Robot mounting device

Abstract

The utility model provides a robot mounting device, and relates to the technical field of warehouse logistics. The robot mounting device is used for mounting a robot on a track of a goods shelf, the robot mounting device comprises a moving vehicle and an erecting mechanism, the erecting mechanism is arranged on the moving vehicle, and the erecting mechanism can rotate relative to the moving vehicle so that the erecting mechanism can drive the robot to be switched between a connecting position and a mounting position, and when the erecting mechanism is in the connecting position, the erecting mechanism can rotate relative to the moving vehicle. The erecting mechanism is used for being in butt joint with the robot, and when the erecting mechanism is located at the installation position, the erecting mechanism supports the robot to be in a vertical state so that the robot can be installed on the track. According to the robot mounting device, the occupied operation space is smaller, the requirement for the operation space is lower, and the erecting and mounting operation of the robot is more convenient and faster.

Description

Technical Field

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

[0002] The warehousing system includes shelves and robots. Aisles are formed between the shelves. Robots move in the aisles to store and retrieve goods, thereby achieving effective control and management of logistics resources.

[0003] The existing shelves are provided with tracks extending along the lane direction, and the robot is docked and installed with the tracks on the shelves, so as to move in the lane. When installing the robot on the track, it is necessary to set up a crane or other lifting equipment in the storage system, and use the lifting equipment to hang the robot on the track, so that the robot can dock with the track to achieve installation.

[0004] However, the lifting equipment occupies a large space in the storage system and the operating space is limited, making it inconvenient to connect the robot to the track on the shelf. Utility Model Content

[0005] The present application provides a robot installation device to solve the problem of inconvenience in construction when the robot is docked with a track on a shelf.

[0006] The robot installation device provided in the present application is used to install the robot on the track of the shelf. The robot installation device includes a mobile vehicle and a supporting mechanism. The supporting mechanism is arranged on the mobile vehicle. The supporting mechanism can rotate relative to the mobile vehicle so that the supporting mechanism drives the robot to switch between the connecting position and the installing position. When in the connecting position, the supporting mechanism is used to dock with the robot. When in the installing position, the supporting mechanism supports the robot in a vertical state so that the robot can be installed on the track.

[0007] In one possible implementation, the robot installation device provided in the present application further includes a lifting assembly, which is disposed on a moving vehicle, and the supporting mechanism is connected to the lifting assembly. The lifting assembly is constructed to drive the supporting mechanism to rise and fall relative to the moving vehicle to align with the track when the supporting mechanism is in the installation position.

[0008] In a possible implementation, the robot installation device provided in the present application, the supporting mechanism includes a connecting frame and at least one connecting member arranged on the connecting frame, the connecting frame is rotatably connected to the lifting assembly, and the connecting member is used to dock with the connecting part on the robot.

[0009] In one possible implementation, the robot installation device provided in the present application, the supporting mechanism also includes a mounting component, and the mounting component is arranged on a connecting frame. When the supporting mechanism is in the installation position, the connecting frame is connected to the moving vehicle or the lifting component through the mounting component, and when the supporting mechanism is in the connection position, the mounting component is disconnected from the moving vehicle or the lifting component.

[0010] In one possible implementation, the robot mounting device provided in the present application, the mounting assembly includes a mounting frame and at least one first roller rotatably disposed on the mounting frame, the mounting frame is hinged to the connecting frame, and when the supporting mechanism is in the mounting position, the mounting frame is constructed to be rollingly connected to the moving vehicle or the lifting assembly through the first roller.

[0011] In a possible implementation, the robot installation device provided in the present application has at least two first rollers, and each first roller is used to be respectively connected to a different side of the moving vehicle or the lifting assembly in a rolling manner.

[0012] In a possible implementation, the robot mounting device provided by the present application, the mounting frame includes a support member, an operating member and a connecting rod, the two ends of the connecting rod are respectively hinged to the support member and the operating member, and the support member and the operating member are both hinged to the connecting frame;

[0013] The first roller is arranged on the support member, and the operating member is constructed to drive the support member to rotate relative to the connecting frame through the connecting rod, so that the first roller is rollingly connected with the moving vehicle or the lifting assembly.

[0014] In a possible implementation, in the robot mounting device provided by the present application, the mounting assembly further includes an elastic member, and the connecting frame and the operating member are connected via the elastic member.

[0015] In one possible implementation, the robot mounting device provided in the present application, the mounting assembly also includes at least one second roller, and the second roller is rollingly set on the connecting frame. When the supporting mechanism is in the mounting position, the second roller is constructed to be rollingly connected to the moving vehicle or the lifting assembly.

[0016] In a possible implementation, in the robot installation device provided in the present application, when the supporting mechanism is in the installation position, the second roller and each first roller are respectively located on different sides of the moving vehicle or the lifting assembly.

[0017] In one possible implementation, the robot installation device provided in the present application, the lifting assembly includes a movable frame and a driving member, the driving member is arranged on a movable vehicle, the driving member is connected to the movable frame, the supporting mechanism is hinged to the movable frame, and the driving member drives the movable frame to lift and lower, so that the movable frame drives the supporting mechanism to lift and lower relative to the movable vehicle.

[0018] In a possible implementation, in the robot installation device provided in the present application, the lifting assembly also includes a support frame, the support frame is fixedly connected to the moving vehicle, the driving member is arranged on the support frame, and the moving frame is slidably connected to the support frame.

[0019] In a possible implementation, the robot installation device provided in the present application, the moving frame includes a connecting beam and at least one moving block arranged on the connecting beam, the supporting mechanism is hinged to the connecting beam, and the moving block is slidably connected to the support frame.

[0020] In a possible implementation, in the robot installation device provided in the present application, at least one third roller is provided on the moving block, and the third roller abuts against the side of the support frame and can roll along the side of the support frame.

[0021] In a possible implementation, in the robot mounting device provided in the present application, the number of the third rollers is at least two, and the at least two third rollers are respectively abutted against two opposite sides of the support frame.

[0022] In a possible implementation, in the robot installation device provided in the present application, the lifting assembly further includes a transmission member, and the driving member is connected to the moving frame via the transmission member.

[0023] In one possible implementation, the robot installation device provided in the present application, the lifting assembly also includes a transmission wheel, the transmission wheel is rotatably arranged at the driving end of the driving member, one end of the transmission member is arranged on the moving vehicle, the other end of the transmission member is fixedly connected to the moving frame, and the transmission member is wound around the transmission wheel.

