is fixed to the bottom surface of the bottom plate 411 corresponding to the first end 211, and the first end 211 is hinged to the first hinge seat 215 through a first hinge shaft 240. A second hinge seat 216 is provided on the bottom surface of the bottom plate 411 corresponding to the second end 212, and both ends of the second hinge seat 216 are fixedly connected to the bottom plate 411, and a track 2161 protrudes downward from the middle of the second hinge seat 216, and the track 2161 extends from the first end 211 toward the second end 212 (which can be understood by referring to one of the directions in the horizontal direction), and the second end 212 is hinged to the guide wheel 219 through the second hinge shaft 250, and is slidably arranged above the track 2161 through the guide wheel 219, and the guide wheel 219 can abut against the upper surface of the track 2161 and the bottom surface of the bottom plate 411. The axes of the first hinge shaft 240 and the second hinge shaft 250 are arranged in parallel, and the axis of the second hinge shaft 250 and the axis of the corresponding guide wheel 219 can be arranged in a colinear manner. Figure 1 , Figure 2 , Figure 7As shown, the third end 213 and the fourth end 214 of the scissor lift 210 are both connected to the top surface of the chassis body 110. A third hinge seat 217 is provided on the top surface of the chassis body corresponding to the third end 213, and the third end 213 is hinged to the third hinge seat 217 through a third hinge shaft 260. A fourth hinge seat 218 is provided on the top surface of the chassis body 110 corresponding to the fourth end 214, and a slide groove 2181 is provided on the fourth hinge seat 218, and the slide groove 2181 extends from the third end 213 toward the fourth end 214 (which can be understood by referring to one of the horizontal directions), and the fourth end 214 is hinged to the guide wheel 219 through the fourth hinge shaft 270, and is slidably arranged in the slide groove 2181 through the guide wheel 219, and the guide wheel 219 can abut against the upper side wall and the lower side wall of the slide groove 2181. The axis of the third hinge shaft 260, the axis of the fourth hinge shaft 270, the axis of the first hinge shaft 240 and the axis of the second hinge shaft 250 can be arranged in parallel, the axis of the fourth hinge shaft 270 and the axis of the corresponding guide wheel 219 can be arranged colinearly, and the track 2161 is parallel to the extension direction Y of the slide groove 2181.

[0065] The lifting drive assembly 220 can be a linear telescopic mechanism. The lifting drive assembly 220 can be arranged in the vertical direction so that the lifting drive assembly 220 can be telescoped in the vertical direction to drive the scissor-type lifting frame 210 to rise and fall. The lifting drive assembly 220 can also be arranged in the horizontal direction so that the lifting drive assembly 220 can be telescoped in the horizontal direction to drive the scissor-type lifting frame 210 to rise and fall. This embodiment is described by taking the horizontal telescoping of the lifting drive assembly 220 as an example. In one embodiment, the lifting drive assembly 220 is installed on the scissor-type lifting frame 210, and includes a first motor 221 and a screw assembly 222. The first motor 221 and the screw assembly 222 are both installed on the scissor-type lifting frame 210. The first motor 221 is connected to the screw assembly 222, and the scissor-type lifting frame 210 is driven to rise and fall through the screw assembly 222. The screw of the screw assembly 222 can be arranged horizontally or approximately horizontally. The first motor 221 can rotate forward and reverse. The first motor 221 drives the lead screw of the lead screw assembly 222 to rotate forward, so that the second end 212 of the scissor-type lifting frame 210 slides along the track 2161 close to the first end 211. At the same time, the fourth end 214 slides along the slide groove 2181 close to the third end 213, so that the overall height of the scissor-type lifting frame 210 increases, and the box picking device 400 rises. The first motor 221 drives the lead screw of the lead screw assembly 222 to rotate reversely, so that the second end 212 of the scissor-type lifting frame 210 slides along the track 2161 away from the first end 211. At the same time, the fourth end 214 slides along the slide groove 2181 toward the third end 213, so that the overall height of the scissor-type lifting frame 210 decreases, and the box picking device 400 moves downward. The first motor 221 drives the screw rod to rotate forward and reversely in order to express that the first motor 221 rotates in different directions during the process of the lifting device 200 ascending or descending, and is not limited to the preset forward and reverse directions of the first motor 221. In other words, the first motor 221 rotates in different directions when the lifting device 200 ascends the box-taking device 400 and descends the box-taking device 400.

