Transfer robot

Abstract

The utility model relates to a transfer robot, and belongs to the technical field of intelligent warehousing. The transfer robot comprises a walking chassis, a portal and at least two accessories. The portal frame has the height direction and comprises a first portal frame body and at least two second portal frame bodies which are installed on the walking chassis. The at least two second door frames are movably installed on the first door frame and can move in the height direction. The at least two accessories are installed on the at least two second portals respectively and can move in the height direction respectively. According to the transfer robot, a plurality of trays can be forked or transferred at a time, efficiency is effectively improved, in addition, due to the fact that the accessory can move relative to the second portal frame in the height direction, the accessory and the second portal frame are matched to form two-stage movement, and the accessory has a larger moving stroke in the height direction.

Description

Technical Field

[0001] The utility model relates to a transport robot and belongs to the technical field of intelligent warehousing. Background Art

[0002] With the rapid development of the logistics and warehousing industry, the construction of high-rise warehouses for cargo storage is becoming more and more widespread. There are more and more intelligent devices such as stacking AGVs and AMRs used in high-rise warehouses, especially fork-type intelligent devices. The goods are stacked on pallets, and the pallets are picked up by forks to achieve the transfer of goods.

[0003] Existing AMR forklift products can only pick up or transfer one cargo pallet at a time, which is inefficient. Utility Model Content

[0004] Based on this, the utility model aims to provide a handling robot that can fork or transfer multiple pallets at one time.

[0005] The utility model provides a transport robot, comprising:

[0006] Walking chassis; used to drive the transport robot to walk;

[0007] A gantry 100b is mounted on the walking chassis 100a. The gantry 100b includes a first gantry 10 and two second gantry 20. The two second gantry 20 are movably mounted on the first gantry 10 and are configured to move along the height direction of the first gantry 10.

[0008] At least two attachments 100c are respectively mounted on the two second door frames 20 and are respectively movable along the height direction of the second door frames 20;

[0009] The fork of the attachment 100c can move downward along the height direction to a first preset position. When in the first preset position, the fork descends to the walking surface supporting the walking chassis 100a or below the walking surface.

[0010] In one embodiment of the present utility model, the attachment 100c includes a fork frame 32, and the fork frame 32 includes:

[0011] The sliding part 321 is directly or indirectly connected to the second gantry 20, and is configured to drive the fork to slide along the direction of picking up and placing goods; the direction of picking up and placing goods is one side or both sides of the walking direction of the transport robot;

[0012] A mounting portion 322, on which the fork is mounted;

[0013] The extension portion 323 connects the sliding portion 321 and the mounting portion 322 as a whole, and extends obliquely downward from the lower end of the sliding portion 321 toward a side away from the carrying body 50, so that the ground fork 31 can move downward along the height direction to the first preset position.

[0014] In one embodiment of the present utility model, the attachment 100c further includes a translation mechanism 33, and the translation mechanism 33 is configured to move the fork along the height direction of the mast, including:

[0015] The slide 331 is arranged on the second door frame 20 and moves along the height direction of the second door frame 20.

[0016] The fork frame 32 is slidably mounted on the slide 331 , and the fork frame 32 moves on the slide 331 along the direction of picking up and placing goods.

[0017] In one embodiment of the present utility model, the attachment 100c further includes an identification unit 34, and the identification unit 34 includes:

[0018] A telescopic rod 341 is fixed to the bottom end of the fork frame 32;

[0019] The identification element 342 is fixed to the extended end of the telescopic rod 341 .

[0020] In one embodiment of the present invention, a gantry installation space 101 is respectively provided on both sides of the first gantry 10, and each of the second gantry 20 is correspondingly installed in each of the gantry installation spaces 101.

[0021] The first gantry 10 includes an enclosure portion 11 and a connection portion 12 , and the two gantry installation spaces 101 are enclosed by the enclosure portion 11 and the connection portion 12 .

[0022] In one embodiment of the present invention, there are two enclosures 11, and the two enclosures 11 are spaced apart along the direction of picking up and releasing goods.

[0023] The connecting portion 12 is disposed between the two enclosure portions 11, connecting the two enclosure portions 11, and the two extending ends of each enclosure portion 11 protrude a distance relative to the connecting portion 12, and the area between the two enclosure portions 11 and located on one side of the connecting portion 12 constitutes a mast installation space 101.

