Stacking type transfer robot

Abstract

The utility model relates to a stacking type transfer robot, and belongs to the technical field of transfer equipment. In order to overcome the defects that an existing transfer robot is low in load, cannot be used for a tray shaped like a Chinese character'tian ', and is low in goods taking speed and low in efficiency, the stacking type transfer robot which is high in load and can be used for the tray shaped like the Chinese character'tian' is provided. The stacking type transfer robot comprises a robot chassis, a lifting steel frame assembly is installed on the robot chassis, a pallet fork assembly capable of moving up and down along the lifting steel frame assembly is arranged on the lifting steel frame assembly, and a front automatic telescopic supporting assembly capable of horizontally stretching out and drawing back along the robot chassis is installed on the robot chassis. The two sets of front automatic telescopic supporting assemblies are located on the two sides of the pallet fork assembly. The robot can be suitable for a tray shaped like a Chinese character'chuan 'and a tray shaped like a Chinese character'tian'; the stability is good, and the loading of heavy goods can be realized; fork teeth in the pallet fork assembly can move independently, only the fork teeth need to move during goods taking, the goods speed is high, and the efficiency is high.

Description

Technical Field

[0001] The utility model relates to a transport robot, in particular to a stacking type transport robot, belonging to the technical field of transport equipment. Background Art

[0002] The handling robot is an unmanned handling device widely used in industrial production and logistics warehousing. It is automatically operated through a built-in navigation system and control system, and can automatically carry goods according to a preset path, greatly improving production efficiency and reducing the labor intensity of workers.

[0003] The stacking robots currently on the market include the small stacking automatic forklift SFL-CDD14 produced by Shanghai Xiangong Intelligent Technology Co., Ltd. The disadvantages of this type of intelligent forklift are:

[0004] 1. There are two support arms at the bottom, and the fork teeth are located above the support arms. Because the support arms and the fork teeth are integrated, support wheels are installed on the support arms, and the support wheels are in contact with the ground. Because the support wheels are always in contact with the ground, the robot can only be used for Sichuan-shaped pallets, and cannot be used for Tian-shaped pallets;

[0005] Second, the fork tine and the body of this type of smart forklift are integrated into one design, and the fork tine cannot move independently. Therefore, when moving a pallet, the fork tine and the support arm at the bottom of the fork tine need to enter the pallet socket together. Due to the limited space in the pallet socket, the fork tine end of this type of smart forklift cannot be installed with support wheels or steering wheels with a larger load-bearing capacity. Therefore, the load of this type of smart forklift cannot be too high, generally less than 2 tons, and the lateral movement function cannot be achieved when the load exceeds 1 ton.

[0006] The other is a counterbalanced intelligent forklift, the fork tine of which is suspended, there is no support arm under the fork tine, and a counterweight is set behind the vehicle body. Because the fork tine is suspended, this type of intelligent forklift can be used for the transportation of the field tray. The disadvantages are as follows:

[0007] 1. Because there is no support arm under the fork tines, a counterweight needs to be placed behind the vehicle body to balance the weight of the goods, resulting in the vehicle body's own weight being much greater than other types of smart forklifts. For example, when carrying a 3-ton cargo, the vehicle body's own weight needs to be more than 3 tons to balance the weight of the cargo.

[0008] Second, because the weight of the goods needs to be balanced, the counterweight needs to be as far away from the front support wheel as possible, which results in a longer total length of this type of smart forklift and a very large turning radius, which greatly reduces the utilization rate of the customer's site;

[0009] 3. Because the fork tines are suspended and there is no mechanical structure under the fork tines, this type of smart forklift cannot adopt a dual steering wheel structure and cannot achieve the function of lateral movement of the vehicle body.

[0010] The most advanced side-fork unmanned forklift at present is a self-adaptive forklift disclosed in the patent with announcement number CN220283509U, and specifically discloses: a self-adaptive forklift, including: a chassis;

[0011] The gantry assembly is a liftable gantry, mounted on the chassis and configured to be telescopically movable along the side of the chassis in the direction of travel;

[0012] The fork assembly is arranged on the portal assembly and is configured to be movable up and down along the portal assembly.