[0066] It should be noted that the scissor-type lifting frame 210 can be one or more. In this embodiment, Figure 1 , Figure 2 and Figure 6As shown, the scissor lifts 210 include two, the two scissor lifts 210 have the same structure and are arranged side by side, wherein the two scissor lifts 210 can be arranged side by side in a direction perpendicular to the first end 211 toward the second end 212, and the first ends 211 of the two scissor lifts 210 are located on the same side, and the second ends 212 of the two scissor lifts 210 are located on the same side. A connecting rod 230 is provided between the two scissor lifts 210, and the lifting drive assembly 220 can be connected to the connecting rod 230 to drive the two scissor lifts 210 to rise and fall synchronously, and the first hinge shaft 240 of the two scissor lifts 210 can be shared, and the second hinge shaft 250 of the two scissor lifts 210 can be shared.

[0067] In this embodiment, the box-taking mechanism 410 can support and exert a force on the object to be transported 3, and can specifically be a structure that exerts a force on the object to be transported 3 by lifting, such as a support plate, a protruding member, a comb assembly 412, etc. The box-taking mechanism 410 can also be a fork-type box-taking structure that exerts a force from the side, a suction cup-type box-taking structure, a claw-type box-taking structure, etc. In this embodiment, the box-taking mechanism 410 including the comb assembly 412 is used as an example for description.

[0068] The comb assembly 412 is used to be inserted into the storage device 2 to retrieve the object 3 to be transported from the storage device 2. It can be understood that the extension direction Y of the comb assembly 412 is also the extension direction of the box-retrieving mechanism 410. In the process of the robot 1 retrieving the object 3 to be transported from the storage device 2, the extension direction of the box-retrieving mechanism 410 is consistent with the box-retrieving direction of the robot 1. In other words, in the process of the robot 1 retrieving the object 3 to be transported from the storage device 2, the translation direction of the robot 1 relative to the storage device 2 is the same as the extension direction of the box-retrieving mechanism 410.

[0069] The storage device 2 generally has a comb tooth structure 21 that cooperates with the comb tooth assembly 412. The object 3 to be transported can be placed on the comb tooth structure 21. The comb tooth structure 21 may include a plurality of support cross bars arranged at intervals. The gaps between adjacent support cross bars may be inserted into the comb tooth assembly 412. The comb tooth assembly 412 may include a first limit plate 413, a second limit plate 414, and a support plate 415. The first limit plate 413, the support plate 415, and the second limit plate 414 are sequentially arranged on the bottom plate 411 at intervals along the arrangement direction X of the plurality of comb tooth assemblies 412. A limit portion 416 may be provided at both ends or at one end of the support plate 415. A limit space for supporting the object 3 to be transported is formed between the first limit plate 413, the limit portion 416, and the second limit plate 414.

[0070] The lifting device 200 can be connected to the bottom surface of the bottom plate 411. The first limit plate 413, the second limit plate 414 and the support plate 415 are all arranged on the top surface of the bottom plate 411. The comb tooth assembly 412 can be inserted into the gap of the comb tooth structure 21 of the storage device 2 to retrieve the piece 3 to be transported from the storage device 2. Specifically, the robot 1 can be configured such that, when the piece 3 to be transported is moved away from the storage device 2, the robot 1 walks so that the comb tooth assembly 412 is docked with the storage device 2, and then the lifting device 200 drives the comb tooth assembly 412 to move upward and insert into the storage device 2, and lifts up the piece 3 to be transported, so that the piece 3 to be transported is transferred from the storage device 2 to the comb tooth assembly 412. Among them, the robot 1 walks until the comb tooth assembly 412 docks with the storage device 2, so that the comb tooth assembly 412 can be moved along the extension direction Y to the position of returning the piece to be transported 3 to the storage device 2. Specifically, the robot 1 can be made to walk as a whole to the bottom of the piece to be transported 3, and the comb tooth assembly 412 is located directly below the piece to be transported 3, completing the docking of the robot 1 and the storage device 2, and then the lifting device 200 drives the comb tooth assembly 412 to rise and insert into the comb tooth structure 21 of the storage device 2, lift up the piece to be transported 3 on the comb tooth structure 21, and then the robot 1 walks, driving the comb tooth assembly 412 to move away from the storage device 2 along the extension direction Y, so that the comb tooth assembly 412 moves out along the gap of the comb tooth structure 21, and the operation of moving the piece to be transported 3 away from the storage device 2 is completed.