[0024] The second door frame 20 is slidably disposed on the inner walls of the two enclosure parts 11 .

[0025] In one embodiment of the present utility model, the connecting portion 12 includes:

[0026] A plurality of first connecting plates 121 , wherein two extending ends of the first connecting plates 121 are respectively fixed to the two enclosure parts 11 .

[0027] In one embodiment of the present utility model, the second door frame 20 includes:

[0028] Two limiting parts 21 have a height direction and are arranged at intervals along the direction of picking and placing goods, and the outer walls of the two limiting parts 21 are respectively slidably connected to the inner walls of the two enclosure parts 11; and,

[0029] A plurality of second connecting plates 22 are arranged at intervals along the height direction, and two extending ends of the second connecting plates 22 are respectively fixed to the two limiting portions 21 .

[0030] In one embodiment of the utility model, a reinforcing component 60 is further provided on the door frame 100b. The reinforcing component 60 has four connecting ends and is arranged between two adjacent first connecting plates 121 on the first door frame 10, or between two adjacent second connecting plates 22 on the second door frame 20.

[0031] In one embodiment of the present utility model, the transport robot further includes a linkage mechanism 100d, and the linkage mechanism 100d corresponds to the at least two attachments 100c and includes:

[0032] a sprocket 71 rotatably disposed on the second door frame 20 at a top position in the height direction; and

[0033] The chain 72 is wound around the sprocket 71 , one end of the chain 72 is fixed to the first door frame 10 , and the other end of the chain 72 is fixed to the corresponding attachment 100 c .

[0034] In one embodiment of the present utility model, the walking chassis 100a further includes a motion mechanism 80, and the motion mechanism 80 includes:

[0035] A driving wheel 81 is rotatably disposed on the carrying body 50 , and part or all of the driving wheel 81 protrudes from the lower surface of the carrying body 50 ; and

[0036] The driven wheel 82 is disposed on the carrying body 50 , and part or all of the driven wheel 82 protrudes from the lower surface of the carrying body 50 .

[0037] In one embodiment of the present invention, the driving wheels 81 include two groups of driving wheels spaced apart along the direction of picking up and placing goods.

[0038] When the two groups of driving wheels 81 rotate in opposite directions but at the same speed, the traveling chassis 100 a turns, and at this time the rotation center is located between the two groups of driving wheels 81 .

[0039] In one embodiment of the present invention, it also includes:

[0040] The guide units 100e are arranged on both sides of the carrying body 50 in the walking direction of the robot.

[0041] The guide unit 100e includes at least one guide wheel 91, which is rotatably disposed on the carrier body 50, and part or all of the guide wheel 91 protrudes from the carrier body 50.

[0042] The rotation plane of the guide wheel 91 is parallel to the walking plane of the robot.

[0043] Therefore, compared with the prior art, the utility model has the following advantages:

[0044] According to the handling robot involved in the utility model, the handling robot includes a walking chassis, a gantry and at least two accessories. The gantry has a height direction, and includes a first gantry and at least two second gantries installed on the walking chassis. The at least two second gantries are movably installed on the first gantry, and can move in the height direction respectively. At least two accessories are installed on the at least two second gantries, and can move in the height direction respectively. When the second gantries move in the height direction, they can drive the accessories thereon to move synchronously, thereby driving the accessories to fork or transport pallets, and since accessories are provided on multiple second gantries, the handling robot can fork or transport multiple pallets at a time, and the efficiency is effectively improved. In addition, since the accessories can move in the height direction relative to the second gantry, the accessories cooperate with the second gantry to form a two-stage motion, and the accessories have a larger moving stroke in the height direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 A schematic diagram of the three-dimensional structure of a transport robot according to one embodiment;

[0046] Figure 2 A schematic diagram of the three-dimensional structure of a transport robot according to one embodiment;

[0047] Figure 3 Schematic diagram of the three-dimensional structure of the door frame in this embodiment;

[0048] Figure 4 is a schematic diagram of the three-dimensional structure of the first door frame in this embodiment;

[0049] Figure 5 is a schematic diagram of the three-dimensional structure of the second door frame in this embodiment;

[0050] Figure 6 Schematic diagram of the three-dimensional structure of the linkage mechanism in this embodiment;

[0051] Figure 7 Schematic diagram of the three-dimensional structure of the attachment in this embodiment;

[0052] Figure 8 Schematic diagram of the installation structure of the identification unit in this embodiment.