[0024] In a possible implementation, in the robot installation device provided by the present application, the driving component is a hydraulic lifting component, and the transmission component is a chain, a belt or a connecting rope.

[0025] In a possible implementation, the robot mounting device provided in the present application is in a horizontal state when the supporting mechanism is in the connected position.

[0026] In a possible implementation, the robot installation device provided by the present application, the mobile vehicle includes a frame and a mobile base, the frame is set on the mobile base, and the lifting assembly is connected to the frame.

[0027] In one possible implementation, the robot mounting device provided in the present application has multiple layers of pedals on its frame.

[0028] In a possible implementation, in the robot mounting device provided by the present application, a telescopic frame is provided on a side of the mobile base facing away from the frame, the telescopic frame is slidably connected to the mobile base, and a first auxiliary wheel is provided on the telescopic frame.

[0029] In a possible implementation, in the robot installation device provided by the present application, the telescopic frame is telescoped relative to the mobile base toward the supporting mechanism.

[0030] In a possible implementation, in the robot installation device provided in the present application, an extension frame is provided on at least one side of the mobile base, and a second auxiliary wheel is provided on the extension frame.

[0031] The robot installation device provided by the present application can rotate the supporting mechanism relative to the mobile vehicle by setting a supporting mechanism on the mobile vehicle, so as to dock with the robot to be installed at the connection position, and after rotating to the installation position, the robot is in a vertical state, so that the mobile vehicle can be used to move the robot and install it on the track of the shelf. Compared with setting up a special lifting equipment in the storage system to support the robot, and using the lifting equipment to install the robot on the track, the robot installation device provided by the present application occupies a smaller operating space, has a lower demand for operating space, and is more flexible to use. The robot can be supported on the outside of the shelf or in a wider area outside the storage system, and then the robot can be transported to the shelf in the storage system by the mobile vehicle to complete the installation of the robot. The installation process of the robot and the track does not require the participation of lifting equipment, making the support and installation operations of the robot more convenient and quick, and the implementation cost is lower. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0033] Figure 1 A schematic diagram of the structure of a robot installation device provided in an embodiment of the present application;

[0034] Figure 2 A schematic diagram of the structure of another posture of the robot installation device provided in an embodiment of the present application;

[0035] Figure 3 for Figure 2 A schematic diagram of the structure of the mobile vehicle of the robot installation device;

[0036] Figure 4 for Figure 3 A schematic diagram of the structure of the telescopic frame of the intermediate mobile vehicle when it is in a retracted state;

[0037] Figure 5 for Figure 2 A schematic diagram of the structure of the connection between the lifting assembly and the supporting mechanism of the robot installation device;

[0038] Figure 6 for Figure 2 A schematic structural diagram of another perspective of the connection between the lifting assembly and the supporting mechanism of the robot installation device;

[0039] Figure 7 for Figure 5 A partial enlarged view of the middle A;

[0040] Figure 8 The robot installation device provided in the embodiment of the present application supports the robot in a state Figure 1 ;

[0041] Fig. 9 The robot installation device provided in the embodiment of the present application supports the robot in a state Figure 2 ;

[0042] Fig.10 The robot installation device provided in the embodiment of the present application supports the robot in a state Figure 3 ;

[0043] Fig.11 for Fig.10 A partial enlargement of point B in the middle Figure 1 ;

[0044] Fig.12 for Fig.10 A partial enlargement of point B in the middle Figure 2 ;

[0045] Fig.13 The robot installation device provided in the embodiment of the present application installs the robot in a state Figure 1 ;

[0046] Fig.14 The robot installation device provided in the embodiment of the present application installs the robot in a state Figure 2 ;

[0047] Fig.15 The robot installation device provided in the embodiment of the present application installs the robot in a state Figure 3 ;

[0048] Fig.16 The robot installation device provided in the embodiment of the present application installs the robot in a state Figure 4 ;

[0049] Fig.17 The robot installation device provided in the embodiment of the present application installs the robot in a state Figure 5 .

[0050] Description of reference numerals:

[0051] 100-mobile vehicle; 110-vehicle frame; 111-pedal; 120-mobile base; 121-telescopic frame; 122-first auxiliary wheel; 123-extension frame; 124-second auxiliary wheel; 125-mobile wheel;

[0052] 200-supporting mechanism; 210-connecting frame; 220-connecting member; 230-installing assembly; 231-installing frame; 2311-supporting member; 2312-operating member; 2313-connecting rod; 232-first roller; 233-elastic member; 234-second roller;

[0053] 300-lifting assembly; 310-moving frame; 311-connecting beam; 312-moving block; 313-third roller; 320-driving member; 330-support frame; 340-transmission member; 350-transmission wheel;

[0054] 400-Robot; 410-Wheel;

[0055] 500-shelf; 510-track. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical scheme and advantages of the present application clearer, the technical scheme in the embodiment of the present application will be described in more detail below in conjunction with the drawings in the preferred embodiments of the present application. In the drawings, the same or similar reference numerals throughout represent the same or similar parts or parts with the same or similar functions. The described embodiments are part of the embodiments of the present application, not all of the embodiments. The embodiments described below with reference to the drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limitations on the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application. The embodiments of the present application are described in detail below in conjunction with the drawings.

[0057] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense and can be used interchangeably. For example, "connected" can be a direct connection or an indirect connection through an intermediate medium; it can be a fixed connection or a sliding connection. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0058] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are orientations or positional relationships based on the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0059] The terms "first", "second", and "third" in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0060] In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or display that includes a series of steps or modules is not necessarily limited to those steps or modules explicitly listed, but may include other steps or modules not explicitly listed or inherent to such process, method, product or display.

[0061] The existing shelves are provided with tracks extending along the lane direction, and the robot is docked and installed with the tracks on the shelves so as to move in the lane. When installing the robot on the track, it is usually necessary to set up a crane or other lifting equipment on the top of the storage system, and professionals are required to connect the hook of the lifting equipment to the upper end of the robot, and then operate the lifting equipment to lift the robot so that the robot is in a vertical state, and then drive the lifting equipment to lift the robot on the track, so that the robot docks with the track to achieve installation.

[0062] However, the hoisting equipment will occupy a large space in the storage system. In order to ensure the storage capacity of the storage system, a large number of shelves will be set up, and the intervals between the shelves are narrow, which limits the hoisting operation space of the robot, resulting in inconvenience in the construction when the robot docks with the rails on the shelves. In addition, during the operation project, professional personnel are required to operate the hoisting equipment, making the robot hoisting even more inconvenient.

