Transportation robot

Abstract

The utility model discloses a transportation robot, which comprises an AGV (Automatic Guided Vehicle); the lifting frame is arranged on the AGV trolley; the lifting mechanism is arranged on the lifting frame; the fork arm body is arranged on the lifting mechanism and can ascend and descend along with the lifting mechanism, a supporting position is arranged on the top end face of the fork arm body, and the supporting position is suitable for being matched with a low-position buffering position or a high-position buffering position of a goods shelf. A plurality of fork arm bodies are arranged on the lifting mechanism, the fork arm bodies can be controlled to ascend and descend through the lifting mechanism according to requirements, and the fork arm body located at the bottom can be matched with a low-position buffer storage position on a goods shelf and can also be matched with a high-position buffer storage position on the goods shelf. The fork arm body located at the top can be matched with a high buffering position on the goods shelf, so that multiple layers of buffering positions on the goods shelf can be flexibly supported, and the carrying efficiency is improved.

Description

Technical Field

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

[0002] The existing warehousing industry mostly uses transport robots with integrated automatic climbing and moving capabilities to store, retrieve and move goods.

[0003] The Chinese utility model patent with application number CN202010231552.9 proposes a shelf and storage device, in which a temporary storage layer is separately arranged at the bottom layer of the shelf, and the goods can be temporarily stored through the temporary storage layer. The storage space provided by the high-level storage layer can store the goods for a longer period of time, which facilitates the coordination of the temporary storage layer and the storage layer to improve the efficiency of goods in and out of the warehouse.

[0004] The Chinese utility model patent with application number CN202010231545.9 discloses a warehousing device, system, and control method, including two supporting robots used for shelves, a low-position robot used for cache positions, and a high-position robot used for transporting material boxes between storage layers and temporary storage layers.

[0005] However, the utilization efficiency of the above-mentioned warehouses is low, the number of cache locations is limited, the high-position robots have a large handling capacity, and the low-position robots can only support one layer of cache location design. The current existing technology can no longer meet the dense storage needs of future warehouses. Therefore, there is an urgent need to provide a robot that can support multiple layers of cache locations. Utility Model Content

[0006] Therefore, the technical problem to be solved by the present invention is to overcome the defect that the existing robots are only adapted to the single-layer cache positions of the shelves and cannot meet the dense storage needs of future warehouses, thereby providing a transport robot.

[0007] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0008] A transport robot, comprising:

[0009] AGV car;

[0010] A lifting frame, wherein the lifting frame is arranged on the AGV trolley;

[0011] A lifting mechanism, wherein the lifting mechanism is arranged on the lifting frame;

[0012] At least one fork arm body is arranged on the lifting mechanism and can be raised and lowered following the lifting mechanism. A support position is arranged on the top surface of the fork arm body, and the support position is suitable for matching with a low cache position or a high cache position of the shelf.

[0013] To further optimize the technical solution, the fork arm body comprises:

[0014] At least two mutually spaced fork arms, each of the fork arms being connected by a connecting rod;

[0015] An adapter bracket plate is connected to the connecting rod and is detachably connected to the lifting mechanism.

[0016] To further optimize the technical solution, at least one baffle is provided on the sides of the two outermost fork arms.

[0017] To further optimize the technical solution, at least one of the fork arms is provided with a limiting member along the material box forking direction.

[0018] To further optimize the technical solution, at least one fork arm sensing component is provided on the fork arm, and the fork arm sensing component is suitable for detecting the position of the material box on the fork arm.

[0019] To further optimize the technical solution, an in-place sensing module is provided on the lifting frame, and the in-place sensing module is suitable for detecting whether the material box is forked in place.

[0020] To further optimize the technical solution, the lifting mechanism is a belt lifting mechanism, a chain lifting mechanism, a pneumatic lifting mechanism, or a hydraulic lifting mechanism.

[0021] To further optimize the technical solution, the lifting mechanism includes a synchronous belt, a driving wheel, a driven wheel, a driving motor, a driving motor bracket, a first driving wheel, a second driving wheel and a transmission belt; the driving motor is arranged on the driving motor bracket, and the driving motor bracket is fixed to the AGV trolley through a fixing plate, the output shaft end of the driving motor is connected to the first driving wheel, the first driving wheel is connected to the second driving wheel through a transmission belt, the second driving wheel is coaxially connected to the driving wheel rotatably arranged on the lifting frame, and the driving wheel is connected to the driven wheel arranged on the lifting frame through a synchronous belt.