[0071] The robot 1 can also be configured such that, when transporting the object 3 to be transported to the storage device 2, the robot 1 walks so that the comb tooth assembly 412 is docked with the storage device 2 and inserted into the storage device 2, and then the lifting device 200 drives the comb tooth assembly 412 to move downward and disengage from the object 3 to be transported, so that the object 3 to be transported is transferred from the comb tooth assembly 412 to the storage device 2. Among them, the robot 1 walks until the comb tooth assembly 412 is docked with the storage device 2, so that the comb tooth assembly 412 can be moved to the position of taking back the to-be-carried piece 3 from the storage device 2. Specifically, the robot 1 can walk as a whole, so that the comb tooth assembly 412 is inserted into the comb tooth structure 21 of the storage device 2 and docked with the storage device 2, and then the lifting device 200 drives the box taking device 400 to move downward, so that the to-be-carried piece 3 falls onto the comb tooth structure 21 of the storage device 2, the comb tooth structure 21 supports the to-be-carried piece 3, and the comb tooth assembly 412 is detached from the comb tooth structure 21 from the bottom of the comb tooth structure 21 of the storage device 2, and then the robot 1 walks, driving the comb tooth assembly 412 to move away from the storage device 2 along the extension direction Y, so that the comb tooth assembly 412 moves out along the gap of the comb tooth structure 21, and the operation of placing the to-be-carried piece 3 on the storage device 2 is completed.

[0072] The robot 1 of this embodiment can be applied to a warehousing and logistics system, which includes a storage device 2, which can be a shelf, etc. The storage device 2 is usually set on the ground of the warehousing and logistics system, and adjacent storage devices 2 can be arranged at intervals to form a walking lane for the robot 1 to walk. The storage devices 2 can be arranged in rows and columns, and the storage devices 2 between adjacent rows or adjacent columns can form a walking lane. The storage device 2 can have one or more storage layers, and each storage layer is provided with multiple storage positions, and each storage position is used to place a piece to be transported 3. The piece to be transported 3 can be a cargo box, a material box, a packaging box for holding goods, or it can be directly a product, etc.

[0073] In this embodiment, the walking drive assembly 120 can rotate relative to the chassis body 110. In this way, when the comb assembly 412 of the box-taking device 400 is in a state of docking with the storage device 2, the walking drive assembly 120 can be rotated relative to the chassis body 110 to adjust the walking direction A of the walking drive assembly 120, thereby making the walking direction A of the robot 1 adjustable, which is beneficial for the robot 1 to walk to assist in the retrieval and return of the items to be transported 3, making the robot 1 more flexible, improving the convenience of the robot 1 in the retrieval and return of boxes and walking transfer operations, and facilitating the improvement of the working efficiency of the robot 1. Among them, the retrieval and return of boxes refers to the operation of placing the items to be transported 3 on the storage device 2 and removing the items to be transported 3 from the storage device 2, that is, the process of retrieving and returning the items to be transported 3 from the storage device 2.

[0074] In one embodiment, Fig. 9 and Fig.10 As shown, the rotary connection assembly 130 includes a slewing support 131 and a rotating disk 132 . The slewing support 131 is connected to the chassis body 110 . The rotating disk 132 is rotatably connected to the slewing support 131 . The travel drive assembly 120 is connected to the rotating disk 132 .

[0075] The slewing support 131 can be fixedly connected to the chassis body 110 and located at the lower side of the chassis body 110, and the rotating disk 132 can be fixedly connected to the travel drive assembly 120. The rotating disk 132 is rotatably matched with the slewing support 131, and the rotating axis of the rotating disk 132 extends along the lifting direction Z.

[0076] Optionally, the chassis body 110 may include a body portion 111, a through hole 113 is provided on the body portion 111, a support portion 112 is connected to the body portion 111 corresponding to the through hole 113, the support portion 112 is generally a cylindrical structure with an open bottom surface, and the bottom side of the support portion 112 is fixedly connected to the body portion 111. The slewing support 131 and the rotating disk 132 are both located in the supporting portion 112, and the slewing support 131 is fixedly connected to the top wall of the supporting portion 112, and the rotating disk 132 is clearance-matched with the side wall of the supporting portion 112, so that the rotating disk 132 can rotate relative to the rotating support.