[0063] Based on this, the present application provides a robot installation device, which arranges a supporting mechanism on a mobile vehicle and uses the supporting mechanism to support and install the robot. It occupies less operating space, has lower requirements for operating space, is more flexible and simple to use, and makes the supporting and installation operations of the robot more convenient and quick, and has lower implementation costs.

[0064] The content of the utility model will be described in detail below with reference to the accompanying drawings so that those skilled in the art can understand the content of the utility model more clearly and in detail.

[0065] First of all, it should be noted that Figures 1 to 17 The X direction, Y direction, and Z direction shown in FIG. 8 are perpendicular to each other in the three-dimensional space.

[0066] Reference Figure 1 , Figure 2 ,and Figures 8 to 10 ,besides Figures 13 to 17As shown, an embodiment of the present application provides a robot installation device, which is used to install a robot 400 on a track 510 of a shelf 500.

[0067] The robot installation device includes a mobile vehicle 100 and a supporting mechanism 200. The supporting mechanism 200 is arranged on the mobile vehicle 100. The supporting mechanism 200 can rotate relative to the mobile vehicle 100 so that the supporting mechanism 200 drives the robot 400 to switch between a connecting position and an installing position. When in the connecting position, the supporting mechanism 200 is used to dock with the robot 400. When in the installing position, the supporting mechanism 200 supports the robot 400 in a vertical state so that the robot 400 can be installed on the track 510.

[0068] It is understandable that the robot installation device of the present application can be used to support and install the robot 400 connected to the track 510 on the shelf 500 and moving along the track 510 on the shelf 500. The track 510 for supporting the robot 400 is provided on at least one side of the shelf 500, and the running wheels 410 of the robot 400 are connected to the track 510 in the vertical direction, so that the robot 400 can move along the extension direction of the track 510 as a whole.

[0069] The supporting mechanism 200 of the robot installation device is located on one side of the mobile vehicle 100 and can rotate relative to the mobile vehicle 100. Exemplarily, the first end of the supporting mechanism 200 along its extension direction is connected to the lower part of the mobile vehicle 100, and can be directly hinged to the mobile vehicle 100, or indirectly hinged to the mobile vehicle 100 through other mechanisms or components, and the second end of the supporting mechanism 200 can rotate around the first end connected to the mobile vehicle 100, so as to realize the rotation of the supporting mechanism 200 relative to the mobile vehicle 100.

[0070] In this way, the two different positions of the supporting mechanism 200 during the rotation process can be defined as the connection position and the installation position, respectively, wherein the connection position is used to dock with the robot 400 to be installed, and the installation position is used to install the robot 400 to be installed on the track 510 of the shelf 500. In order to avoid the robot 400 from bumping, when preparing for installation, the robot 400 to be installed is usually placed flat on the installation site along the XY plane, so that the supporting mechanism 200 can be set to be the connection position when it is close to the installation site. At this time, the supporting mechanism 200 is close to the robot 400 to be installed, which can make the docking of the supporting mechanism 200 and the robot 400 to be installed easier. If in some special working conditions, the robot 400 to be installed is placed in a state of inclination relative to the XY plane, the supporting mechanism 200 can be set to be the connection position when it is at the same inclination angle, that is, the connection position of the supporting mechanism 200 often needs to be adjusted according to the placement angle of the robot 400 to be installed, and it is not necessarily a fixed position. Exemplarily, in this example, the supporting mechanism 200 is in the connection position when it is in a horizontal state.

[0071] Since the shelf 500 is placed vertically in the storage system, the robot 400 to be installed needs to be connected to the track 510 of the shelf 500 in a vertical state along the Z direction. Therefore, the supporting mechanism 200 is required to keep the robot 400 in a vertical state when it is in the installation position. Therefore, the supporting mechanism 200 can be set to the installation position when it is vertical.

[0072] Therefore, when installing the robot 400, the robot installation device can be first moved to the position where the robot 400 is located, and the supporting mechanism 200 of the robot installation device can be switched to the connection position to dock the supporting mechanism 200 with the robot 400, or the robot 400 can be moved to the supporting mechanism 200 and docked with it; then the supporting mechanism 200 can be switched from the connection position to the installation position, specifically, the existing lifting equipment in the storage system can be used to pull the supporting mechanism 200 away from one end of the mobile vehicle 100 to make it stand upright, or other simple traction can be used. The supporting mechanism 200 is pulled upright by a rope or the like; then the mobile vehicle 100 is used to move the supporting mechanism 200 and the robot 400 on the supporting mechanism 200 to the track 510 of the shelf 500, and then the robot 400 is docked with the track 510 for installation. Alternatively, the supporting mechanism 200 can be pulled upright by a crane, a traction rope, etc. outside the storage system to drive the robot 400 to stand upright, and then the mobile vehicle 100 is used to move the robot 400 into the storage system for installation. When the robot 400 is installed on the track 510, no lifting equipment is required.

[0073] Compared with the prior art which only sets up a dedicated lifting equipment in the storage system to support the robot 400 and uses the lifting equipment to install the robot 400, the robot installation device provided in the present application occupies a smaller operating space, has a lower demand for operating space, is more flexible to use, and is not easily restricted by the installation site and existing equipment. The robot 400 can be supported on the outside of the shelf 500, or can be supported in a wider area such as outside the storage system, and then the mobile vehicle 100 can be used to transport the robot 400 to the shelf 500 to complete the installation of the robot 400, making the support and installation operations of the robot 400 more convenient and quick, and with lower implementation costs.

[0074] Furthermore, since the mobile vehicle 100 occupies a relatively small area and the supporting mechanism 200 is in a vertical state when in the installation position, it can be flexibly moved to adjust the installation position of the robot 400 when installing the robot 400, which is more flexible.

[0075] It should be further explained that when the supporting mechanism 200 is in the installation position and the robot 400 is connected thereto, if the robot 400 happens to be at the same height as the track 510 at this time, the mobile vehicle 100 can be moved to the end of the track 510 of the shelf 500, and the robot 400 can be loaded from the opening at the end of the track 510 without adjusting the installation height of the robot 400.

[0076] In some embodiments, if there is a height difference between the robot 400 and the track 510 when the robot 400 is installed, and the robot 400 is lower than the track 510, a lifting assembly 300 needs to be set on the robot installation device. The lifting assembly 300 is set on the moving vehicle 100, and the supporting mechanism 200 is connected to the lifting assembly 300. The lifting assembly 300 is constructed to drive the supporting mechanism 200 to rise and fall along the Z direction relative to the moving vehicle 100 when the supporting mechanism 200 is in the installation position so as to align with the track 510.