[0022] To further optimize the technical solution, a vertical positioning groove is provided on the lifting frame, a sliding connecting plate is slidably installed in the positioning groove, the synchronous belt is located between the sliding connecting plate and the adapter bracket plate, the sliding connecting plate and the adapter bracket plate are detachably connected, and the sliding connecting plate and the adapter bracket plate are suitable for clamping the synchronous belt.

[0023] To further optimize the technical solution, a pair of sliding baffles are provided on the fork arm body, and the two sliding baffles are vertically spaced apart and arranged on both sides of the lifting frame.

[0024] To further optimize the technical solution, a fork arm mounting slot is vertically opened on the lifting frame, and a sliding guide structure suitable for slidingly fitting with the fork arm mounting slot is provided on the adapter bracket plate.

[0025] Further optimizing the technical solution, the fork arm mounting slot is divided into a first fork arm mounting slot and a second fork arm mounting slot, and the opening directions of the first fork arm mounting slot and the second fork arm mounting slot are perpendicular to each other;

[0026] The sliding guide structure includes an L-shaped positioning plate, at least one first moving wheel and at least one second moving wheel. The first moving wheel is rotatably set on one side wall of the L-shaped positioning plate, and the first moving wheel is slidably mounted in the first fork arm mounting groove. The second moving wheel is rotatably set on the other side wall of the L-shaped positioning plate, and the second moving wheel is slidably mounted in the second fork arm mounting groove.

[0027] To further optimize the technical solution, a guide component is provided on the top surface of the AGV trolley.

[0028] To further optimize the technical solution, at least one safety plate is provided on both sides of the top surface of the AGV trolley.

[0029] To further optimize the technical solution, the lifting frame is a retractable lifting frame.

[0030] The technical solution of the utility model has the following advantages:

[0031] 1. The utility model provides a transport robot, which is provided with a plurality of fork arm bodies on a lifting mechanism, and each fork arm body can be controlled to be raised and lowered by the lifting mechanism according to demand. The fork arm body at the bottom can be adapted to the low cache position on the shelf, and can also be adapted to the high cache position on the shelf. The fork arm body at the top can be adapted to the high cache position on the shelf, so it can flexibly support multiple layers of cache positions on the shelf, thereby improving the carrying efficiency. Moreover, the utility model can simultaneously adapt to the high cache position and the low cache position of the shelf through only one transport robot. Under the same transportation demand, it is not necessary to set up multiple robots, which reduces the number of high-position robots and reduces the cost.

[0032] 2. The utility model provides a transport robot which utilizes a lifting mechanism to control the fork arm body to descend to a position below the shelf cache position. There is no need to extend the fork arm body again after the robot stops as a whole, which reduces the time for storing and retrieving goods and improves the efficiency of retrieving goods.

[0033] 3. The utility model provides a transport robot, in which at least one baffle is provided on the sides of the two outermost fork arms. When the fork arm body forks a material box on the shelf, the left and right sides of the material box can be limited by the baffle, so that the material box is more stable during transportation and is not easy to slide off the fork arm body.

[0034] At least one fork arm is provided with a limiting piece along the forking direction of the material box. When the fork arm body forks the material box on the shelf, the front side of the material box can be limited by the limiting piece, and the limiting piece cooperates with the baffle plate, and the rear side of the material box can be limited by the lifting frame, so that the material box is limited in the front, rear, left and right directions, so that the material box is more stable during transportation and is not easy to slip from the fork arm body.

[0035] 4. The utility model provides a transport robot, on which at least one fork arm sensing component is arranged. The positional relationship between the fork arm body and the material box on the shelf is obtained by the arranged fork arm sensing component, and the moving speed and / or start and stop of the AGV trolley can be controlled by the positional relationship.

[0036] The sensing module is set at the upper and rearmost section of the fork arm body. When the fork arm body moves into place, the material boxes on the shelf will enter the detection range of the sensing module. The sensing information of the sensing module is used to control the AGV trolley to stop moving and control the operation of the lifting mechanism. The lifting mechanism drives the fork arm body to move upward to lift the material boxes on the shelf.

[0037] 5. The utility model provides a transport robot, in which a sliding connection plate and an adapter bracket plate can be slidably assembled in a positioning groove of a lifting frame, and then a plurality of sliding connection plates and adapter bracket plates can be slidably assembled in the positioning groove, so that the device can support a multi-fork arm design.