[0013] The disadvantages of this smart forklift are:

[0014] 1. Because the lower support wheels of the gantry are in direct contact with the ground, it is not suitable for the transportation scenario of the field support;

[0015] Second, because the fork tine and the support arm under the fork tine need to enter the pallet socket together when picking up goods, the pallet socket space is limited, so the fork end of this type of smart forklift cannot be installed with a support wheel with a large load-bearing capacity, and the strength of the lower support arm cannot be too large, resulting in the load of this type of smart forklift cannot be very high, usually not exceeding 1.5 tons;

[0016] 3. The fork tines cannot move independently, and the entire gantry assembly needs to move as a whole when picking up goods, resulting in the fork picking speed not being too fast and low efficiency. Utility Model Content

[0017] The utility model aims to solve the deficiencies of the prior art and to provide a stacking type handling robot which has a large load capacity, is not restricted in using pallets, uses a small space, has a high speed and a high efficiency.

[0018] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0019] A stacking type handling robot comprises a robot chassis, a lifting steel frame assembly is installed on the robot chassis, a fork assembly which can move up and down along the lifting steel frame assembly is provided on the lifting steel frame assembly, and the special feature of the robot is that: a front automatic telescopic support assembly which can be horizontally telescopic along the robot chassis is installed on the robot chassis, and two groups of the front automatic telescopic support assemblies are provided and are located on both sides of the fork assembly;

[0020] Preferably, each group of the front automatic telescopic support assembly comprises a support arm mounting plate mounted on the robot chassis, a support arm guide rail is mounted on the inner side of the support arm mounting plate, a slider matched therewith is mounted on the support arm guide rail, the slider is fixedly mounted on the telescopic support arm, the telescopic support arm is mounted on a nut, the nut is mounted on a screw rod, and the screw rod is driven by a motor;

[0021] Preferably, a support rocker plate is installed at the lower side of the front end of the telescopic support arm, which can increase the force-bearing area and reduce the pressure on the ground;

[0022] Preferably, each of the support arm mounting plates is provided with a steering wheel placement slot, a steering wheel is installed on the robot chassis, and the steering wheel is located in the steering wheel placement slot;

[0023] Preferably, a nut mounting plate is extended from the rear end of the telescopic support arm to the outside of the support arm mounting plate, and the nut mounting plate is sleeved on the nut;

[0024] Preferably, the screw rod, nut and motor are all installed on the outside of the support arm mounting plate, and the nut mounting plate passes through the support arm mounting plate and is installed on the nut;

[0025] Preferably, the end of the nut mounting plate close to the motor is a "U"-shaped plate, and the "U"-shaped plate is composed of two horizontal plates arranged at intervals and a vertical plate connecting the two horizontal plates, and a mounting hole for mounting the nut is provided in the middle of the vertical plate;

[0026] Preferably, a hole is formed on the support arm mounting plate, and the nut mounting plate passes through the hole;

[0027] Preferably, the fork assembly includes two fork teeth located between two groups of front automatic telescopic support assemblies, the two fork teeth are installed on a fork tooth mounting plate at intervals, the fork tooth mounting plate is fixedly installed on the fork tooth telescopic assembly, and the fork tooth telescopic assembly drives the fork teeth to move along a certain guide rail;

[0028] Preferably, the fork tine telescopic assembly comprises a driving mechanism mounting plate mounted above the fork tine mounting plate, telescopic guide mechanisms are mounted at both ends of the driving mechanism mounting plate, the telescopic guide mechanisms are driven to rise and fall by a lifting steel frame, and a driving mechanism for driving the fork tine to telescope is mounted on the driving mechanism mounting plate;

[0029] Preferably, the telescopic guide mechanism comprises a telescopic slider mounting plate mounted on one end of the driving mechanism mounting plate, a telescopic slider is fixedly mounted on the telescopic slider mounting plate, the other side of the telescopic slider is mounted on a telescopic guide rail, the telescopic guide rail is fixedly mounted on the telescopic guide rail mounting plate, the telescopic guide rail mounting plate is fixed on the lifting steel frame assembly, and is driven to rise and fall by the lifting steel frame assembly;

[0030] Preferably, the driving mechanism comprises a telescopic motor mounted on a driving mechanism mounting plate, a telescopic transmission shaft is mounted on the output end of the telescopic motor, and transmission members cooperating with each other are mounted on both ends of the telescopic transmission shaft and above the telescopic guide rail mounting plate;