[0077] In this way, before the supporting mechanism 200 in the installation position docks the robot 400 with the track 510, the height of the supporting mechanism 200 and the robot 400 can be adjusted in advance by the lifting assembly 300. The supporting mechanism 200 drives the robot 400 to rise above the track 510 along the Z direction, and then moves to the track 510, and then lowers the robot 400 to dock with the track 510, so that the robot installation device can be used more widely and is suitable for the installation of robots 400 at various track 510 heights.

[0078] Exemplarily, the supporting mechanism 200 can be arranged near the first end of the mobile vehicle 100 or the lifting component 300 and rotatably connected to the lifting component 300. The lifting component 300 is arranged on the mobile vehicle 100, so that the supporting mechanism 200 and the mobile vehicle 100 can be relatively rotatably connected, and the supporting mechanism 200 can be lifted up and down as a whole relative to the mobile vehicle 100 under the drive of the lifting component 300.

[0079] To ensure that the supporting mechanism 200 can be stably maintained in the installation position when it is lifted up and down, and does not fall over and damage the robot 400, when the supporting mechanism 200 is in the installation position for lifting, the part of the supporting mechanism 200 close to the second end can be connected to the moving vehicle 100 or the lifting component 300 and other components, and when the supporting mechanism 200 is switched from the installation position to the connection position, the part of the supporting mechanism 200 close to the second end can be disconnected from the moving vehicle 100 or the lifting component 300 to allow the supporting mechanism 200 to rotate.

[0080] In specific implementation, refer to Figure 1 , Figure 2 , Figure 5 and Figure 6 As shown, the supporting mechanism 200 includes a connecting frame 210 and at least one connecting member 220 arranged on the connecting frame 210. The connecting frame 210 is rotatably connected to the lifting assembly 300, and the connecting member 220 is used to dock with the connecting part on the robot 400.

[0081] The main body of the connecting frame 210 is a rectangular frame rotatably connected to the lifting assembly 300, and at least one transverse connecting rod arranged along the X direction is provided on the rectangular frame to ensure the structural stability of the rectangular frame. For example, in this embodiment, a transverse connecting rod is provided in the middle of the rectangular frame, and the lower rod of the rectangular frame extends out of the rectangular frame along the X direction. When the robot 400 is connected to the supporting mechanism 200 located at the connecting position, one end of the robot 400 facing the lower rod abuts against the lower rod, so that the connection between the supporting mechanism 200 and the robot 400 is stable.

[0082] At least one pair of connecting members 220 is provided on the side of the rectangular frame away from the moving vehicle 100. Figure 5 and Figure 6 The connecting notch of the opening of the arrow in the Z direction is formed, and the connecting piece 220 is installed on the rectangular frame by bolts. When the supporting mechanism 200 is docked with the robot 400, the connecting piece 220 can be plugged or hung with the corresponding connecting part on the robot 400, such as a connecting ring, a connecting port, a connecting hole or a connecting beam. When the supporting mechanism 200 is switched from the connecting position to the installing position, the robot 400 is always stably connected to the connecting notch of the connecting piece 220 under the action of gravity and will not fall out, so that the supporting process of the robot 400 is more stable and reliable, and it is also convenient for the supporting mechanism 200 to descend relative to the robot 400 in the vertical direction to disconnect from the robot 400.

[0083] For example, Figures 13 to 17 As shown, the robot 400 in this embodiment is provided with a connecting beam extending along the X direction, and the connecting beam is located between the columns on both sides of the robot 400 to be plugged with the connecting member 220. For this purpose, it is necessary to set the spacing between the same pair of connecting members 220 to be no greater than the length of the connecting beam, so that both connecting members 220 can be plugged with the corresponding connecting beam. Since the connecting member 220 is set on the rectangular frame, the width dimension of the rectangular frame along the X direction is adapted to the dimension of the robot 400 in the same direction.

[0084] In this embodiment, along Figure 5 and Figure 6 Two pairs of connecting members 220 (a total of four connecting members 220 ) are arranged at intervals in the Z direction of the middle connecting frame 210 , so that the connection between the connecting members 220 and the robot 400 can be more stable.

[0085] Furthermore, in order to ensure that the supporting mechanism 200 can be reliably connected to the mobile vehicle 100 or the lifting assembly 300 when in the installation position and will not fall over, in some embodiments, reference is made to Figure 1 , Figure 2 , Figure 5 , Figure 6 , Fig.11 and Fig.12As shown, the supporting mechanism 200 also includes a mounting assembly 230, which is disposed on the connecting frame 210. When the supporting mechanism 200 is in the mounting position, the connecting frame 210 is connected to the moving vehicle 100 or the lifting assembly 300 via the mounting assembly 230. When the supporting mechanism 200 is in the connecting position, the mounting assembly 230 is disconnected from the moving vehicle 100 or the lifting assembly 300.

[0086] The mounting assembly 230 is disposed along the connecting frame 210. Figure 5 and Figure 6 The upper end in the Z direction and located on one side of the connecting frame 210 along the Y direction close to the moving vehicle 100 or the lifting assembly 300 is conducive to connecting the mounting assembly 230 with the moving vehicle 100 or the lifting assembly 300.

[0087] By installing the assembly 230, the supporting mechanism 200 can be stably connected to the mobile vehicle 100 or the lifting assembly 300 when in the installation position, ensuring that the connecting frame 210 of the supporting mechanism 200 remains vertical in the Z direction, so that the subsequent lifting assembly 300 drives the supporting mechanism 200 to drive the robot 400 to rise and fall.

[0088] Furthermore, since the supporting mechanism 200 in this embodiment is integrally connected to the lifting assembly 300 for rotation, and is also connected to the lifting assembly 300 or the mobile vehicle 100 through the mounting assembly 230, and it is necessary to make the supporting mechanism 200 as a whole move up and down relative to the mobile vehicle 100 under the drive of the lifting assembly 300. Therefore, in some embodiments, the mounting assembly 230 may be provided to be relatively movablely connected to the lifting assembly 300 or the mobile vehicle 100. Figure 5 , Figure 6 , Fig.11 and Fig.12 As shown, the mounting assembly 230 includes a mounting frame 231 and at least one first roller 232 rotatably disposed on the mounting frame 231. The mounting frame 231 is hinged to the connecting frame 210. When the supporting mechanism 200 is in the mounting position, the mounting frame 231 is constructed to be rollingly connected to the moving vehicle 100 or the lifting assembly 300 through the first roller 232.