[0038] 6. The utility model provides a transport robot, in which a fork arm mounting slot is vertically opened on the lifting frame, a sliding guide structure is provided on the adapter bracket plate, and the fork arm body is also slidably assembled with the lifting frame through the sliding guide structure, thereby improving the stability of the fork arm body when moving up and down.

[0039] 7. The utility model provides a transport robot, in which a guide assembly is provided on the top surface of the AGV trolley, and the guide assembly is used to support the material box on the fork arm body located on the bottom layer. When the AGV trolley moves toward the shelf, the guide assembly touches the crossbeam of the shelf and then moves forward a short distance. At this time, the guide assembly is in a backward pressure state. When the fork arm body completes lifting the material box and the AGV trolley leaves the shelf, the guide assembly returns to its original state. When the fork arm body at the bottom layer drops to the lowest position, the material box cooperates with the guide assembly and the protective parts of the chassis to stabilize the material box.

[0040] 8. The utility model provides a transport robot, in which at least one safety plate is respectively arranged on both sides of the top surface of the AGV trolley. When the fork arm body at the bottom layer forks the material box on the shelf, the safety plate arranged on the AGV trolley can block both sides of the material box, which can effectively prevent the possibility of the material box tipping over. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0042] Figure 1 It is a schematic diagram of the structure when the transport robot is a single-layer fork arm body;

[0043] Figure 2 A schematic diagram of the first structure of the fork arm body of the transport robot provided by the utility model;

[0044] Figure 2a A second structural schematic diagram of the fork arm body of the transport robot provided by the utility model;

[0045] Figure 2b A third structural schematic diagram of the fork arm body of the transport robot provided by the utility model;

[0046] Figure 2c A fourth structural schematic diagram of the fork arm body of the transport robot provided by the utility model;

[0047] Figure 2d A fifth structural schematic diagram of the fork arm body of the transport robot provided by the utility model;

[0048] Figure 3 A schematic diagram of the structure of the transport robot provided by the utility model when it is a double-layer fork arm body;

[0049] Figure 4 This is a schematic diagram of the structure of the transport robot provided by the utility model when the double-layer fork arm body lifts the material box;

[0050] Figure 5 A schematic structural diagram from another perspective when the transport robot provided by the utility model is a single-layer fork arm body;

[0051] Figure 6 This is a schematic diagram of the structure of the transport robot provided by the utility model when the single-layer fork arm body lifts a material box;

[0052] Figure 7 A partial structural schematic diagram of the transport robot provided by the utility model;

[0053] Figure 8 A schematic diagram of the structure of the lifting mechanism of the transport robot provided by the utility model;

[0054] Fig. 9 This is a schematic diagram of the structure of the transportation robot lifting mechanism provided by the utility model when connected with the fork arm body and the fixing plate;

[0055] Fig.10 This is a schematic diagram of the structure of the fork arm body of the transport robot provided by the utility model when it is connected to the lifting mechanism;

[0056] Fig.11 A schematic diagram of the structure of the sliding guide structure and the lifting frame of the transport robot provided by the utility model when assembled;

[0057] Fig.12 This is a schematic diagram of the structure of the transport robot provided by the utility model when the sliding connection plate, the synchronous belt, and the adapter bracket plate are not connected;

[0058] Fig.13 This is a schematic diagram of the structure of the transport robot provided by the utility model when the sliding connection plate, the synchronous belt, and the adapter bracket plate are connected;

[0059] Fig.14 A schematic diagram of the structure of the sliding connection plate of the transport robot provided by the utility model;

[0060] Fig.15 A schematic diagram of the structure of the sliding guide structure of the transport robot provided by the utility model;

[0061] Fig.16 This is a cross-sectional view of the sliding guide structure and the lifting frame of the transport robot provided by the utility model during assembly.

[0062] Reference numerals:

[0063] 1. fork arm body, 11. first fork arm, 12. second fork arm, 13. third fork arm, 14. baffle plate, 15. adapter bracket plate, 16. limiter, 17. fork arm sensing assembly;

[0064] 2. lifting mechanism, 21. synchronous belt, 23. driving wheel, 24. driven wheel, 25. driving motor, 26. first driving wheel, 27. transmission belt, 28. second driving wheel, 29. fixing plate;

[0065] 3. Lifting frame, 31. In-position sensing module, 32. Positioning slot, 33. Fork arm mounting slot, 34. Sliding baffle, 35. Sliding guide structure, 351. L-shaped positioning plate, 352. First moving wheel, 353. Second moving wheel, 36. Sliding connecting plate;

[0066] 4. AGV trolley, 41. chassis frame, 42. roller, 43. safety plate, 44. guide assembly;

[0067] 5. Material box. DETAILED DESCRIPTION

[0068] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure 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 disclosure and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that the utility model describes the transport robot of the utility model in the form of providing multiple fork arm bodies to adapt to multiple cache positions of the shelf, which is only a preferred embodiment and does not limit the protection scope of the transport robot.