[0053] Reference numerals:

[0054] 100. Transport robot;

[0055] 100a, walking chassis;

[0056] 100b, door frame; 10, first door frame; 101, door frame installation space; 11, enclosure portion; 12, connection portion; 121, first connection plate; 20, second door frame; 21, limit portion; 22, second connection plate;

[0057] 100c, attachment; 30, ground attachment; 31, ground fork; 32, fork frame; 321, sliding part; 322, mounting part; 323, extension part; 33, translation mechanism; 331, slide; 332, drive unit; 332a, drive motor; 332b, gear; 332c, rack; 34, identification unit; 341, telescopic rod; 342, identification element;

[0058] 50, bearing body; 51, installation area; 511, connection hole; 52, balance weight compartment; 521, balance weight; 521a, balance sheet; 60, reinforcement component; 61, first reinforcement plate; 62, second reinforcement plate;

[0059] 100d, linkage mechanism; 71, sprocket; 72, chain;

[0060] 80. Motion mechanism; 81. Driving wheel; 82. Driven wheel;

[0061] 100e, guide unit; 91, guide wheel. DETAILED DESCRIPTION

[0062] In order to make the above-mentioned purposes, features and advantages of the utility model more obvious and easy to understand, the specific implementation methods of the utility model are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the utility model. However, the utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the utility model, so the utility model is not limited by the specific embodiments disclosed below.

[0063] This embodiment provides a transport robot that can fork or transfer multiple pallets at one time.

[0064] Figure 1-2 Schematic diagram of the three-dimensional structure of the transport robot in this embodiment.

[0065] See also Figure 1 to Figure 2 The embodiment of the utility model provides a handling robot 100, and the handling robot 100 includes a walking chassis 100a, a gantry 100b and at least two accessories 100c. The gantry 100b has a height direction, and includes a first gantry 10 and at least two second gantries 20 installed on the walking chassis 100a. The at least two second gantries 20 are movably installed on the first gantry 10, and can move in the height direction respectively. At least two accessories 100c are installed on the at least two second gantries 20, and can move in the height direction respectively. At least two accessories 100c pick up and put goods on the same side or the opposite side of the robot's walking direction.

[0066] It can be understood that when the second gantry 20 moves in the height direction, it can drive the attachment 100c thereon to move synchronously, thereby driving the attachment 100c to fork or transfer the pallet, and since the multiple second gantry 20 are provided with attachments 100c, the transport robot 100 can fork or transfer multiple pallets at a time, and the efficiency is effectively improved. In addition, since the attachment 100c can move in the height direction relative to the second gantry 20, the attachment 100c and the second gantry 20 cooperate to form a two-stage motion, and the attachment 100c has a larger moving range in the height direction.

[0067] Combination Figure 2 As shown, the attachment 100c is a ground attachment 30, and each attachment 100c includes a fork. The fork of the ground attachment 30 can move downward in the height direction to a first preset position, and when in the first preset position, the fork contacts the ground carrying the walking chassis 100a.

[0068] It can be understood that since the fork of the ground attachment 30 can move downward in the height direction to the first preset position where it contacts the ground supporting the walking chassis 100a, the transport robot 100 can not only fork pallets in the air and pallets on the ground, but also has a wider range of application, and the two attachments 100c can work independently.

[0069] Figure 3 Schematic diagram of the distribution structure of the gantry in this embodiment. Figure 3 The direction indicated by A is the height direction.

[0070] Combination Figure 3 and Figure 6As shown, there are two second door frames 20 , which are located at the front and rear sides of the first door frame 10 in the walking direction.

[0071] Figure 4 It is a schematic diagram of the three-dimensional structure of the first door frame in this embodiment.

[0072] Combination Figure 4 As shown, the first gantry 10 is provided with a gantry installation space 101 on both sides of the front and rear sides in the walking direction, and each second gantry 20 is correspondingly installed in a gantry installation space 101. The first gantry 10 includes a blocking portion 11 and a connecting portion 12, and the two gantry installation spaces 101 are enclosed by the blocking portion 11 and the connecting portion 12.

[0073] It can be understood that two gantry installation spaces 101 are formed on both sides of the first gantry 10 in the first direction through the cooperation between the enclosing portion 11 and the connecting portion 12 to provide installation space for the second gantry 20 .