[0089] In this way, when the supporting mechanism 200 is in the installation position, the mounting frame 231 can be connected to the moving vehicle 100 or the lifting component 300 through the first roller 232 to ensure the connection between the connecting frame 210 and the moving vehicle 100 or the lifting component 300; and the first roller 232 can roll relative to the moving vehicle 100 or the lifting component 300, and can also prevent the mounting component 230 from interfering with the lifting component 300 driving the supporting mechanism 200 to rise and fall due to the fixed connection between the mounting component 230 and the moving vehicle 100 or the lifting component 300.

[0090] The mounting frame 231 is hinged to the connecting frame 210. When the connecting frame 210 needs to be connected to the moving vehicle 100 or the lifting assembly 300, the mounting frame 231 can be rotated to connect the mounting frame 231 to the moving vehicle 100 or the lifting assembly 300. When the connecting frame 210 needs to be disconnected from the moving vehicle 100 or the lifting assembly 300, the mounting frame 231 can also be rotated in the opposite direction to disconnect it from the moving vehicle 100 or the lifting assembly 300. The operation is convenient and quick.

[0091] Among them, refer to Fig.11 and Fig.12 As shown, the number of the first rollers 232 is at least two, and each first roller 232 is used to roll with different sides of the mobile vehicle 100 or the lifting assembly 300. Fig.12 The first roller 232 is rollingly connected to the moving vehicle 100 or the lifting assembly 300 in the Y direction and the X direction, so that the first roller 232 can roll more smoothly along the Z direction.

[0092] Exemplarily, the lifting assembly 300 includes a support frame 330, and the support frame 330 is fixedly connected to the mobile vehicle 100. The first roller 232 is rollingly connected to the support frame 330, so that the installation assembly 230 and the lifting assembly 300 can be rollingly connected, and because the support frame 330 is fixedly connected to the mobile vehicle 100, the installation assembly 230 and the mobile vehicle 100 can also be indirectly rollingly connected.

[0093] Alternatively, a support structure relatively fixedly connected to at least one of the lifting assembly 300 and the moving vehicle 100 may be provided, so that the mounting assembly 230 is rollingly connected to the support structure, and the supporting mechanism 200 may be rollingly connected to one of the moving vehicle 100 and the lifting assembly 300 through the mounting assembly 230.

[0094] That is, the connection method between the installation component 230 and either the mobile vehicle 100 or the lifting component 300 can be various, such as a rolling connection, a sliding connection or other connection forms that can achieve relative movement, etc. The present application does not impose any restrictions on this, as long as the supporting mechanism 200 can be stably lifted up and down along the Z direction relative to the mobile vehicle 100 when in the installation position.

[0095] In specific implementation, refer to Fig.11 and Fig.12The mounting frame 231 includes a support member 2311, an operating member 2312 and a connecting rod 2313, the two ends of the connecting rod 2313 are respectively hinged to the support member 2311 and the operating member 2312, and the support member 2311 and the operating member 2312 are both hinged to the connecting frame 210; the first roller 232 is arranged on the support member 2311, and the operating member 2312 is constructed to drive the support member 2311 to rotate relative to the connecting frame 210 through the connecting rod 2313, so that the first roller 232 is rollingly connected to the moving vehicle 100 or the lifting assembly 300.

[0096] Among them, two groups of mounting frames 231 are symmetrically arranged along the X direction on the connecting frame 210. The two operating members 2312 in the two groups of mounting frames 231 are arranged opposite to each other, and one end of each operating member 2312 is hinged to the connecting frame 210, and the two supporting members 2311 are respectively located on the side away from the two operating members 2312 along the X direction. Similarly, one end of each supporting member 2311 is hinged to the connecting frame 210, and a connecting rod 2313 is also hinged in the middle of each group of operating members 2312 and the supporting member 2311.

[0097] In this way, a simple four-bar linkage can be formed by the support member 2311, the operating member 2312, the connecting rod 2313 and the part of the connecting frame 210 between the support member 2311 and the operating member 2312. When an external force is applied to the operating member 2312 to rotate around the hinge axis between itself and the connecting frame 210, the connecting rod 2313 will be driven to move, and the connecting rod 2313 will rotate around the hinge axis between itself and the operating member 2312, thereby driving the support member 2311 to rotate around the hinge axis between itself and the connecting frame 210, thereby realizing that the operating member 2312 drives the support member 2311 to rotate.

[0098] For example, when the mounting assembly 230 needs to be connected to the support frame 330, Fig.11 The operating member 2312 in the embodiment applies an external force pointing in the direction of the arrow X, so that the operating member 2312 drives the supporting member 2311 to move, forming Fig.12 In the posture position shown in , the two first rollers 232 are rollingly connected to the side surfaces of the support frame 330 in the X direction and the Y direction. When the mounting assembly 230 needs to be disconnected from the support frame 330, a reverse external force along the X arrow direction is applied to the operating member 2312.

[0099] In addition, refer to Fig.11 and Fig.12 As shown, the installation assembly 230 further includes an elastic member 233 , and the connecting frame 210 and the operating member 2312 are connected via the elastic member 233 .

[0100] By connecting the operating member 2312 and the connecting frame 210 through the elastic member 233, the relative positions of the operating member 2312, the connecting rod 2313 and the supporting frame 330 can be ensured when the mounting assembly 230 is connected to the supporting frame 330, thereby ensuring that the connection between the mounting assembly 230 and the supporting frame 330 is stable and reliable.

[0101] from Fig.12 It can be seen that when the installation assembly 230 is connected to the support frame 330, the elastic member 233 is in a stretched state and has a tendency to contract, and the elastic member 233 is located as a whole on the side of the hinge axis of the operating member 2312 and the connecting frame 210 facing the support member 2311, so the elastic member 233 can apply a force to the operating member 2312 to rotate toward the connecting frame 210.

[0102] Specifically, when the axis of the hinge shaft of the operating member 2312 and the connecting frame 210 just passes through the elastic member 233, the tension of the elastic member 233 can keep the operating member 2312 in this position. Once the operating member 2312 has a tendency to tilt toward the supporting member 2311, the elastic member 233 can apply a pulling force to the operating member 2312 to rotate toward the supporting member 2311, and the operating member 2312 further transmits the force to the supporting member 2311 through the connecting rod 2313, so that the two first rollers 232 are pressed against the supporting frame 330, thereby ensuring that the connection between the mounting assembly 230 and the supporting frame 330 is stable and reliable.