[0069] It should be understood that the terms used herein are for the purpose of describing specific example embodiments only and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "a", "an" and "an" as used herein may also be meant to include the plural forms. The terms "comprise", "include" and "have" are inclusive and therefore specify the presence of stated features, elements and / or components, but do not exclude the presence or addition of one or more other features, elements, components, and / or combinations thereof.

[0070] Although the terms first, second, etc. may 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 may only be used to distinguish one element, component, region, layer or section from another region, layer or section. Unless the context clearly indicates otherwise, terms such as "first", "second" and other numerical terms do not imply order or sequence when used in the text. In addition, in the description of the utility model, unless otherwise clearly specified and limited, the terms "set" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For those skilled in the art, the specific meanings of the above terms in the utility model can be understood according to the specific circumstances.

[0071] For ease of description, spatial relative terms can be used in the text to describe the relationship of an element or feature relative to another element or feature as shown in the figure, and these relative terms are, for example, "front", "rear", "middle", "inside", "longitudinal", "lateral", "side", "vertical", "outside", etc. Such spatial relative terms are intended to include different orientations of the mechanism in use or operation in addition to the orientation depicted in the figure. For example, if the mechanism in the figure flips, the element described as "below other elements or features" or "below other elements or features" will be subsequently oriented to "above other elements or features" or "above other elements or features". Therefore, the example term "below..." can include the orientation on and below. The mechanism can be oriented in addition (rotated 90 degrees or in other directions) and the spatial relative descriptors used in the text are interpreted accordingly.

[0072] The existing warehousing industry mostly uses transport robots with integrated automatic climbing and moving capabilities to store and transport goods. However, the current warehouse utilization efficiency is low, the number of cache locations is limited, the high-position robots have a large handling capacity, and the low-position robots can only support one layer of cache location design. The current existing technology can no longer meet the future warehouse intensive storage needs, so there is an urgent need to provide a robot that can support multiple layers of cache locations.

[0073] Based on this, the utility model designs a transport robot, which adapts to multiple cache positions on the shelf by arranging multiple fork arm bodies, thereby supporting multiple layers of cache positions on the shelf, thereby improving the transportation efficiency.

[0074] like Figures 1 to 16 As shown, this embodiment discloses a transport robot, including an AGV trolley 4, a lifting frame 3, a lifting mechanism 2 and a fork arm body 1. The AGV trolley 4 is used to drive the device as a whole to move. The lifting frame 3 is vertically arranged on the AGV trolley 4. The lifting mechanism 2 is arranged on the lifting frame 3, and the lifting mechanism 2 flexibly adjusts the height position of the fork arm body. The fork arm body 1 is provided with at least one, the fork arm body 1 is arranged on the lifting mechanism 2 and can be lifted and lowered with the lifting mechanism 2, and a support position is arranged on the top surface of the fork arm body 1, and the support position is suitable for matching with the low cache position or the high cache position of the shelf, and the support position of the fork arm is used to lift the material box 5.

[0075] In this embodiment, a plurality of fork arm bodies 1 are arranged on the lifting mechanism 2, and each fork arm body 1 can be controlled to be raised and lowered by the lifting mechanism according to the demand. The fork arm body 1 at the bottom can be adapted to the low cache position on the shelf, and can also be adapted to the high cache position on the shelf. The fork arm body 1 at the top can be adapted to the high cache position on the shelf, so it can flexibly support multiple layers of cache positions on the shelf, thereby improving the transportation efficiency. In addition, this embodiment can simultaneously adapt to the high cache position and the low cache position of the shelf through only one transport robot. Under the same transportation demand, it is not necessary to set up multiple robots, which reduces the number of high-position robots and reduces the cost.

[0076] Since current robots need to stop and extend their mechanical arms to the shelves when storing and retrieving goods, this takes a certain amount of time and reduces the efficiency of storing and retrieving goods. In order to solve this technical problem, the transport robot in the utility model uses the lifting mechanism 2 to control the fork arm body 1 to descend to a position below the shelf buffer position, and there is no need to extend the fork arm body again after the robot stops as a whole, which reduces the time for storing and retrieving goods and improves the efficiency of retrieving goods.