[0031] The transmission member is any one of a sprocket chain, a gear rack, a toothed belt and pulley, and a worm gear;

[0032] Preferably, the lifting steel frame assembly comprises outer steel frame groups installed on both sides of the fork assembly, a steel frame connecting plate is installed between the top ends of the two groups of the outer steel frame groups, each group of the outer steel frame groups comprises two spaced steel frame mounting plates, outer steel frames are installed on the steel frame mounting plates, lifting guide rails are installed on the outer steel frames, and a lifting drive mechanism for driving the lifting guide rails and the fork assembly to lift is installed between the two steel frame mounting plates;

[0033] Preferably, the steel frame mounting plate is mounted on the robot chassis, the upper end of the lifting guide rail is mounted on the steel frame connecting plate, and a steel frame intermediate connecting plate is fixedly installed between the two steel frame mounting plates;

[0034] Preferably, the lifting drive mechanism adopts the lifting drive mechanism disclosed in the patent with the announcement number CN220283509U, including at least one driving unit, the driving unit including a pulley, a flexible cable and a lifting mechanism, the pulley is mounted on the steel frame connecting plate, one end of the flexible cable is fixed to the telescopic guide rail mounting plate of the fork assembly, the other end of the flexible cable extends upward to bypass the pulley and then extends downward to be fixed to the middle connecting plate of the steel frame, and the lifting mechanism is configured to push and pull the lifting guide rail to move up and down;

[0035] Preferably, the lifting mechanism is an electric cylinder or an oil cylinder, the cylinder body of the lifting mechanism is installed on the robot chassis, and the output end of the lifting mechanism is connected to the steel frame connecting plate;

[0036] Preferably, the flexible rope is a suspension rope, a synchronous belt or a chain.

[0037] The stacking handling robot of the utility model is provided with a front automatic telescopic support assembly, which is arranged on both sides of the fork assembly, that is, on both sides of the pallet of the goods to be handled. When the handling robot picks up the goods, the front automatic telescopic support assembly is extended to support the robot on the ground. After the front automatic telescopic support assembly is extended, the distance between the contact point with the ground and the front end of the vehicle body is greater than the distance between the center of gravity of the goods and the front end of the vehicle body. The problem of balancing the goods is solved by the telescopic ground support, and the problem of adding counterweight when the load is too large is avoided, thereby reducing the weight of the vehicle body itself and reducing the size of the vehicle body.

[0038] The front automatic telescopic support components are set on both sides of the transported pallet. The height and thickness of the support are not limited by the size of the pallet socket. Therefore, the strength of the support is much higher than that of the support arm of the traditional intelligent forklift, which greatly improves the load capacity of the vehicle body;

[0039] The fork tines can be extended and retracted independently, and there is no supporting structure under the fork tines, so it is suitable for the handling of the field tray; the fork tines can be extended and retracted independently, and the inertia of the fork tines when extended is small, and they can be extended at high speed, with high efficiency;

[0040] The fork tines can move independently relative to the vehicle body. After picking up the pallet and goods, the goods can be moved separately to the top of the vehicle body. Two sets of steering wheels are arranged inside the vehicle body, which can realize the function of omnidirectional movement, that is, it can move forward and backward and move horizontally to the left and right, thereby greatly reducing the requirement for the width of the cargo pickup channel and improving the customer's site utilization rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 : A schematic diagram of the structure of the utility model;

[0042] Figure 2 : Figure 1 Schematic diagram of the structure of the lifting steel frame assembly, fork assembly, and front automatic telescopic support assembly retracted;

[0043] Figure 3 : Figure 2 Structural diagram of the lifting steel frame assembly, the fork assembly, and the extended portion of the front automatic telescopic support assembly;

[0044] Figure 4 : Schematic diagram of the structure of the front automatic telescopic support assembly;

[0045] Figure 5 : Figure 4 Schematic diagram of the structure without the robot chassis;

[0046] Figure 6 : Schematic diagram of the installation of the telescopic support arm;

[0047] Figure 7 : Schematic diagram of the structure of the fork assembly;

[0048] Figure 8 : Figure 7 Exploded diagram of

[0049] Fig. 9 : Schematic diagram of the structure of the lifting steel frame assembly.