[0103] In this embodiment, the elastic member 233 may specifically be a coil spring or an elastic band.

[0104] In a specific implementation, each operating member 2312 is provided with two elastic members 233, and the two elastic members 233 are respectively located on both sides of the operating member 2312. In other embodiments, the elastic member 233 may also be provided only on one side of the operating member 2312, and the present application does not limit this.

[0105] In addition, in some embodiments, reference Fig.11 and Fig.12 As shown, the installation assembly 230 further includes at least one second roller 234, which is rollably disposed on the connection frame 210. When the supporting mechanism 200 is in the installation position, the second roller 234 is configured to be rollably connected to the moving vehicle 100 or the lifting assembly 300. By disposing the second roller 234 on the connection frame 210, the second roller 234 is rollably connected to the moving vehicle 100 or the lifting assembly 300, and the second roller 234 can further cooperate with the first roller 232 to improve the smoothness of the rolling connection between the installation assembly 230 and the moving vehicle 100 or the lifting assembly 300.

[0106] For example, when the supporting mechanism 200 is in the installation position, the second roller 234 and each first roller 232 are respectively located on different sides of the mobile vehicle 100 or the lifting assembly 300, so that the second roller 234 and the first roller 232 can be respectively moved from Fig.12 Both sides in the Y direction and one side in the X direction are rollingly connected to the moving vehicle 100 or the lifting assembly 300, so that the movement of the connecting frame 210 is more stable.

[0107] In some embodiments, reference Figures 5 to 7 As shown, the lifting assembly 300 includes a moving frame 310 and a driving member 320. The driving member 320 is arranged on the moving vehicle 100, the driving member 320 is connected to the moving frame 310, the supporting mechanism 200 is hinged to the moving frame 310, and the driving member 320 drives the moving frame 310 to rise and fall, so that the moving frame 310 drives the supporting mechanism 200 to rise and fall relative to the moving vehicle 100.

[0108] By arranging a driving member 320 on the mobile vehicle 100, the relative position of the driving member 320 and the mobile vehicle 100 can be stabilized. By connecting the mobile frame 310 with the driving member 320, the mobile frame 310 can be driven to move up and down by the driving member 320. The mobile frame 310 is hinged to the supporting mechanism 200, and the supporting mechanism 200 can be rotated relative to the mobile vehicle 100 or the lifting assembly 300, and can be lifted up and down with the mobile frame 310 under the action of the driving member 320, so as to realize the lifting and installation of the robot 400.

[0109] The lifting assembly 300 further includes the aforementioned support frame 330 disposed on the moving vehicle 100, the driving member 320 is disposed on the support frame 330, and the moving frame 310 is slidably connected to the support frame 330. Further disposing the driving member 320 on the support frame 330 can ensure the stability of the driving member 320 and make the lifting assembly 300 compact. The moving frame 310 is slidably connected to the support frame 330, so that the driving member 320 can drive the moving frame 310 to rise and fall more smoothly, thereby ensuring the stability of the lifting mechanism 200.

[0110] Further, refer to Figures 5 to 7 As shown, the moving frame 310 includes a connecting beam 311 and at least one moving block 312 arranged on the connecting beam 311 , the supporting mechanism 200 is hinged to the connecting beam 311 , and the moving block 312 is slidably connected to the support frame 330 .

[0111] Connecting beam 311 along Figure 7 The supporting frame 330 is provided in the middle X direction, and a moving block 312 is provided at each end thereof to be slidably connected to the supporting frame 330, and the connecting frame 210 of the supporting mechanism 200 is specifically hinged to the moving frame 310, so that the overall structure of the moving frame 310 is simple and compact.

[0112] Among them, reference Figure 7 As shown, at least one third roller 313 is disposed on the moving block 312 , and the third roller 313 abuts against the side of the support frame 330 and can roll along the side of the support frame 330 .

[0113] In this embodiment, five third rollers 313 are provided on each moving block 312, and two third rollers 313 are respectively provided on both sides of the support frame 330 in the Y direction, so that a total of four third rollers 313 can be clamped together on the support frame 330 to ensure that the sliding connection between the moving block 312 and the support frame 330 is stable and reliable. There is also a third roller 313 that is rollingly connected to the support frame 330 from one side of the support frame 330 in the X direction, which can further limit the moving block 312 to prevent the moving block 312 from detaching from the support frame 330 due to movement deviating from the extension direction of the support frame 330.

[0114] In other embodiments, a wheel groove may be provided on the support frame 330, and a third roller 313 may be provided on the moving block 312 to be rollingly connected to the wheel groove, or the third roller 313 may be cancelled. Figure 7 The two third rollers 313 at the top or the two third rollers 313 at the bottom of the middle moving block 312 simplify the structure of the moving frame 310 . The present application does not limit the specific number of the third rollers 313 .

[0115] Exemplarily, the number of the third rollers 313 is at least two, and the at least two third rollers 313 are respectively in contact with two opposite sides of the support frame 330 , and specifically may be an implementation manner of the three or five third rollers 313 mentioned above.

[0116] Alternatively, only two third rollers 313 may be provided on the moving block 312 so as to be rollingly connected to the supporting frame 330 from both sides of the Y direction.

[0117] Reference Figure 7 As shown, the lifting assembly 300 further includes a transmission member 340, and the driving member 320 is connected to the moving frame 310 through the transmission member 340. By connecting the driving member 320 and the moving frame 310 through the transmission member 340, the relative position setting of the driving member 320 and the moving frame 310 can be made more flexible, for example Figure 7 As shown in the figure, the movable frame 310 can be set on one side of the driving frame along the Y direction through the transmission member 340, rather than being fixed on the driving end of the driving member 320, so that the structure of the lifting component 300 is compact and the lifting component 300 occupies less space.

[0118] Specifically, one end of the transmission member 340 can be connected to the driving end of the driving member 320 , and the other end can be connected to the moving frame 310 , so that the driving end of the driving member 320 drives the moving frame 310 to move along the supporting frame 330 through the transmission member 340 .

[0119] In addition, in order to make the transmission effect of the transmission member 340 more stable and to adjust the setting form of the transmission member 340 according to the working conditions, refer to Figure 7 As shown, the lifting assembly 300 also includes a transmission wheel 350, which is rotatably arranged at the driving end of the driving member 320, one end of the transmission member 340 is arranged on the moving vehicle 100, and the other end of the transmission member 340 is fixedly connected to the moving frame 310, and the transmission member 340 is wound around the transmission wheel 350.