[0077] The current lifting frame height can only meet the design requirements of a single-layer fork arm, and the lifting frame height cannot meet the design requirements of a multi-layer shelf. In order to solve this technical problem, the lifting frame 3 of this embodiment is a telescopic frame, and the lifting frame 3 can be telescoped in two stages, which increases the overall height of the lifting frame 3 and can be applied to multi-fork arm application scenarios.

[0078] In some embodiments, the fork arm body 1 includes a fork arm and an adapter bracket plate 15. There are at least two fork arms, which are spaced apart from each other. The fork arms are connected by a connecting rod, the fork arms are perpendicular to the connecting rod, and the top surface of each fork arm is a support position. Figure 1 For example, three forks are provided, namely, a first fork 11, a second fork 12, and a third fork 13. The first fork 11 and the second fork 12 are located on the left and right sides, and the third fork 13 is arranged between the first fork 11 and the second fork 12. The adapter bracket plate 15 is connected to the connecting rod and is detachably connected to the lifting mechanism 2. In this embodiment, the fork arm body 1 is detachably connected to the lifting mechanism 2, so that the fork arm body 1 can be set at different positions of the lifting mechanism 2 as required.

[0079] The fork arm body of the above-mentioned transport robot has various forms. Figure 2 The first fork arm body form shown in the figure has only two fork arms. Figure 2a The second fork arm body form shown in the figure has three forks; Figure 2b The third fork arm body form shown in FIG. Figure 2a A single limiter is added on the basis; Figure 2cThe fourth fork arm body form shown in FIG. Figure 2a On the basis of adding a number of limit parts; such as Figure 2d The fifth fork arm body form shown in FIG. Figure 2a A fork arm sensing component 17 is added on the basis.

[0080] In some embodiments, Figure 2 As shown, at least one baffle 14 is provided on the side of the two outermost forks. In this embodiment, after the fork arm body 1 forks the material box 5 on the shelf, the left and right sides of the material box can be limited by the baffle 14, so that the material box is more stable during transportation and is not easy to slide off the fork arm body 1.

[0081] In some embodiments, Figure 2a As shown, the fork arm body is provided with three fork arms, and the three fork arms provide more stable support to the material box 5 than the two fork arms.

[0082] In some embodiments, at least one fork arm is provided with a limit member 16 along the material box forking direction. In this embodiment, the "material box forking direction" refers to the front end of the fork arm. After the fork arm body 1 forks the material box on the shelf, the front side of the material box can be limited by the limit member 16, and the limit member 16 cooperates with the baffle 14, and the rear side of the material box can be limited by the lifting frame 3, and then the material box is limited in the front, rear, left and right directions, so that the material box is more stable during transportation and is not easy to slide off the fork arm body 1.

[0083] More specifically, Figure 2b For example, the limiting member 16 is provided with one and is located at the front end of the third fork arm (the middle fork arm). Figure 2c For example, three limiting members 16 are provided and are respectively located at the front ends of the first fork arm, the second fork arm, and the third fork arm.

[0084] In some embodiments, at least one fork arm sensing component 17 is provided on the fork arm, and the fork arm sensing component 17 is suitable for detecting the position of the material box on the fork arm. When there are more than two fork arm sensing components 17, the fork arm sensing components 17 are arranged at intervals. In this embodiment, the positional relationship between the fork arm body and the material box on the shelf is obtained by the fork arm sensing component 17, and the moving speed and / or start and stop of the AGV 4 can be controlled by the positional relationship.

[0085] As a specific embodiment, Figure 2dAs shown, two fork arm sensing components 17 are provided as an example for explanation, the first fork arm sensing component is provided at the front section of the fork arm, and the second fork arm sensing component is provided at the rear section of the fork arm. When the fork arm body forks the material box, the AGV trolley 4 drives the fork arm body to move toward the material box, and the first fork arm sensing component will first sense the position of the material box. At this time, the moving speed of the AGV trolley 4 can be controlled according to the position information (for example, the moving speed of the AGV trolley 4 can be appropriately slowed down). When the second fork arm sensing component senses the position of the material box, it means that the AGV trolley 4 is about to move into position. At this time, the moving speed of the AGV trolley 4 can be controlled according to the position information (for example, the moving speed of the AGV trolley 4 can be greatly slowed down).

