Carrying robot and warehousing system

Abstract

The utility model provides a carrying robot and a warehousing system, and relates to the technical field of warehousing, the carrying robot comprises a chassis, a lifting frame and a pallet fork device, the lifting frame is arranged on the chassis, a temporary storage space is formed in the lifting frame, and the pallet fork device comprises a first telescopic pallet fork and a second telescopic pallet fork which are independently driven in a lifting mode; the first telescopic pallet fork and the second telescopic pallet fork are arranged on the lifting frame, the first telescopic pallet fork is located below the second telescopic pallet fork, and the first telescopic pallet fork and the second telescopic pallet fork do lifting movement in the first direction and do telescopic movement in the second direction relative to the lifting frame; and the carrying mechanism is arranged on the second telescopic pallet fork and located in the temporary storage space, and the carrying mechanism is configured to keep the material box located above the first telescopic pallet fork in the temporary storage space to be synchronous with the second telescopic pallet fork in the first direction. According to the carrying robot, the workbins can be stacked and piled, the multiple workbins can be carried at a time, and the operation efficiency is improved.

Description

Technical Field

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

[0002] With the rapid development of artificial intelligence technology, automation technology and information technology, the intelligence level of warehousing systems is also constantly improving. Handling robots are one of the main equipment that can realize automatic handling operations in warehousing systems. Handling robots can reduce human heavy physical labor and improve the efficiency of handling operations.

[0003] In the related art, a storage system has multiple shelves, each shelf has multiple independent storage locations, and can provide storage units for material boxes; the handling robot includes a chassis, a column and a fork, the column is arranged on the chassis, the fork is arranged on the column, and can be raised and lowered relative to the column along the extension direction of the column to pick up and place material boxes of different heights by the fork.

[0004] However, in the related art, if multiple boxes need to be taken out from the shelf, the transport robot can only take them out one by one, which leads to a technical problem of low operating efficiency. Utility Model Content

[0005] In view of the above problems, an embodiment of the present application provides a transport robot and a warehousing system. The transport robot can stack and destacker material boxes and transport multiple material boxes at a time. There is no need to set up shelves in the warehouse to store the material boxes, thereby reducing the shelf cost.

[0006] In order to achieve the above objectives, the embodiments of the present application provide the following technical solutions:

[0007] A first aspect of an embodiment of the present application provides a transport robot, comprising:

[0008] A chassis having a temporary storage location configured to store a material box;

[0009] A lifting frame, arranged on the chassis, wherein a temporary storage space extending along a first direction is formed inside the lifting frame, and the temporary storage space is located above the temporary storage position and communicated with the temporary storage position;

[0010] The fork device comprises a first telescopic fork and a second telescopic fork which are independently lifted and driven, the first telescopic fork and the second telescopic fork are slidably arranged on the lifting frame, and the first telescopic fork is located below the second telescopic fork, the first telescopic fork and the second telescopic fork can be lifted and moved in a first direction and telescopically moved in a second direction relative to the lifting frame to pick up and place a material box; wherein the first direction and the second direction are perpendicular to each other,

[0011] A carrying mechanism is provided on the second telescopic fork and is located in the temporary storage space, and the carrying mechanism is configured to hold the material box located above the first telescopic fork in the temporary storage space and synchronize with the second telescopic fork in the first direction.

[0012] In some embodiments, the carrying mechanism can be raised and lowered relative to the second telescopic fork in a first direction.

[0013] In some embodiments, the lowest point of the carrying mechanism is not higher than the lowest point of the second telescopic fork.

[0014] In some embodiments, the carrying mechanism includes two clamp assemblies, which are respectively arranged on opposite sides of the second telescopic fork in a third direction and are slidingly or rollingly connected to the second telescopic fork, wherein the third direction is perpendicular to the first direction and the second direction respectively.

[0015] In some embodiments, each of the clamp assemblies includes a slide and a clamp, the clamp is arranged on the slide, the slide has a first sliding portion extending along the first direction, the second telescopic fork has a second sliding portion matching the first sliding portion, the first sliding portion is slidably connected to the second sliding portion, so that the slide slides in the first direction relative to the second telescopic fork.

[0016] In some embodiments, the clamp is disposed at the bottom of the slide.

[0017] In some embodiments, the clamp is one of a clamp block, a clamp plate, a rotating member, and a clamping member.