[0077] It can be understood that the support portion 112 protrudes upward relative to the main body 111 , and the travel drive assembly 120 is connected to the support portion 112 via the rotating connection assembly 130 , which can reduce the height of the main body 111 and is beneficial to improving the stability of the robot 1 .

[0078] In some embodiments, the walking drive assembly 120 includes a mounting seat 123, a first driving wheel structure 121 and a second driving wheel structure 122, the mounting seat 123 is connected to the rotating disk 132, the first driving wheel structure 121 and the second driving wheel structure 122 are both installed on the mounting seat 123, and can be specifically arranged on opposite sides of the mounting seat 123, and the first driving wheel structure 121 and the second driving wheel structure 122 are coaxially arranged; when the first driving wheel structure 121 and the second driving wheel structure 122 rotate in the same direction, the walking drive assembly 120 drives the chassis body 110 to walk, and when the first driving wheel structure 121 and the second driving wheel structure 122 rotate in opposite directions, the first driving wheel structure 121 and the second driving wheel structure 122 drive the mounting seat 123 to rotate relative to the chassis body 110.

[0079] The first driving wheel structure 121 and the second driving wheel structure 122 can be connected to the mounting seat 123 via the mounting shaft 125. Specifically, the mounting seat 123 is provided with a mounting hole 124, and the mounting shaft 125 is inserted into the mounting hole 124 and has an interference fit with the mounting hole 124. The first driving wheel structure 121 and the second driving wheel structure 122 can rotate relative to the mounting seat 123, respectively, and the first driving wheel structure 121 and the second driving wheel structure 122 can have different rotation directions.

[0080] The first driving wheel structure 121 and the second driving wheel structure 122 can realize the walking of the robot 1 and the rotation of the walking driving mechanism relative to the chassis body 110. The structure is relatively simple and the equipment cost is low.

[0081] Optionally, the first driving wheel structure 121 and the second driving wheel structure 122 may both include a hub motor 127 and a wheel rim 128 sleeved on the outer side of the hub of the hub motor 127. The hub motor 127 has a simpler structure, occupies less space, and has lower equipment cost.

[0082] In some embodiments, the travel drive assembly 120 also includes a connecting shaft 135, and the mounting seat 123 and the rotating disk 132 are hinged through the connecting shaft 135. The axial direction B of the connecting shaft 135 is perpendicular to the axial direction C of the first driving wheel structure 121, and is perpendicular to the lifting direction Z of the box taking device 400. The mounting seat 123 can swing around the connecting shaft 135 to make the first driving wheel structure 121 and the second driving wheel structure 122 swing relative to each other.

[0083] It can be understood that, since the axial direction C of the first driving wheel structure 121 is coaxial with the axial direction of the second driving wheel structure 122 , the axial direction B of the connecting shaft 135 is also perpendicular to the axial direction of the second driving wheel structure 122 .

[0084] The mounting seat 123 is hinged to the rotating disk 132 via the connecting shaft 135, so that the first driving wheel structure 121 and the second driving wheel structure 122 can float relatively, reducing the possibility of the first driving wheel structure 121 and the second driving wheel structure 122 being suspended in the air due to uneven ground, thereby improving the stability and adaptability of the robot 1.

[0085] Optionally, the bottom of the rotating disk 132 has a first protrusion 133, and two second protrusions 126 are spaced apart at the top of the mounting seat 123, the first protrusion 133 is arranged between the two second protrusions 126, and the first protrusion 133 and the second protrusion 126 are both provided with connecting holes 134, and the connecting shaft 135 is passed through the connecting hole 134 of the first protrusion 133 and the connecting hole 134 of the second protrusion 126, so that the mounting seat 123 is connected to the rotating disk 132 through the connecting shaft 135.

[0086] It should be noted that the relative structures of the first protrusion 133 and the second protrusion 126 can also be interchanged, so as to achieve the connection between the mounting seat 123 and the rotating disk 132 via the connecting shaft 135 .

[0087] In some embodiments, optionally, a plurality of comb tooth assemblies 412 are provided. Thus, by providing a plurality of comb tooth assemblies 412 , the robot 1 can carry a plurality of workpieces 3 to be carried in one operation, thereby improving the operation efficiency of the robot 1 .