[0086] In some embodiments, Figure 1 and Figure 3 As shown, an in-position sensing module 31 is arranged above the side wall of the lifting frame 3. The in-position sensing module 31 is suitable for detecting whether the material box is in place. More specifically, the in-position sensing module 31 adopts the detection method of detecting whether the material box is in contact with the in-position sensing module 31. If the material box is in contact with the in-position sensing module 31, it is determined that the fork is in place. In this embodiment, the in-position sensing module 31 is arranged at the upper and last section of the fork arm body. When the fork arm body moves into place, the material box on the shelf will enter the detection range of the in-position sensing module 31. The sensing information of the in-position sensing module 31 is used to control the AGV trolley 4 to stop moving, and the lifting mechanism 2 is controlled to operate. The fork arm body is driven upward by the lifting mechanism 2 to lift the material box on the shelf.

[0087] like Figure 3 As shown, taking two fork arm bodies 1 as an example, there is a distance between the two fork arm bodies 1, and the distance between them is greater than the height of the material box, and the two fork arm bodies 1 can lift the material box respectively, such as Figure 4 As shown, this figure is a schematic diagram of the structure when the double-layer fork arm body lifts the material box.

[0088] like Figure 5 As shown, taking the fork arm body 1 as an example, one fork arm body 1 can also realize the lifting of the material box. Figure 6 As shown, this figure is a schematic diagram of the structure when a single-layer fork arm body lifts a material box.

[0089] In some embodiments, Figure 7 As shown, the AGV trolley 4 includes a chassis frame 41, rollers 42 and a roller drive assembly. At least one safety plate 43 is provided on both sides of the top surface of the AGV trolley 4. In this embodiment, when the fork arm body at the bottom layer forks the material box on the shelf, the safety plate 43 provided on the AGV trolley 4 can block both sides of the material box, which can effectively prevent the possibility of the material box tipping over.

[0090] In some embodiments, Figure 1 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, a guide assembly 44 is provided on the top surface of the AGV trolley 4, and the guide assembly 44 can be extended and retracted along the direction of the material box forking and can be extended and retracted up and down. The guide assembly 44 is used to support the material box on the fork arm body located on the bottom layer. A beam corresponding to the guide assembly 44 is provided on the shelf. In the state before touching, the height of the guide assembly 44 and the beam are consistent. When the AGV trolley 4 moves toward the shelf, when the guide assembly 44 touches the beam of the shelf, it moves forward a short distance. At this time, the guide assembly 44 is in a rear pressure state (that is, the guide assembly is at the bottom of the beam). When the fork arm body completes the lifting of the material box and the AGV trolley 4 leaves the position of the shelf, the guide assembly 44 returns to its original state. When the fork arm body at the bottom layer drops to the lowest position, the material box cooperates with the guide assembly and the protective parts of the chassis to stabilize the material box.

[0091] The positioning slots provided on the lifting frame 3 support the installation of multiple detachable fork arm assemblies. In one embodiment, a multi-fork arm structure is supported, and there is no guide assembly 44 design; in another embodiment, a single fork arm design can be optimized, and there is a guide assembly 44 design.

[0092] In some embodiments, the lifting mechanism 2 is a belt lifting mechanism, a chain lifting mechanism, a pneumatic lifting mechanism, or a hydraulic lifting mechanism. The appropriate type of lifting mechanism can be selected according to actual conditions.

[0093] Take the lifting mechanism 2 as a belt lifting mechanism as an example. Figure 8 As shown, the lifting mechanism 2 includes a synchronous belt 21, a driving wheel 23, a driven wheel 24, a driving motor 25, a driving motor bracket, a first driving wheel 26, a second driving wheel 28 and a transmission belt 27. Fig. 9 As shown, the drive motor 25 is arranged on the drive motor bracket, and the drive motor bracket is fixed to the AGV trolley 4 through the fixing plate 29. The drive motor 25 is specifically arranged at the lower part of the lifting frame 3 and the chassis. Figure 8 As shown, the output shaft end of the driving motor 25 is connected to the first driving wheel 26, the first driving wheel 26 is connected to the second driving wheel 28 through a transmission belt 27, the second driving wheel 28 is coaxially connected to the driving wheel 23 arranged on the lifting frame 3, and the driving wheel 23 is connected to the driven wheel 24 arranged on the lifting frame 3 through a synchronous belt 21.