[0018] In some embodiments, the carrying mechanism further includes a buffer, which is disposed at one end of the carrying mechanism close to the first telescopic fork, and a distance between the buffer and the first telescopic fork is smaller than a distance between the clamp and the first telescopic fork.

[0019] In some embodiments, the buffer comprises at least one of a hydraulic buffer and an elastic buffer.

[0020] In some embodiments, the invention further comprises: a first anti-collision member and a second anti-collision member, wherein the first anti-collision member is disposed on a side of the first telescopic fork facing the carrying mechanism, and the second anti-collision member is disposed on a side of the carrying mechanism facing the first telescopic fork and is disposed opposite to the first anti-collision member;

[0021] Wherein, the distance between the second anti-collision member and the first telescopic fork is greater than the distance between the buffer member and the second telescopic fork, and smaller than the distance between the clamp and the first telescopic fork.

[0022] In some embodiments, the first impact member and the second impact member are respectively at least one of an impact plate and an impact block.

[0023] In some embodiments, a limiting structure is provided at one end of the first sliding portion away from the clamp, and the limiting structure is used to prevent the first sliding portion and the second sliding portion from being separated from each other.

[0024] In some embodiments, the limiting structure is a limiting block or a limiting plate arranged on the top of the first sliding part.

[0025] In some embodiments, the first sliding portion is a slide rail, and the second sliding portion is a slide groove.

[0026] In some embodiments, a driving unit is further included, wherein the driving unit is configured to drive the carrying mechanism to move up and down in the first direction relative to the second telescopic fork.

[0027] In some embodiments, the first telescopic fork comprises two sets of first telescopic arm assemblies, the two sets of the first telescopic arm assemblies are spaced apart in the third direction and are relatively arranged on opposite sides of the lifting frame, and can be lifted and lowered relative to the lifting frame along the first direction, and the two sets of the first telescopic arm assemblies are configured to telescopically move along the second direction to pick up and place the material box;

[0028] The second telescopic fork includes two sets of second telescopic arm assemblies, which are spaced apart in the third direction and relatively arranged on opposite sides of the lifting frame, and can be lifted and lowered relative to the lifting frame along the first direction. The two sets of second telescopic arm assemblies are configured to telescopically move along the second direction to pick up and place the material box.

[0029] In some embodiments, the first telescopic arm assembly includes a first base, a first telescopic arm located at the telescopic end of the first telescopic arm assembly, and a first pickup member, the first telescopic arm moves in the second direction relative to the first base, the first pickup member is arranged on the first telescopic arm, and the first pickup member is configured to pick up and place a material box;

[0030] The second telescopic arm assembly includes a second base, a second telescopic arm located at the telescopic end of the second telescopic arm assembly, and a second picking piece. The second telescopic arm moves in the second direction relative to the second base. The second picking piece is arranged on the second telescopic arm, and the second picking piece is configured to pick up and place a material box.

[0031] In some embodiments, the first pick-and-place member is disposed at the bottom of the first telescopic arm; and / or

[0032] The second picking and placing member is arranged at the bottom of the second telescopic arm.

[0033] In some embodiments, the second telescopic arm extends along the first direction toward one side of the chassis, and the second picking piece is arranged at the bottom of the second telescopic arm so that the second picking piece can pick up the lowest box in the stack of boxes.

[0034] In some embodiments, when the carrying mechanism carries the material box above the first telescopic fork, there is a gap between the side wall of the material box and the second telescopic arm assembly on the same side, so that the second telescopic arm assembly can be telescopically moved along the second direction.

[0035] In some embodiments, the transport robot further includes a first lifting mechanism and a second lifting mechanism, wherein the first lifting mechanism is configured to drive the first telescopic fork to move up and down along the first direction; and the second lifting mechanism is configured to drive the second telescopic fork to move up and down along the first direction.

[0036] In some embodiments, the first lifting mechanism and the second lifting mechanism are disposed oppositely at the front and rear sides of the lifting frame.

[0037] In some embodiments, the first lifting mechanism includes a first lifting motor, a first rotating member and two groups of first traction members, the two groups of first traction members are arranged on the left and right sides of the first rotating member, the output shaft of the first lifting motor is connected to the first rotating member, one end of the two groups of first traction members is connected to the first rotating member and can be synchronously wound on the first rotating member, and the other ends of the two groups of first traction members are respectively connected to the left and right sides of the first telescopic fork; the second lifting mechanism includes a second lifting motor, a second rotating member and two groups of second traction members, the two groups of second traction members are arranged on the left and right sides of the second rotating member, the output shaft of the second lifting motor is connected to the second rotating member, one end of the two groups of second traction members is connected to the second rotating member and at least partially wound on the second rotating member, and the other ends of the two groups of second traction members are respectively connected to the left and right sides of the second telescopic fork.