[0088] In some embodiments, Figure 3 and Figure 4 As shown, along a direction perpendicular to the lifting direction Z of the lifting device 200, a plurality of comb tooth assemblies 412 are arranged and connected in sequence, and a plurality of comb tooth assemblies 412 can be arranged on the same base plate 411, and the lifting device 200 is connected to the base plate 411, so that the chassis device 100 can be rotated relative to the base plate 411, thereby realizing the rotation of the chassis device 100 relative to all the comb tooth assemblies 412 (i.e., the box taking device 400).

[0089] Among them, the robot 1 usually walks on the ground of the warehouse logistics system, and the walking direction A of the robot 1 is usually parallel to the ground. The lifting direction Z of the lifting device 200 is also the direction in which the lifting device 200 drives the box-removing device 400 to move, which is usually perpendicular to the ground. In this embodiment, the direction parallel to the ground can be understood with reference to the horizontal direction, and the lifting direction Z of the lifting device 200 can be understood with reference to the vertical direction.

[0090] In a direction perpendicular to the lifting direction Z, a plurality of comb tooth assemblies 412 may be arranged in a straight line and connected in sequence. Adjacent comb tooth assemblies 412 may be detachably connected or non-detachably connected. Figure 1 , Figure 2 and Figure 3 As shown, in some embodiments, the plurality of comb tooth assemblies 412 may be provided as an integral structure, specifically an integrally formed structure, or may be connected into an integral structure by welding the bottom plate 411 or the like.

[0091] The comb tooth assembly 412 can dock with the storage device 2 along its own extension direction Y, so that the comb tooth assembly 412 moves to the position of taking back the to-be-carried object 3 from the storage device 2. The extension directions Y of the multiple comb tooth assemblies 412 can be consistent, wherein the extension directions Y of the comb tooth assemblies 412, the arrangement directions X of the multiple comb tooth assemblies 412, and the lifting direction Z of the lifting device 200 are perpendicular to each other. By making the extension directions Y of the multiple comb tooth assemblies 412 consistent, the multiple comb tooth assemblies 412 can simultaneously take back the to-be-carried object 3 from the storage device 2, and the robot 1 is more convenient to operate and has higher operating efficiency.

[0092] The position where the object 3 to be transported is returned to the storage device 2 is the position where the comb assembly 412 can perform the box return operation, that is, after the comb assembly 412 moves to this position, the comb assembly 412 can transfer the object 3 to be transported on the comb assembly 412 to the storage device 2 or can transfer the object 3 to be transported on the storage device 2 to the object 3 to be transported. The position where the object 3 to be transported is returned to the storage device 2 corresponds to the position of the storage device 2 for storing the object 3 to be transported, and the position can be located within the projection range of the storage device 2 along the vertical direction.

[0093] After the robot 1 walks to the docking position on one side of the storage device 2, the comb assembly 412 needs to move toward the storage device 2 so as to be able to retrieve the item 3 to be transported from the storage device 2. Retrieving the item 3 to be transported from the storage device 2 means taking the item 3 to be transported from the storage device 2 or placing the item 3 to be transported on the storage device 2. Specifically, taking the storage device 2 as a shelf as an example, the item 3 to be transported can be stacked on the shelf. In the process of moving the item 3 to be transported from the shelf, the comb assembly 412 moves to the position corresponding to the item 3 to be transported on the shelf, which can be above or below the shelf where the item 3 to be transported is located, so that the comb assembly 412 is inserted into the shelf, and the item 3 to be transported is moved from the shelf to the comb assembly 412; in the process of placing the item 3 to be transported on the shelf, the comb assembly 412 moves to the position of the shelf for placing the item 3 to be transported, which can be above or below the shelf where the item 3 to be transported is placed, so that the comb assembly 412 is inserted into the shelf, and the item 3 to be transported is transferred from the robot 1 to the shelf. In the actual operation process, after the robot 1 walks to the docking position on one side of the placement device 2 , the comb tooth assembly 412 should adjust its own extension direction Y of the comb tooth assembly 412 toward the placement device 2 .