[0074] Combination Figure 3 to Figure 4 As shown, there are two enclosures 11, and the two enclosures 11 are spaced apart along the direction of picking up and placing goods perpendicular to the height direction, and the direction of picking up and placing goods is perpendicular to the walking direction. The connecting portion 12 is arranged between the two enclosures 11, and the opposite ends are respectively fixed to the two enclosures 11. The enclosure 11 extends along the walking direction, and the two extended ends protrude a distance relative to the two ends of the connecting portion 12 in the walking direction. The area between the two enclosures 11 and located on one side of the connecting portion 12 constitutes a gantry installation space 101. The opposite ends on the second gantry 20 are respectively slidably connected to the inner walls of the two enclosures 11.

[0075] It should be noted that Figure 4 and Figure 7 The direction indicated by C is the direction for picking up and releasing goods.

[0076] It can be understood that the second gantry 20 is installed in the gantry installation space 101. When the second gantry 20 moves in the height direction in the gantry installation space 101, it can move synchronously with the accessories 100c thereon, thereby driving the pallet forked or transferred by the accessories 100c to move up and down. Through the arrangement of the two enclosures 11 and the connecting part 12, two gantry installation spaces 101 can be formed between the two enclosures 11 and in the area on both sides of the connecting part 12, so that the two second gantries 20 can be installed in one gantry installation space 101 respectively, so that the gantry 100b can be installed with two sets of accessories 100c, and two pallets can be forked or transferred at a time, and the efficiency is effectively improved.

[0077] In this embodiment, the two enclosure parts 11 are parallel to each other. Figure 4As shown, the connecting portion 12 includes a plurality of first connecting plates 121 which are spaced apart along the height direction. The first connecting plates 121 extend along the direction of picking up and placing goods, and two extending ends are respectively fixed to the two enclosing portions 11 .

[0078] It can be understood that the two enclosure parts 11 are connected together by a plurality of first connecting plates 121, so that the first door frame 10 can form a stable frame structure to support the second door frame 20 and the accessories 100c thereon.

[0079] Figure 5 It is a schematic diagram of the three-dimensional structure of the second door frame in this embodiment.

[0080] Combination Figure 5 As shown, each second door frame 20 includes two limit parts 21 and a plurality of second connecting plates 22. The two limit parts 21 are erected in the height direction and are arranged at intervals in the direction of picking and placing goods. The outer walls of the two limit parts 21 are respectively slidably connected to the inner walls of the two enclosure parts 11. The plurality of second connecting plates 22 are arranged at intervals in the height direction. The second connecting plates 22 extend in the direction of picking and placing goods, and the two extending ends are respectively fixed to the two limit parts 21.

[0081] It can be understood that the two second limiting portions 21 are connected together by a plurality of second connecting plates 22, so that the second door frame 20 can form a stable frame structure to carry the accessories 100c thereon. In addition, the cooperation between the limiting portions 21 and the enclosure portion 11 can realize the sliding connection between the second door frame 20 and the first door frame 10, so that the second door frame 20 can move in the height direction along the first door frame 10.

[0082] Combination Figures 4 to 5 As shown, a reinforcing component 60 is also provided on the door frame 100b. The reinforcing component 60 has four connecting ends and is arranged between two adjacent first connecting plates 121 on the first door frame 10, or between two adjacent second connecting plates 22 on the second door frame 20; the reinforcing component 60 is in an "X" shape.

[0083] Two of the connection ends are fixed to one of the two adjacent first connection plates 121 or one of the two adjacent second connection plates 22 , and the other two connection ends are fixed to the other of the two adjacent first connection plates 121 or the other of the two adjacent second connection plates 22 .

[0084] It can be understood that the reinforcing component 60 can further strengthen the connection strength between the two enclosure parts 11, and can connect the first connecting plates 121 together, thereby further strengthening the overall structural strength of the first door frame 10. When the first door frame 10 is subjected to an eccentric load, the reinforcing component 60 can also effectively prevent the first door frame 10 from shearing.

[0085] The reinforcing component 60 can further strengthen the connection strength between the two limiting parts 21, and can connect multiple second connecting plates 22 together, thereby further strengthening the overall structural strength of the second door frame 20. When the second door frame 20 is under overload, the reinforcing component 60 can also effectively prevent the second door frame 20 from shearing.