[0050] In the figure: 1. robot chassis, 2. lifting steel frame assembly, 21. outer steel frame group, 22. steel frame connecting plate, 23. steel frame mounting plate, 24. outer steel frame, 25. lifting guide rail, 26. lifting drive mechanism, 261. pulley, 262. soft rope, 263. lifting mechanism, 27. steel frame middle connecting plate, 3. fork assembly, 31. fork teeth, 32. fork tooth telescopic assembly, 33. fork tooth mounting plate, 34. drive mechanism mounting plate, 35. telescopic guide mechanism, 351. telescopic slider mounting plate, 352. telescopic slider, 353. telescopic guide rail, 354. telescopic guide rail mounting plate, 36. driving mechanism, 361. telescopic motor, 362. telescopic transmission shaft, 363. sprocket, 364. chain, 4. front automatic telescopic support assembly, 41. support arm mounting plate, 42. support arm guide rail, 43. slider, 44. telescopic support arm, 45. nut, 46. screw rod, 47. motor, 48. support rocker plate, 49. nut mounting plate, 410. hole, 5. steering wheel, 6. steering wheel placement slot. DETAILED DESCRIPTION

[0051] The technical solutions in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments of the utility model. All other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0052] Example. Figure 1-3 A stacking type handling robot shown in the figure comprises a robot chassis 1, a lifting steel frame assembly 2 is mounted on the robot chassis 1, a fork assembly 3 which can move up and down along the lifting steel frame assembly 2 is provided on the lifting steel frame assembly 2, a front automatic telescopic support assembly 4 which can be horizontally telescopic along the robot chassis 1 is mounted on the robot chassis 1, and two groups of the front automatic telescopic support assembly 4 are provided and are located on both sides of the fork assembly 3;

[0053] The transport robot is provided with a front automatic telescopic support assembly 4, which is arranged on both sides of the fork assembly 3, that is, on both sides of the pallet of the transported goods. When the transport robot picks up the goods, the front automatic telescopic support assembly 4 is extended to support the robot on the ground. After the front automatic telescopic support assembly 4 is extended, the distance between the contact point with the ground and the front end of the vehicle body is greater than the distance between the center of gravity of the goods and the front end of the vehicle body. The problem of balancing the goods is solved by the telescopic ground support, and the problem of adding counterweight when the load is too large is avoided, thereby reducing the weight of the vehicle body itself and reducing the size of the vehicle body.

[0054] The front automatic telescopic support assembly 4 is arranged on both sides of the transported pallet. The height and thickness of the support are not limited by the size of the pallet socket. Therefore, the strength of the support is much higher than the support arm of a traditional intelligent forklift, thereby greatly improving the load capacity of the vehicle body.

[0055] Among them, Figure 4-6 As shown: each group of the front automatic telescopic support assembly 4 includes a support arm mounting plate 41 mounted on the robot chassis 1, a support arm guide rail 42 is mounted on the inner side of the support arm mounting plate 41, a slider 43 matching with it is mounted on the support arm guide rail 42, the slider 43 is fixedly mounted on a telescopic support arm 44, the telescopic support arm 44 is mounted on a nut 45, the nut 45 is mounted on a screw rod 46, the screw rod 46 is driven by a motor 47, the motor 47 in this embodiment adopts a torque feedback motor, the screw rod 46 adopts a trapezoidal screw rod, and the nut 45 adopts a trapezoidal nut;

[0056] Among them, a support rocker plate 48 is installed at the lower side of the front end of the telescopic support arm 44, which can increase the force-bearing area and reduce the pressure on the ground;

[0057] Each of the support arm mounting plates 41 is provided with a steering wheel placement slot 6, and a steering wheel 5 is installed on the robot chassis, and the steering wheel 5 is located in the steering wheel placement slot 6; the setting of the steering wheel can realize the function of omnidirectional movement, that is, it can move forward and backward and move left and right, thereby greatly reducing the requirement for the width of the pickup channel and improving the customer's site utilization rate;

[0058] The rear end of the telescopic support arm 44 extends outwardly of the support arm mounting plate 41 to form a nut mounting plate 49, and the nut mounting plate 49 is sleeved on the nut;