[0120] In this way, the driving end of the driving member 320 is connected to the transmission member 340 through the transmission wheel 350, and one end of the transmission member 340 is connected to the moving vehicle 100, and the other end is connected to the moving frame 310 after bypassing the transmission wheel 350, so that the transmission member 340 can stably drive the moving frame 310 to move along the support frame 330.

[0121] In a specific implementation, two sets of transmission wheels 350 and transmission members 340 may be provided at the driving end of the driving member 320 to further improve the transmission effect, make the transmission more stable, and reduce the load on the single transmission member 340 .

[0122] In a specific implementation, the driving member 320 can be set as a hydraulic lifting member, such as an electric hydraulic lifting member or a manual hydraulic lifting member. The transmission member 340 is adapted to the transmission wheel 350. When the transmission member 340 is a chain, the transmission wheel 350 can be a sprocket. When the transmission member 340 is a belt, the transmission wheel 350 can be a pulley. When the transmission member 340 is a connecting rope, the transmission wheel 350 can be set as a fixed pulley. This application does not limit this.

[0123] In other embodiments, reference is made to Figures 1 to 4 As shown, the mobile vehicle 100 includes a frame 110 and a mobile base 120, the frame 110 is arranged on the mobile base 120, and the lifting assembly 300 is connected to the frame 110. The frame 110 is arranged on the mobile base 120 as a whole, providing a location for installing the lifting assembly 300 and the supporting mechanism 200. The mobile base 120 is provided with a plurality of moving wheels 125, so that the mobile vehicle 100 can be easily moved, making the robot installation device more convenient to use.

[0124] Furthermore, a plurality of pedals 111 are provided on the frame 110. The plurality of pedals 111 are arranged in a stepped manner, and the pedals 111 are offset toward one side of the supporting mechanism 200 from bottom to top, so that an operator can climb up to the supporting mechanism 200 at the installation position through the pedals 111 to perform installation operations on the robot 400.

[0125] The uppermost step 111 is along Figure 3 or Figure 4The dimension in the middle Y direction is larger than other pedals 111, thereby forming a stepping platform, which is more convenient for operators to move.

[0126] In some other embodiments, reference Figures 1 to 4 As shown, a telescopic frame 121 is provided on a side of the mobile base 120 facing away from the frame 110 . The telescopic frame 121 is slidably connected to the mobile base 120 , and a first auxiliary wheel 122 is provided on the telescopic frame 121 .

[0127] By providing a telescopic frame 121 with a first auxiliary wheel 122 on the mobile base 120 , the stability of the mobile vehicle 100 can be further improved, thereby preventing the mobile vehicle 100 from tipping over in the direction of the side where the telescopic frame 121 extends.

[0128] A latch or buckle is provided between the telescopic frame 121 and the movable base 120 , so that the telescopic frame 121 can be limited to a suitable extension length, and the first auxiliary wheel 122 can be used to form a movable support.

[0129] The telescopic frame 121 is telescopic relative to the mobile base 120 toward the supporting mechanism 200. Figure 3 or Figure 4 The telescopic frame 121 can extend or retract in the middle Y direction to form a support on the side of the mobile vehicle 100 facing the supporting mechanism 200, so as to prevent the mobile vehicle 100 from tipping toward the robot 400 when the supporting mechanism 200 is connected to the robot 400 in the connecting position, thereby effectively protecting the robot 400 from damage.

[0130] Similarly, at least one side of the mobile base 120 is provided with an extension frame 123, and the extension frame 123 is provided with a second auxiliary wheel 124. The extension frames 123 with the second auxiliary wheels 124 are provided on both sides of the mobile base 120, which can further improve the stability of the mobile vehicle 100.

[0131] The extension frame 123 extends toward a side away from the moving vehicle 100 , and the extension length is less than the maximum extension length of the telescopic frame 121 , so that the structure of the moving vehicle 100 is relatively compact.

[0132] Exemplarily, the steps for the robot installation device provided in the present application to install the robot 400 are as follows:

[0133] S1, such as Figure 1 As shown, the telescopic frame 121 is extended relative to the mobile vehicle 100, and the supporting mechanism 200 is set to the connection position to be connected with the robot 400;

[0134] S2, such as Figure 8 As shown, the connecting member 220 on the supporting mechanism 200 is docked with the robot 400;

[0135] S3, such as Fig. 9 and Fig.10 As shown, a simple traction rope, existing lifting equipment in the storage system, or a crane outside the storage system is used to lift the end of the supporting mechanism 200 away from the mobile vehicle 100, so that the supporting mechanism 200 and the robot 400 are switched from the connection position to the installation position;

[0136] S4, such as Fig.11 and Fig.12 As shown, an external force is applied to the operating member 2312 of the installation assembly 230, so that the operating member 2312 drives the support member 2311 to rotate, driving the first roller 232 and the second roller 234 to roll and connect with the support frame 330, and restricting the supporting mechanism 200 to the installation position;

[0137] S5, such as Fig.13 As shown, the mobile vehicle 100 is moved to the shelf 500, and the driving member 320 of the lifting assembly 300 drives the mobile frame 310, so that the mobile frame 310 is lifted along the support frame 330 through the third roller 313, and the mobile frame 310 drives the robot 400 to move and rise to the track 510 slightly higher than the shelf 500 through the connecting frame 210 of the supporting mechanism 200;

[0138] S6, such as Fig.14 As shown, the mobile vehicle 100 moves to the track 510 and aligns the robot 400 with the track 510 in the vertical direction;

[0139] S7, such as Fig.15 As shown, the driving member 320 drives the moving frame 310 to descend, so that the robot 400 docks with the track 510 to complete the installation;

[0140] S8, such as Fig.16 and Fig.17 As shown, the moving frame 310 is further lowered to disconnect the connecting member 220 from the robot 400, and then the robot installation device is exited.

[0141] Figures 13 to 17 The dashed arrow in the middle indicates the movement direction of the corresponding part of the robot installation device.