[0086] In this embodiment, the reinforcing member 60 includes a first reinforcing plate 61 and a second reinforcing plate 62. Each first reinforcing plate 61 is disposed between two adjacent first connecting plates 121 and has four connecting ends, two of which are fixed to one of the two adjacent first connecting plates 121, and the other two are fixed to the other of the two adjacent first connecting plates 121. Each second reinforcing plate 62 is disposed between two adjacent second connecting plates 22 and has four connecting ends, two of which are fixed to one of the two adjacent second connecting plates 22, and the other two are fixed to the other of the two adjacent second connecting plates 22.

[0087] Figure 6 Schematic diagram of the three-dimensional structure of the linkage mechanism in this embodiment.

[0088] Combination Figure 6 As shown, the handling robot 100 further includes a linkage mechanism 100d, which corresponds to at least one attachment 100c and includes a sprocket 71 and a chain 72. The sprocket 71 is rotatably disposed at the top of the second door frame 20. The chain 72 is wound around the sprocket 71, one end of the chain 72 is fixed to the first door frame 10, and the other end is fixed to the corresponding attachment 100c.

[0089] It can be understood that when the second gantry 20 moves in the height direction, it can drive the sprocket 71 thereon to move synchronously. Since one end of the chain 72 is fixed to the first gantry 10, when the sprocket 71 moves with the second gantry 20, the chain 72 can be pulled to move the accessory 100c upward in the height direction, or the chain 72 can be released to move the accessory 100c downward under the action of gravity, thereby realizing the linkage between the accessory 100c and the second gantry 20, and the accessory 100c and the second gantry 20 are 2:1 rising height coordination.

[0090] In this embodiment, there are two driving wheels and two driven wheels, which are spaced apart along the direction of picking and placing goods. Each driving wheel is connected to a driving motor and a servo controller. In this embodiment, the driven wheel is a universal wheel.

[0091] It should be noted that when the walking chassis 100a moves, the control system sends instructions to the servo controller, and the servo controller controls the operation of the two drive motors, thereby driving the two drive wheels to move. When the two drive wheels rotate in the same direction and at the same speed, the whole vehicle can move forward or backward; when the two drive wheels rotate in opposite directions and at the same speed, the whole vehicle can turn on the spot; when the two drive wheels rotate in the same direction and at different speeds, the whole vehicle can turn in an arc; when the two drive wheels rotate in opposite directions and at different speeds, the whole vehicle can turn in a near-circular arc. When the walking chassis 100a is in operation, different operating modes can be executed according to working conditions and scene requirements to improve efficiency.

[0092] In one embodiment, the handling robot 100 further includes a guide unit (not shown in the figure), which is arranged on both sides of the carrying body in the direction of picking up and placing goods. The guide unit includes at least one guide wheel, which is rotatably arranged on the carrying body, and part or all of the guide wheel protrudes from two side surfaces of the carrying body in the walking direction. The rotation plane of the guide wheel is parallel to the walking plane of the robot.

[0093] It can be understood that when the lane is too narrow, the guide wheels cooperate with the lane guide rails, and the guide wheels move in the guide rails, so that the walking chassis 100a can be suitable for the working environment of moving in narrow lanes.

[0094] In this embodiment, the number of guide wheels is four, and they are arranged in groups of two on two side surfaces of the bearing body in the walking direction.

[0095] Figure 7 Schematic diagram of the three-dimensional structure of the tool in this embodiment.

[0096] Combination Figure 7 As shown, the attachment 100c further includes a fork frame 32, which includes a sliding portion 321, a mounting portion 322, and an extension portion 323. The sliding portion 321 extends along the height direction and is directly or indirectly connected to the corresponding second mast 20. The mounting portion 322 extends along a first direction perpendicular to the height direction. Figure 7 The direction indicated by B in the figure is the first direction, which is also the walking direction of the robot), and the fork 31 is fixed on the mounting portion 322. The extension portion 323 connects the sliding portion 321 and the mounting portion 322 as a whole, and extends obliquely downward from the lower end of the sliding portion 321 toward a side away from the carrying body 50, so that the fork 31 can move downward along the height direction to the first preset position.