[0094] It should be noted that the docking position is the position where the storage device 2 and the robot 1 face each other, and is located on one side of the storage device 2, such as a shelf. When the robot 1 is in the docking position, the position where the storage device 2 stores the to-be-carried parts 3 is located on one side of the robot 1, and can face the robot 1. After the robot 1 walks to the docking position on one side of the storage device 2, the movement of the comb assembly 412 toward the storage device 2 can be driven by the walking of the robot 1, or the comb assembly 412 itself has a driving mechanism, and the driving mechanism drives the comb assembly 412 to move toward the storage device 2. In this embodiment, the example of the robot 1 driving the storage device 2 to walk is mainly used for description.

[0095] The robot 1 can have a first posture and a second posture, such as Figure 1 , Figure 2 and Fig.11 As shown in FIG. 1 , in the first posture, the walking direction A of the walking drive assembly 120 is perpendicular to the extension direction Y of the comb tooth assembly 412. Figure 12 to Figure 13 As shown, in the second posture, the walking direction A of the travel drive assembly 120 is consistent with the extension direction Y of the comb assembly 412. The robot 1 can be configured to switch between the first posture and the second posture by rotating the travel drive assembly 120 90 degrees relative to the chassis body 110.

[0096] like Figures 11 to 14As shown, in some embodiments, the robot 1 is configured such that the robot 1 walks to the docking position on one side of the storage device 2 in a first posture, and at the docking position, the walking drive assembly 120 is rotated 90 degrees relative to the chassis body 110, so that the robot 1 switches from the first posture to the second posture, and the robot 1 moves forward in the second posture, so that the comb tooth assembly 412 docks with the storage device 2, so that the comb tooth assembly 412 can retrieve and return the to-be-transported item 3 to the storage device 2. After the robot 1 completes the retrieval of the to-be-transported item 3, the robot 1 retreats in the second posture, so that the robot 1 moves back to the docking position, and at the docking position, the walking drive assembly 120 is rotated 90 degrees relative to the chassis body 110 again, so that the robot 1 switches from the second posture to the first posture.

[0097] The two rotations of the travel drive assembly 120 relative to the chassis body 110 may be in opposite directions, that is, the travel drive assembly 120 rotates and then rotates in the opposite direction.

[0098] That is to say, the robot 1 can shuttle in the alleys between the storage devices 2 in a first posture. After the robot 1 moves to the corresponding docking position, the robot 1 can switch the walking direction A of the robot 1 by rotating the walking drive component 120. In this way, after switching the walking direction A, the robot 1 can move sideways along the switched walking direction A to drive the comb tooth component 412 to dock with the storage device 2.

[0099] It can be understood that the extension direction Y of the comb tooth assembly 412 in the first posture is consistent with the extension direction Y of the comb tooth assembly 412 in the second posture, which reduces the control complexity of the robot 1 and makes the operation of the robot 1 more convenient; and the arrangement direction X of the multiple comb tooth assemblies 412 in the first posture is consistent with the arrangement direction X of the multiple comb tooth assemblies 412 in the second posture, and the multiple comb tooth assemblies 412 will not need to occupy a larger space due to the change of the arrangement direction X, which is beneficial to reducing the space occupied by the operation of the robot 1. Specifically, the width of the lane can be reduced, or the lane width can be consistent with the case where the robot 1 is provided with one comb tooth assembly 412, which is beneficial to increasing the storage capacity of the warehousing and logistics system.

[0100] Combine the following Figures 11 to 14 Taking the example of moving the object 3 to be transported away from the storage device 2, the operation process of the robot 1 in this embodiment is specifically described.

[0101] like Fig.11 As shown, the robot 1 walks in a first posture to a docking position on one side of the storage device 2. At the docking position, the walking drive assembly 120 is rotated 90 degrees relative to the chassis body 110, so that the robot 1 switches from the first posture to the second posture, as shown in FIG. Fig.11The robot 1 moves sideways in the second posture, so that the comb assembly 412 docks with the storage device 2 along the extension direction Y of the comb assembly 412, as shown in FIG. Fig.12 Then, the lifting device 200 drives the comb assembly 412 to insert into the comb structure 21 of the storage device 2, and lifts the object 3 to be transported on the comb structure 21, so that the object 3 to be transported is transferred from the storage device 2 to the comb assembly 412, as shown. Fig.13 Then the robot 1 moves backward in the second posture, so that the robot 1 moves back to the docking position. During this process, the robot 1 drives the comb assembly 412 to move away from the storage device 2 along the extension direction Y of the comb assembly 412, so that the comb assembly 412 moves out along the gap of the comb structure 21, and the work of moving the object 3 to be transported away from the storage device 2 is completed. At the docking position, the travel drive assembly 120 is rotated 90 degrees relative to the chassis body 110 again, so that the robot 1 switches from the second posture to the first posture, as shown in FIG. Fig.14 The robot 1 carrying the object 3 to be transported can move to the docking destination in the second posture.