[0059] The screw rod 46, the nut 45 and the motor 47 are all installed on the outside of the support arm mounting plate 41, and the nut mounting plate 49 passes through the support arm mounting plate 41 and is installed on the nut 45;

[0060] Among them, the end of the nut mounting plate 49 close to the motor 47 is a "U"-shaped plate, and the "U"-shaped plate is composed of two horizontal plates arranged at intervals and a vertical plate connecting the two horizontal plates. The middle of the vertical plate is provided with a mounting hole for mounting a nut, and the nut 45 is installed in the mounting hole to facilitate driving the nut mounting plate 49 to move forward and backward;

[0061] Among them, a hole 410 is opened on the support arm mounting plate 41, and the extension plate passes through the hole 410. The motor 47 rotates to drive the screw rod 46 to rotate, and the rotation of the screw rod 46 drives the nut 45 to move forward and backward. The nut 45 drives the telescopic support arm 44 to move forward and backward through the nut mounting plate 49, thereby completing the extension and retraction of the telescopic support arm 44.

[0062] When the front automatic telescopic support assembly moves to the designated position of the cargo, the motor 47 is started, and the rotation of the motor 47 drives the screw rod 46 to rotate, and the screw rod 46 drives the nut 45 to move, and the nut 45 drives the telescopic support arm 44 through the nut mounting plate 49 to extend forward along the support arm guide rail 42 of the support arm mounting plate 41 to both sides of the cargo pallet being transported, and the support rocker plate 48 of the telescopic support arm 44 supports the entire robot on the ground; when the fork teeth load the cargo, the telescopic support arm 44 is retracted.

[0063] Among them, Figure 7-8 As shown: the fork assembly 3 includes two fork teeth 31 located between two groups of front automatic telescopic support assemblies 4, the two fork teeth 31 are installed on a fork tooth mounting plate 33 at intervals, the fork tooth mounting plate 33 is fixedly installed on a fork tooth telescopic assembly 32, and the fork tooth telescopic assembly 32 drives the fork teeth 31 to move along a certain guide rail;

[0064] The fork tine telescopic assembly 32 includes a driving mechanism mounting plate 34 mounted above the fork tine mounting plate 33, and telescopic guide mechanisms 35 are mounted at both ends of the driving mechanism mounting plate 34. The telescopic guide mechanisms 35 are driven to rise and fall by the lifting steel frame assembly 2, and a driving mechanism 36 for driving the fork tine 31 to telescope is mounted on the driving mechanism mounting plate 34;

[0065] The telescopic guide mechanism 35 includes a telescopic slider mounting plate 351 mounted on one end of a driving mechanism mounting plate 34, a telescopic slider 352 is fixedly mounted on the telescopic slider mounting plate 351, and the other side of the telescopic slider 352 is mounted on a telescopic guide rail 353, and the telescopic guide rail 353 is fixedly mounted on a telescopic guide rail mounting plate 354, and the telescopic guide rail mounting plate 354 is fixed on the lifting steel frame assembly 2, and is driven to rise and fall by the lifting steel frame assembly 2. The lifting steel frame assembly 2 can drive the telescopic guide mechanism 35 to move up and down, and the telescopic guide mechanism 35 ensures that the driving mechanism 36 drives the fork tines to move forward and backward along the telescopic guide rail;

[0066] The driving mechanism 36 includes a telescopic motor 361 mounted on the driving mechanism mounting plate 34, a telescopic transmission shaft 362 is mounted on the output end of the telescopic motor 361, and transmission parts that cooperate with each other are mounted on both ends of the telescopic transmission shaft 362 and above the telescopic guide rail mounting plate 354;

[0067] The transmission member is any one of a sprocket chain, a gear rack, a toothed belt and pulley, and a worm gear;

[0068] In this embodiment, the transmission member adopts a sprocket chain. Sprockets 363 are installed at both ends of the telescopic transmission shaft 362. The sprockets 363 are meshed with chains 364 installed above the telescopic guide rail mounting plate 354.