[0094] In this embodiment, the lifting frame 3 is connected to the fixing plate by screws, and the lifting mechanism 2 is fixed to the AGV trolley 4 by the fixing plate. When the driving motor 25 is running, it can drive the first driving wheel 26 to rotate, and the first driving wheel 26 drives the second driving wheel 28 and the driving wheel 23 to rotate through the transmission belt 27, and the driving wheel 23 drives the synchronous belt 21 to rise and fall, thereby realizing the rise and fall of the fork arm body 1 connected to the synchronous belt 21.

[0095] In some embodiments, Fig.10 As shown, the adapter bracket plate 15 is positioned on the synchronous belt 21. Fig.11 As shown, a vertical slot 32 is provided on the lifting frame 3, and the synchronous belt 21 passes around the lifting frame and is located in the slot. A sliding connecting plate 36 is slidably mounted in the slot 32. Fig.12 and Fig.13 As shown, the synchronous belt 21 is located between the sliding connection plate 36 and the adapter bracket plate 15, the sliding connection plate 36 and the adapter bracket plate 15 are detachably connected, and the sliding connection plate 36 and the adapter bracket plate 15 are suitable for clamping the synchronous belt 21. More specifically, as Fig.14 As shown, a plurality of first connection holes are opened on the sliding connection plate 36, and a plurality of second connection holes are opened on the adapter bracket plate 15. The positions of the first connection holes correspond to the positions of the second connection holes. The first connection holes of the sliding connection plate 36 and the second connection holes of the adapter bracket plate 15 are connected by screws.

[0096] In this embodiment, the sliding connection plate 36 and the adapter bracket plate 15 can be slidably assembled in the positioning groove 32 of the lifting frame 3, and then a plurality of sliding connection plates 36 and adapter bracket plates 15 can be slidably assembled in the positioning groove 32, so that the device can support a multi-fork arm design.

[0097] In some embodiments, a pair of sliding baffles 34 are provided on the fork arm body 1, and the two sliding baffles 34 are vertically spaced and arranged on both sides of the lifting frame 3. In this embodiment, when the fork arm body is installed on the lifting mechanism, the two sliding baffles 34 will be located on both sides of the lifting frame 3, which can limit the left and right movement range of the fork arm body, thereby making the fork arm body more stable during the up and down movement process.

[0098] Furthermore, slideways slidably fitted with the sliding baffle 34 may be provided on the left and right sides of the lifting frame 3 , so that the sliding resistance between the sliding baffle 34 and the lifting frame 3 is smaller.

[0099] In some embodiments, Fig.11As shown, a fork arm mounting slot 33 is vertically provided on the lifting frame 3, and a sliding guide structure 35 suitable for slidingly fitting with the fork arm mounting slot 33 is provided on the adapter bracket plate 15. In this embodiment, the fork arm body is also slidably fitted with the lifting frame 3 through the sliding guide structure 35, thereby improving the stability of the fork arm body when moving up and down.

[0100] In some embodiments, the fork arm mounting slot 33 is divided into a first fork arm mounting slot and a second fork arm mounting slot, and the opening directions of the first fork arm mounting slot and the second fork arm mounting slot are perpendicular to each other. Fig.15 As shown, the sliding guide structure 35 includes an L-shaped positioning plate 351, a first moving wheel 352 and a second moving wheel 353. The first moving wheel 352 is provided with at least one, and the second moving wheel 353 is provided with at least one. Fig.16 As shown, the first moving wheel 352 is rotatably arranged on one side wall of the L-shaped positioning plate 351, and the first moving wheel 352 is slidably mounted in the first fork arm mounting slot, and the second moving wheel 353 is rotatably arranged on the other side wall of the L-shaped positioning plate 351, and the second moving wheel 353 is slidably mounted in the second fork arm mounting slot. This embodiment is provided with two sets of moving wheels in different directions, so that the flip fork arm mechanism is not easy to slip when moving up and down.

[0101] The specific working process of the above-mentioned transport robot is as follows:

[0102] S1. The lifting mechanism 2 and the fork arm body 1 are driven by the AGV trolley 4 to move toward the cache position close to the shelf, and the height of the fork arm body 1 is lower than the cache position on the shelf.

[0103] S2. The guide assembly 44 at the front end of the AGV trolley 4 touches the crossbeam of the shelf. When the guide assembly 44 is located directly below the crossbeam, the lifting mechanism 2 controls the fork arm body to rise and lift the material box on the shelf.

[0104] S3.AGV 4 drives away from the shelf and completes the delivery of the material box.

[0105] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the scope of protection of the invention of the utility model.