[0102] Some embodiments of the present application also provide a warehousing logistics system, including a storage device 2 and a robot 1 proposed in any embodiment of the present application, wherein the robot 1 is used to retrieve and return a piece 3 to be transported from the storage device 2 .

[0103] The storage device 2 is used to place multiple objects 3 to be transported, and the multiple objects 3 to be transported can be arranged in sequence on the storage device 2. The storage device 2 can be a shelf, etc., and a lane can be set on one side or both sides of the storage device 2 for the robot 1 to walk. The storage device 2 can be one or more. When there are multiple storage devices 2, they can be arranged in rows and columns, and lanes can be formed between the storage devices 2 between adjacent rows or adjacent columns.

[0104] The storage device 2 may be provided with a comb tooth structure 21 , and the corresponding comb tooth assembly 412 may include a comb tooth assembly 412 , so that the object 3 to be transported can be retrieved and returned to the storage device 2 through the cooperation between the comb tooth assembly 412 and the comb tooth structure 21 .

[0105] The above are only preferred specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A robot, characterized in that: include: A chassis device, comprising a chassis body, a travel drive assembly and a rotating connection assembly, wherein the travel drive assembly is connected to the chassis body through the rotating connection assembly, and the travel drive assembly can rotate relative to the chassis body through the rotating connection assembly to adjust the travel direction of the travel drive assembly; A lifting device, arranged on the chassis body; The box taking device is arranged on the lifting device and can be raised and lowered under the action of the lifting device. The box taking device includes at least one box taking mechanism, which is suitable for applying force to the items to be transported and taking and returning the items to be transported to the storage device under the lifting action of the lifting device.

2. The robot according to claim 1, characterized in that: The rotary connection assembly comprises a slewing support and a rotating disk. The slewing support is connected to the chassis body. The rotating disk is rotatably connected to the slewing support. The travel drive assembly is connected to the rotating disk.

3. The robot according to claim 2, characterized in that: The travel drive assembly includes a mounting seat, a first drive wheel structure and a second drive wheel structure, the mounting seat is connected to the rotating disk, the first drive wheel structure and the second drive wheel structure are respectively mounted on opposite sides of the mounting seat, and the first drive wheel structure and the second drive wheel structure are coaxially arranged; When the first driving wheel structure and the second driving wheel structure rotate in the same direction, the travel drive assembly drives the chassis body to travel, and when the first driving wheel structure and the second driving wheel structure rotate in opposite directions, the first driving wheel structure and the second driving wheel structure drive the mounting seat to rotate relative to the chassis body.

4. The robot according to claim 3, characterized in that: The first driving wheel structure and the second driving wheel structure both include a hub motor and a wheel rim sleeved on the outer side of the hub of the hub motor.

5. The robot according to claim 3, characterized in that: The travel drive assembly also includes a connecting shaft, and the mounting seat and the rotating disk are hinged through the connecting shaft. The axial direction of the connecting shaft is perpendicular to the axial direction of the first driving wheel structure and perpendicular to the lifting direction of the box taking device. The mounting seat can swing around the connecting shaft to make the first driving wheel structure and the second driving wheel structure swing relative to each other.

6. The robot according to claim 5, characterized in that: The bottom of the rotating disk has a first protrusion, and the top of the mounting seat is spaced apart with two second protrusions, the first protrusion is arranged between the two second protrusions, and the first protrusion and the second protrusion are both provided with connecting holes, and the connecting shaft is passed through the connecting holes of the first protrusion and the connecting holes of the second protrusion, so that the mounting seat is connected to the rotating disk through the connecting shaft.

7. The robot according to any one of claims 1 to 6, characterized in that: The box taking device also includes a bottom plate, the lifting device is connected to the bottom plate, a plurality of the box taking mechanisms are arranged on the bottom plate, and the plurality of the box taking mechanisms are arranged in sequence along a direction perpendicular to the lifting direction of the lifting device.