[0097] It can be understood that when it is necessary to fork or transfer a pallet on the walking surface or below the walking surface of the robot, the attachment 100c is controlled to move downward in the height direction, thereby driving the fork frame 32 to move downward in the height direction. Due to the setting of the extension portion 323, when the fork frame 32 moves downward, the walking chassis 100a will only block the sliding portion 321 in the fork frame 32, and will not block the mounting portion 322 and the extension portion 323 in the fork frame 32, thereby eliminating the influence of the walking chassis 100a on the moving stroke of the fork 31, thereby enabling the fork frame 32 to drive the fork 31 to move to a preset position when moving downward. When reaching the preset position, when the preset position is set to the ground, the fork 31 contacts the ground that supports the walking chassis 100a during use, so that the fork 31 can move to the ground, thereby enabling the fork 31 to fork the pallet on the ground.

[0098] In this embodiment, the height direction of the door frame 100b is the vertical direction when in use, and the sliding portion 321 and the extension portion 323 are located directly above the chassis.

[0099] Combination Figures 7 and 8 As shown, the translation mechanism 33 also includes a driving unit 332, which is arranged on the slide 331 or the fork frame 32 to drive the fork frame 32 to move along the direction of picking up and placing goods. The driving unit 332 includes a driving motor 332a, a gear 332b and a rack 332c. The driving motor 332a is fixed to the fork frame 32. The gear 332b is fixed to the output shaft of the driving motor 332a. The rack 332c is fixed to the slide 331 and extends along the direction of picking up and placing goods. The gear 332b is meshed with the rack 332c.

[0100] It can be understood that when the driving motor 332a rotates, it can drive the gear 332b to rotate. When the gear 332b rotates, it can rotate along the extension direction of the rack 332c under the action of the rack 332c, thereby driving the fork frame 32 to move along the direction of picking up and placing goods.

[0101] In this embodiment, the driving motor 332a adopts servo control, which can accurately control the moving distance of the fork frame 32. A translation position sensor is provided on the fork frame 32 to detect the translation position of the fork frame 32 and feed back a signal to the attachment 100c controller.

[0102] Figure 8 Schematic diagram of the installation structure of the identification unit in this embodiment.

[0103] The attachment 100c also includes an identification unit 34 that can identify the specific position and distance of the pallet when picking up or putting down goods. The identification unit 34 includes a telescopic rod 341 and an identification element 342. The telescopic rod 341 is fixed to the bottom end of the fork frame 32 and can be extended and retracted in the height direction. The identification element 342 is fixed to the telescopic end of the telescopic rod 341 and is located between the two fork monomers in the fork 31.

[0104] It can be understood that the identification element 342 in the identification unit 34 can identify the specific position and distance of the pallet when picking up and placing goods, so as to control the corresponding fork to move accurately to the picking and placing position. If there is goods on the fork or the pallet blocks the identification element 342, the telescopic rod 341 can be controlled to extend to drive the identification element 342 to extend for identification. When it is not needed to be extended, the telescopic rod 341 can be controlled to be retracted.

[0105] In this embodiment, the identification element 342 is a 3D camera.

[0106] The above-mentioned embodiments only express several implementation methods of the utility model, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the utility model patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. A transport robot, characterized in that: include: Walking chassis (100a); Used to drive the transport robot to walk; A gantry (100b) is mounted on the walking chassis (100a), the gantry (100b) comprising a first gantry (10) and two second gantry (20), the two second gantry (20) being respectively movably mounted on the first gantry (10) and configured to move along a height direction of the first gantry (10); At least two attachments (100c) are respectively mounted on the two second door frames (20) and are respectively movable along the height direction of the second door frames (20); The fork of the attachment (100c) can move downward along the height direction to a first preset position, and when in the first preset position, the fork descends to the walking surface that supports the walking chassis (100a) or below the walking surface.

2. The handling robot according to claim 1, characterized in that: The attachment (100c) comprises a fork frame (32), and the fork frame (32) comprises: The sliding part (321) is directly or indirectly connected to the second door frame (20) and is configured to drive the fork to slide along the direction of picking up and placing goods; the direction of picking up and placing goods is one side or both sides of the walking direction of the transport robot; A mounting portion (322), on which the fork is mounted; The extension portion (323) connects the sliding portion (321) and the mounting portion (322) into one body, and extends obliquely downward from the lower end of the sliding portion (321) toward a side away from the bearing body (50).