Claims

1. A transport robot, characterized in that: include: AGV (4); A lifting frame (3), wherein the lifting frame (3) is arranged on the AGV trolley (4); A lifting mechanism (2), wherein the lifting mechanism (2) is arranged on a lifting frame (3); At least one fork arm body (1), the fork arm body (1) being arranged on the lifting mechanism (2) and being capable of following the lifting mechanism (2) to be raised and lowered, a support position being arranged on the top surface of the fork arm body (1), the support position being suitable for matching with a low cache position or a high cache position of a shelf.

2. The transport robot according to claim 1, characterized in that: The fork arm body (1) comprises: At least two mutually spaced fork arms, each of the fork arms being connected by a connecting rod; An adapter bracket plate (15), wherein the adapter bracket plate (15) is connected to the connecting rod and is detachably connected to the lifting mechanism (2).

3. The transport robot according to claim 2, characterized in that: At least one baffle (14) is provided on the side of the two outermost fork arms.

4. The transport robot according to claim 2, characterized in that: At least one of the fork arms is provided with a limiting member (16) along the material box forking direction.

5. The transport robot according to claim 2, characterized in that: At least one fork arm sensing component (17) is arranged on the fork arm, and the fork arm sensing component (17) is suitable for detecting the position of the material box on the fork arm.

6. The transport robot according to claim 2, characterized in that: The lifting frame (3) is provided with an in-place sensing module (31), and the in-place sensing module (31) is suitable for detecting whether the material box is forked in place.

7. The transport robot according to claim 2, characterized in that: The lifting mechanism (2) is a belt lifting mechanism, a chain lifting mechanism, a pneumatic lifting mechanism, or a hydraulic lifting mechanism.

8. The transport robot according to claim 7, characterized in that: The lifting mechanism (2) comprises a synchronous belt (21), a driving wheel (23), a driven wheel (24), a driving motor (25), a driving motor bracket, a first driving wheel (26), a second driving wheel (28) and a transmission belt (27); the driving motor (25) is arranged on the driving motor bracket, and the driving motor bracket is fixed to the AGV trolley (4) through a fixing plate (29); the output shaft end of the driving motor (25) is connected to the first driving wheel (26), the first driving wheel (26) is connected to the second driving wheel (28) through a transmission belt (27), the second driving wheel (28) is coaxially connected to the driving wheel (23) rotatably arranged on the lifting frame (3), and the driving wheel (23) is connected to the driven wheel (24) arranged on the lifting frame (3) through a synchronous belt (21).

9. The transport robot according to claim 8, characterized in that: The lifting frame (3) is vertically provided with a locking groove (32), and a sliding connecting plate (36) is slidably installed in the locking groove (32). The synchronous belt (21) is located between the sliding connecting plate (36) and the adapter bracket plate (15). The sliding connecting plate (36) and the adapter bracket plate (15) are detachably connected, and the sliding connecting plate (36) and the adapter bracket plate (15) are suitable for clamping the synchronous belt (21).

10. The transport robot according to claim 8, characterized in that: A pair of sliding baffles (34) are provided on the fork arm body (1), and the two sliding baffles (34) are vertically spaced apart and arranged on both sides of the lifting frame (3).

11. The transport robot according to claim 8, characterized in that: A fork arm mounting slot (33) is vertically provided on the lifting frame (3), and a sliding guide structure (35) suitable for slidingly fitting with the fork arm mounting slot (33) is provided on the adapter bracket plate (15).

12. The transport robot according to claim 11, characterized in that: The fork arm mounting slot (33) is divided into a first fork arm mounting slot and a second fork arm mounting slot, and the opening directions of the first fork arm mounting slot and the second fork arm mounting slot are perpendicular to each other; The sliding guide structure (35) comprises an L-shaped positioning plate (351), at least one first moving wheel (352) and at least one second moving wheel (353), wherein the first moving wheel (352) is rotatably arranged on one side wall of the L-shaped positioning plate (351), and the first moving wheel (352) is slidably mounted in a first fork arm mounting slot, and the second moving wheel (353) is rotatably arranged on the other side wall of the L-shaped positioning plate (351), and the second moving wheel (353) is slidably mounted in a second fork arm mounting slot.

13. The transport robot according to any one of claims 1 to 12, characterized in that: A guide assembly (44) is provided on the top end surface of the AGV trolley (4).

14. The transport robot according to any one of claims 1 to 12, characterized in that: At least one safety plate (43) is respectively provided on both sides of the top end surface of the AGV trolley (4).

15. The transport robot according to any one of claims 1 to 12, characterized in that: The lifting frame (3) is a telescopic lifting frame.

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