[0069] The telescopic motor 362 rotates to drive the telescopic transmission shaft 362 at its output end to rotate, and the telescopic transmission shaft 362 drives the sprockets 363 at both ends thereof to move forward and backward on the chain 364, thereby driving the driving mechanism mounting plate 34 to move forward and backward, and the driving mechanism mounting plate 34 drives the fork tine mounting plate 33 to move forward and backward, and the fork tine mounting plate 33 drives the fork tine to move forward and backward, thereby completing the extension and retraction of the fork tine;

[0070] The fork tines of the handling robot can be extended and retracted independently, and there is no supporting structure under the fork tines, so it can be suitable for the handling of the field tray; the fork tines can be extended and retracted independently, the inertia of the fork tines when extended is small, and they can be extended at high speed with high efficiency.

[0071] Among them, Fig. 9 As shown: the lifting steel frame assembly 2 includes an outer steel frame group 21 installed on both sides of the fork assembly 3, a steel frame connecting plate 22 is installed between the tops of the two groups of the outer steel frame groups 21, each group of the outer steel frame group 21 includes two steel frame mounting plates 23 arranged at intervals, an outer steel frame 24 is installed on the steel frame mounting plate 23, a lifting guide rail 25 is installed on the outer steel frame 24, and a lifting drive mechanism 26 for driving the lifting guide rail 25 and the fork assembly 3 to lift is installed between the two steel frame mounting plates 23;

[0072] The steel frame mounting plate 23 is mounted on the robot chassis 1, the upper end of the lifting guide rail 25 is mounted on the steel frame connecting plate 22, and a steel frame intermediate connecting plate 27 is fixedly installed between the two steel frame mounting plates 23;

[0073] Among them, the lifting drive mechanism 26 adopts the lifting drive mechanism disclosed in the patent with announcement number CN220283509U, including at least one driving unit, the driving unit includes a pulley 261, a flexible cable 262 and a lifting mechanism 263, the pulley 261 is installed on the steel frame connecting plate 23, one end of the flexible cable 262 is fixed on the telescopic guide rail mounting plate 354 of the fork assembly 3, the other end of the flexible cable 262 extends upward, bypasses the pulley 261, and then extends downward and is fixed on the middle connecting plate 27 of the steel frame, and the lifting mechanism 263 is configured to push and pull the lifting guide rail 25 to move up and down.

[0074] The lifting mechanism 263 is an electric cylinder or an oil cylinder. The cylinder body of the lifting mechanism 263 is installed on the robot chassis 1 , and the output end of the lifting mechanism 263 is connected to the steel frame connecting plate 22 .

[0075] The flexible rope 232 is a suspension rope, a synchronous belt or a chain.

[0076] The fork teeth of the handling robot can move independently relative to the vehicle body. After taking the pallet and the goods, the goods are moved separately by the lifting steel frame assembly 2 to the top of the vehicle body.

[0077] The working principle of the utility model is as follows: when the robot moves to the designated location of the goods, the telescopic support arm 44 of the front automatic telescopic support assembly 4 extends forward to support the entire robot, and at the same time, the fork teeth 31 of the fork assembly 3 extend forward to the bottom of the Sichuan-shaped pallet or the Tian-shaped pallet, and the pallet and the goods are loaded, the telescopic support arm 44 is retracted, and then the steel frame assembly 2 is lifted to lift the fork assembly 3, the stacking robot moves to the required location, and then the steel frame assembly 2 is lifted to lower the fork assembly 3, the goods on the fork teeth 31 are put down, and the fork assembly 3 is retracted, completing one cargo handling, and continuing with the next handling.

[0078] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A stacking type handling robot, comprising a robot chassis (1), a lifting steel frame assembly (2) being mounted on the robot chassis (1), a fork assembly (3) being disposed on the lifting steel frame assembly (2) and being capable of moving up and down along the lifting steel frame assembly, characterized in that: The robot chassis (1) is provided with a front automatic telescopic support assembly (4) capable of horizontally telescoping along the robot chassis (1); two groups of the front automatic telescopic support assembly (4) are provided and are located on both sides of the fork assembly (3).

2. A stacking type handling robot according to claim 1, characterized in that: Each group of the front automatic telescopic support components (4) comprises a support arm mounting plate (41) mounted on the robot chassis (1), a support arm guide rail (42) is mounted on the inner side of the support arm mounting plate (41), a slider (43) matching with the support arm guide rail (42) is mounted on the support arm guide rail (42), the slider (43) is fixedly mounted on a telescopic support arm (44), the telescopic support arm (44) is mounted on a nut (45), the nut (45) is mounted on a screw rod (46), and the screw rod (46) is driven by a motor (47).