3. The handling robot according to claim 2, characterized in that: The attachment (100c) further comprises a translation mechanism (33), wherein the translation mechanism (33) is configured to enable the fork to move along the height direction of the mast, and comprises: The slide (331) is arranged on the second door frame (20) and moves along the height direction of the second door frame (20). The fork frame (32) is slidably mounted on the slide frame (331), and the fork frame (32) moves on the slide frame (331) along the direction of picking up and placing goods.

4. The handling robot according to claim 2, characterized in that: The attachment (100c) further comprises an identification unit (34), wherein the identification unit (34) comprises: A telescopic rod (341) fixed to the bottom end of the fork frame (32); An identification element (342) is fixed to the protruding end of the telescopic rod (341).

5. The handling robot according to claim 1, characterized in that: A door frame installation space (101) is respectively provided on both sides of the first door frame (10), and each of the second door frames (20) is correspondingly installed in each of the door frame installation spaces (101). The first door frame (10) comprises an enclosure portion (11) and a connection portion (12), and the two door frame installation spaces (101) are enclosed by the enclosure portion (11) and the connection portion (12).

6. The handling robot according to claim 5, characterized in that: There are two enclosure parts (11), and the two enclosure parts (11) are arranged at intervals along the direction of picking up and releasing goods. The connecting portion (12) is arranged between the two enclosure portions (11) to connect the two enclosure portions (11); the two extending ends of each enclosure portion (11) protrude a certain distance relative to the connecting portion (12); the area between the two enclosure portions (11) and located on one side of the connecting portion (12) constitutes a gantry installation space (101); The second door frame (20) is slidably arranged on the inner walls of the two enclosure parts (11).

7. The handling robot according to claim 5, characterized in that: The connecting portion (12) comprises: A plurality of first connecting plates (121), wherein two extending ends of the first connecting plates (121) are respectively fixed to the two enclosure portions (11).

8. The handling robot according to claim 5, characterized in that: The second door frame (20) comprises: Two limiting parts (21) have a height direction and are arranged at intervals along the direction of picking up and releasing goods, and the outer walls of the two limiting parts (21) are respectively slidably connected to the inner walls of the two enclosure parts (11); and, A plurality of second connecting plates (22) are arranged at intervals along the height direction, and two extending ends of the second connecting plates (22) are respectively fixed to the two limiting portions (21).

9. The handling robot according to claim 7, characterized in that: The door frame (100b) is also provided with a reinforcing component (60), and the reinforcing component (60) has four connecting ends and is arranged between two adjacent first connecting plates (121) on the first door frame (10).

10. The handling robot according to claim 8, characterized in that: The door frame (100b) is also provided with a reinforcing component (60), and the reinforcing component (60) has four connecting ends and is arranged between two adjacent second connecting plates (22) on the second door frame (20).

11. The handling robot according to claim 1, characterized in that: The transport robot further comprises a linkage mechanism (100d), wherein the linkage mechanism (100d) corresponds to the at least two attachments (100c) and comprises: a sprocket (71) rotatably disposed on the second door frame (20) at a top position in the height direction; and A chain (72) is wound around the sprocket (71); one end of the chain (72) is fixed to the first door frame (10), and the other end of the chain (72) is fixed to the corresponding attachment (100c).

12. The transport robot according to claim 3, characterized in that: The walking chassis (100a) further comprises a motion mechanism (80), wherein the motion mechanism (80) comprises: a driving wheel (81) rotatably disposed on the carrying body (50), wherein a part or all of the driving wheel (81) protrudes from the lower surface of the carrying body (50); and The driven wheel (82) is arranged on the carrying body (50), and part or all of the driven wheel (82) protrudes from the lower surface of the carrying body (50).

13. The handling robot according to claim 12, characterized in that: The driving wheels (81) include two groups arranged at intervals along the direction of picking up and releasing goods. When the two sets of driving wheels (81) rotate in opposite directions but at the same speed, the walking chassis (100a) turns, and the rotation center is located between the two sets of driving wheels (81).

14. The handling robot according to claim 1, characterized in that: Also includes: The guide units (100e) are arranged on both sides of the carrying body (50) in the walking direction of the robot. The guide unit (100e) comprises at least one guide wheel (91), wherein the guide wheel (91) is rotatably arranged on the carrying body (50), and a part or all of the guide wheel (91) protrudes from the carrying body (50). The rotation plane of the guide wheel (91) is parallel to the walking plane of the robot.

Images