[0142] In summary, the robot installation device provided in the present application, by setting a supporting mechanism on the mobile vehicle 100, can enable the supporting mechanism 200 to rotate relative to the mobile vehicle 100, so as to dock with the robot 400 to be installed in the connection position, and after rotating to the installation position, the robot 400 is in a vertical state, so that the mobile vehicle 100 can be used to move the robot 400 and install it on the track 510 of the shelf 500. Compared to only being able to set up special lifting equipment in the storage system to support the robot 400 and use the lifting equipment to install the robot 400 on the track 510, the robot installation device provided in the present application occupies a smaller operating space, has a lower demand for operating space, and is more flexible to use. It can be supported independently on the outside of the shelf 500 or supported by the existing lifting equipment in the storage system. If there is no lifting equipment, the robot 400 can also be supported manually with tools such as traction ropes. The robot 400 can also be supported in a wider area outside the storage system, such as outside the storage system, using a crane or traction rope outside the storage system, and then the robot 400 can be transported to the shelf 500 in the storage system by the mobile vehicle 100 to complete the installation of the robot 400. The installation operation does not require lifting equipment, making the support and installation operations of the robot 400 more convenient and quick, and the implementation cost is lower.

[0143] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A robot installation device, used to install a robot on a rail of a shelf, characterized in that: It includes a moving vehicle and a supporting mechanism, which is arranged on the moving vehicle. The supporting mechanism can rotate relative to the moving vehicle so that the supporting mechanism drives the robot to switch between a connecting position and an installing position. In the connecting position, the supporting mechanism is used to dock with the robot. In the installing position, the supporting mechanism supports the robot in a vertical state so that the robot can be installed on the track.

2. The robot installation device according to claim 1, characterized in that: It also includes a lifting component, which is arranged on the mobile vehicle. The supporting mechanism is connected to the lifting component. The lifting component is constructed to drive the supporting mechanism to rise and fall relative to the mobile vehicle to align with the track when the supporting mechanism is in the installation position.

3. The robot installation device according to claim 2, characterized in that: The supporting mechanism comprises a connecting frame and at least one connecting member arranged on the connecting frame, the connecting frame is rotatably connected to the lifting assembly, and the connecting member is used to dock with a connecting portion on the robot.

4. The robot installation device according to claim 3, characterized in that: The supporting mechanism also includes an installation component, which is arranged on the connecting frame. When the supporting mechanism is in the installation position, the connecting frame is connected to the moving vehicle or the lifting component through the installation component. When the supporting mechanism is in the connection position, the installation component is disconnected from the moving vehicle or the lifting component.

5. The robot installation device according to claim 4, characterized in that: The mounting assembly includes a mounting frame and at least one first roller rotatably disposed on the mounting frame, the mounting frame is hinged to the connecting frame, and when the supporting mechanism is in the mounting position, the mounting frame is constructed to be rollingly connected to the moving vehicle or the lifting assembly through the first roller.

6. The robot installation device according to claim 5, characterized in that: The number of the first rollers is at least two, and each of the first rollers is used for rolling connection with a different side of the moving vehicle or the lifting assembly.

7. The robot installation device according to claim 5, characterized in that: The mounting frame comprises a support member, an operating member and a connecting rod, two ends of the connecting rod are respectively hinged to the support member and the operating member, and the support member and the operating member are both hinged to the connecting frame; The first roller is arranged on the support member, and the operating member is configured to drive the support member to rotate relative to the connecting frame through the connecting rod, so that the first roller is rollingly connected to the moving vehicle or the lifting assembly.

8. The robot installation device according to claim 7, characterized in that: The installation assembly also includes an elastic member, and the connecting frame and the operating member are connected by the elastic member.

9. The robot installation device according to claim 5, characterized in that: The installation assembly further comprises at least one second roller, which is rollingly arranged on the connecting frame. When the supporting mechanism is in the installation position, the second roller is constructed to be rollingly connected to the moving vehicle or the lifting assembly.

10. The robot installation device according to claim 9, characterized in that: When the supporting mechanism is in the installation position, the second roller and each of the first rollers are respectively located on different sides of the moving vehicle or the lifting assembly.

11. The robot installation device according to claim 2, characterized in that: The lifting assembly includes a moving frame and a driving member, wherein the driving member is arranged on the moving vehicle, the driving member is connected to the moving frame, the supporting mechanism is hinged to the moving frame, and the driving member drives the moving frame to lift and lower, so that the moving frame drives the supporting mechanism to lift and lower relative to the moving vehicle.

12. The robot installation device according to claim 11, characterized in that: The lifting assembly further comprises a support frame, the support frame is fixedly connected to the moving vehicle, the driving member is arranged on the support frame, and the moving frame is slidably connected to the support frame.

13. The robot installation device according to claim 12, characterized in that: The movable frame comprises a connecting beam and at least one movable block arranged on the connecting beam, the supporting mechanism is hinged to the connecting beam, and the movable block is slidably connected to the supporting frame.

14. The robot installation device according to claim 13, characterized in that: At least one third roller is arranged on the moving block, and the third roller abuts against the side surface of the supporting frame and can roll along the side surface of the supporting frame.

15. The robot installation device according to claim 14, characterized in that: The number of the third rollers is at least two, and at least two of the third rollers are respectively in contact with two opposite sides of the support frame.

16. The robot installation device according to claim 11, characterized in that: The lifting assembly further comprises a transmission member, and the driving member is connected to the moving frame via the transmission member.

17. The robot installation device according to claim 16, characterized in that: The lifting assembly also includes a transmission wheel, which is rotatably arranged at the driving end of the driving member, one end of the transmission member is arranged on the moving vehicle, the other end of the transmission member is fixedly connected to the moving frame, and the transmission member is wound around the transmission wheel.

18. The robot installation device according to claim 16, characterized in that: The driving member is a hydraulic lifting member, and the transmission member is a chain, a belt or a connecting rope.

19. The robot installation device according to any one of claims 1 to 18, characterized in that: When the supporting mechanism is in the connecting position, it is in a horizontal state.

20. The robot installation device according to any one of claims 2 to 18, characterized in that: The mobile vehicle comprises a vehicle frame and a mobile base, the vehicle frame is arranged on the mobile base, and the lifting assembly is connected to the vehicle frame.

21. The robot installation device according to claim 20, characterized in that The frame is provided with multiple layers of pedals.

22. The robot installation device according to claim 20, characterized in that A telescopic frame is arranged on a side of the mobile base facing away from the frame. The telescopic frame is slidably connected to the mobile base, and a first auxiliary wheel is arranged on the telescopic frame.

23. The robot installation device according to claim 22, characterized in that The telescopic frame is telescopic relative to the movable base toward the supporting mechanism.

24. The robot installation device according to claim 20, characterized in that An extension frame is arranged on at least one side of the mobile base, and a second auxiliary wheel is arranged on the extension frame.

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