3. A stacking type handling robot according to claim 2, characterized in that: A support rocking plate (48) is installed at the lower side of the front end of the telescopic support arm (44), and a nut mounting plate (49) extends from the rear end of the telescopic support arm (44) to the outside of the support arm mounting plate (41), and the nut mounting plate (49) is sleeved on the nut (45).

4. The stacking type handling robot according to claim 3, characterized in that: The screw rod (46), the nut (45), and the motor (47) are all mounted on the outside of the support arm mounting plate (41), and the nut mounting plate (49) passes through the support arm mounting plate (41) and is mounted on the nut (45); The end of the nut mounting plate (49) close to the motor (47) is a "U"-shaped plate, and the "U"-shaped plate is composed of two horizontal plates arranged at intervals and a vertical plate connecting the two horizontal plates. A mounting hole for mounting a nut is provided in the middle of the vertical plate, and the nut (45) is installed in the mounting hole. A hole (410) is opened on the support arm mounting plate (41), and the nut mounting plate (49) passes through the hole (410).

5. A stacking type handling robot according to claim 2, 3 or 4, characterized in that: Each of the support arm mounting plates (41) is provided with a steering wheel placement groove (6), a steering wheel (5) is mounted on the robot chassis, and the steering wheel (5) is located in the steering wheel placement groove (6).

6. A stacking type handling robot according to claim 1 or 2, characterized in that: The fork assembly (3) comprises two fork teeth (31) located between two groups of front automatic telescopic support assemblies (4), the two fork teeth (31) are installed on a fork tooth mounting plate (33) at intervals, and the fork tooth mounting plate (33) is fixedly installed on the fork tooth telescopic assembly (32). The fork tine telescopic assembly (32) drives the fork tine (31) to move along a certain guide rail.

7. The stacking type handling robot according to claim 6, characterized in that: The fork tine telescopic assembly (32) includes a driving mechanism mounting plate (34) mounted above the fork tine mounting plate (33), telescopic guide mechanisms (35) are mounted at both ends of the driving mechanism mounting plate (34), the telescopic guide mechanism (35) is driven to rise and fall by the lifting steel frame assembly (2), and a driving mechanism (36) for driving the fork tine (31) to telescope is mounted on the driving mechanism mounting plate (34).

8. The stacking transport robot according to claim 7, characterized in that: The telescopic guide mechanism (35) includes a telescopic slider mounting plate (351) mounted on one end of a driving mechanism mounting plate (34), a telescopic slider (352) being fixedly mounted on the telescopic slider mounting plate (351), the other side of the telescopic slider (352) being mounted on a telescopic guide rail (353), the telescopic guide rail (353) being fixedly mounted on a telescopic guide rail mounting plate (354), and the telescopic guide rail mounting plate (354) being fixed on a lifting steel frame assembly (2).

9. The stacking type handling robot according to claim 7, characterized in that: The driving mechanism (36) comprises a telescopic motor (361) mounted on a driving mechanism mounting plate (34); a telescopic transmission shaft (362) is mounted on the output end of the telescopic motor (361); and transmission parts that cooperate with each other are mounted on both ends of the telescopic transmission shaft (362) and above the telescopic guide rail mounting plate (354); The transmission member is any one of a sprocket chain, a gear rack, a toothed belt and a pulley, and a worm gear.

10. A stacking type handling robot according to claim 1 or 2, characterized in that: The lifting steel frame assembly (2) includes an outer steel frame group (21) installed on both sides of the fork assembly (3), a steel frame connecting plate (22) is installed between the top ends of the two groups of the outer steel frame groups (21), each group of the outer steel frame group (21) includes two spaced steel frame mounting plates (23), an outer steel frame (24) is installed on the steel frame mounting plate (23), a lifting guide rail (25) is installed on the outer steel frame (24), a lifting drive mechanism (26) for driving the lifting guide rail (25) and the fork assembly (3) to lift and lower is installed between the two steel frame mounting plates (23), the steel frame mounting plate (23) is installed on the robot chassis (1), the upper end of the lifting guide rail (25) is installed on the steel frame connecting plate (22), and a steel frame intermediate connecting plate (27) is fixedly installed between the two steel frame mounting plates (23).

Images