8. The robot according to claim 7, characterized in that: The extension directions of the multiple box taking mechanisms are the same, and the extension direction of the box taking mechanisms, the arrangement direction of the multiple box taking mechanisms and the lifting direction are perpendicular to each other.

9. The robot according to claim 7, characterized in that: The robot has a first posture and a second posture. In the first posture, the walking direction of the walking drive assembly is perpendicular to the extension direction of the box-taking mechanism. In the second posture, the walking direction of the walking drive assembly is consistent with the extension direction of the box-taking mechanism. The robot is configured to switch between the first posture and the second posture by rotating the travel drive assembly 90 degrees relative to the chassis body.

10. The robot according to claim 9, characterized in that: The robot is configured as follows: the robot walks to a docking position on one side of the storage device in the first posture, and at the docking position, the walking drive assembly is rotated 90 degrees relative to the chassis body, so that the robot switches from the first posture to the second posture; the robot moves forward in the second posture, so that the box-taking mechanism docks with the storage device, so that the box-taking mechanism can take and return the object to be transported from the storage device; after the robot completes taking and returning the object to be transported, the robot retreats in the second posture, so that the robot moves back to the docking position; at the docking position, the walking drive assembly is rotated 90 degrees relative to the chassis body again, so that the robot switches from the second posture to the first posture; The docking position is a position where the storage device and the robot face each other.

11. The robot according to any one of claims 1 to 6, characterized in that: The box taking device also includes a bottom plate, the lifting device is connected to the bottom plate, the box taking mechanism includes a comb tooth assembly, the comb tooth assembly includes a first limit plate, a second limit plate and a support plate, the first limit plate, the support plate and the second limit plate are sequentially arranged on the bottom plate at intervals, a limit portion is provided at the end of the support plate, and a limit space for supporting the piece to be transported is formed between the first limit plate, the limit portion and the second limit plate.

12. The robot according to any one of claims 1 to 6, characterized in that: The robot is configured such that, when the object to be transported is moved away from the storage device, the robot walks so that the box-taking mechanism docks with the storage device, and then the lifting device drives the box-taking mechanism to move upward and insert into the storage device, and lifts up the object to be transported, so that the object to be transported is transferred from the storage device to the box-taking mechanism.

13. The robot according to claim 12, characterized in that: The robot is configured such that, when the object to be transported is transported to the storage device, the robot walks so that the box-taking mechanism docks with and is inserted into the storage device, and then the lifting device drives the box-taking mechanism to move downward and disengage from the object to be transported, so that the object to be transported is transferred from the box-taking mechanism to the storage device.

14. The robot according to any one of claims 1 to 6, characterized in that: The lifting device comprises: A scissor-type lifting frame, wherein the upper end of the scissor-type lifting frame has a first end and a second end that are hinged to each other, the first end is hinged to the box-taking device, the second end is hinged to the box-taking device, and the second end can move close to or away from the first end, and the lower end of the scissor-type lifting frame has a third end and a fourth end that are hinged to each other, the third end is hinged to the chassis body, the fourth end is hinged to the chassis body, and the fourth end can move close to or away from the third end, the third end is correspondingly arranged below the first end, and the fourth end is correspondingly arranged below the second end; The lifting drive assembly is connected to the scissor-type lifting frame and drives the scissor-type lifting frame to lift.

15. The robot according to claim 14, characterized in that: The scissor-type lifting frames include two, the two scissor-type lifting frames are arranged side by side, the two scissor-type lifting frames are connected by a connecting rod, and the lifting drive assembly is connected to the connecting rod to drive the two scissor-type lifting frames to rise and fall synchronously.

16. The robot according to claim 15, characterized in that: The lifting drive assembly includes a first motor and a screw assembly, both of which are installed on the scissor-type lifting frame. The first motor is connected to the screw assembly and drives the scissor-type lifting frame to rise and fall through the screw assembly.

17. A warehousing logistics system, characterized in that: include: Storage equipment; The robot according to any one of claims 1 to 16 is used to retrieve the object to be transported from the storage device.

18. The warehousing logistics system according to claim 17, characterized in that: The storage device is provided with a comb-teeth structure, and the box-taking mechanism is used to cooperate with the comb-teeth structure.

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