[0038] In some embodiments, the first traction member includes a first front-end traction member and a first rear-end traction member, one ends of the first front-end traction member and the first rear-end traction member are connected to the same side of the first rotating member at intervals, and the other ends of the first front-end traction member and the first rear-end traction member are connected to the front and rear ends of the same side of the first telescopic fork; the second traction member includes a second front-end traction member and a second rear-end traction member, one ends of the second front-end traction member and the second rear-end traction member are connected to the same side of the second rotating member at intervals, and the other ends of the second front-end traction member and the second rear-end traction member are connected to the front and rear ends of the same side of the second telescopic fork.

[0039] A second aspect of an embodiment of the present application provides a warehousing system, including a handling robot as provided in the above embodiment.

[0040] In the handling robot provided in the embodiment of the present application, a temporary storage position is provided on the chassis, and a temporary storage space connected to the temporary storage position is provided on the lifting frame, and the temporary storage space extends along a first direction so as to store the material box through the temporary storage space; in addition, a first telescopic fork and a second telescopic fork are provided on the lifting frame, the first telescopic fork is located below the second telescopic fork, and the first telescopic fork and the second telescopic fork can be lifted and moved in the first direction and telescopically moved in the second direction relative to the lifting frame so as to take and place the material box; secondly, a carrying mechanism is provided on the second telescopic fork, and the carrying mechanism is located in the temporary storage space, and the carrying mechanism The structure can hold the material box located above the first telescopic fork in the temporary storage space, and enable it to move synchronously with the second telescopic fork in the first direction. In this way, through the mutual cooperation between the first telescopic fork, the second telescopic fork and the carrying mechanism, on the one hand, multiple material boxes can be stacked into a material box stack; on the other hand, one or more material boxes from the material box stack can be taken out at the same time, or one or more target material boxes can be inserted between any two adjacent material boxes in the material box stack, thereby improving the efficiency of picking and placing goods and improving the operating efficiency of the handling robot; on the other hand, there is no need to set up shelves for placing material boxes in the warehouse, thereby reducing costs.

[0041] In addition to the technical problems solved by the embodiments of the present application, the technical features that constitute the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions described above, other technical problems that can be solved by the handling robot and warehousing system provided by the embodiments of the present application, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further described in detail in the specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. 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.

[0043] Figure 1 A schematic diagram of an application scenario of a handling robot provided in an embodiment of the present application;

[0044] Figure 2 A schematic diagram of the structure of a handling robot provided in an embodiment of the present application;

[0045] Figure 3 for Figure 2 Schematic diagram from another perspective;

[0046] Figure 4 for Figure 2 Another perspective diagram of ;

[0047] Figure 5 A schematic diagram of a structure of a carrying mechanism in a handling robot provided in an embodiment of the present application;

[0048] Figure 6 for Figure 5 Schematic diagram of the forward projection of ;

[0049] Figure 7 A schematic diagram of a state of a partial structure of a handling robot provided in an embodiment of the present application;

[0050] Figure 8 for Figure 7 Schematic diagram from another perspective;

[0051] Fig. 9 A schematic diagram of the structure of a second telescopic fork and a second telescopic fork in a handling robot provided in an embodiment of the present application;

[0052] Fig.10 for Fig. 9 A one-view schematic diagram of

[0053] Fig.11 A schematic diagram of the structure of the second telescopic fork portion of the transport robot provided in an embodiment of the present application;

[0054] Fig.12 A schematic diagram of a portion of the structure of a handling robot provided in an embodiment of the present application;

[0055] Fig.13 for Fig.12 A local enlarged schematic diagram of the middle A;

[0056] Fig.14 A schematic diagram of the structure of a first telescopic fork in a transport robot provided in an embodiment of the present application;

[0057] Fig.15 A schematic diagram of the structure of the lifting assembly in the handling robot provided in an embodiment of the present application.

[0058] Description of reference numerals:

[0059] 10-Transportation robot;

[0060] 100-chassis; 140-elastic member; 150-driving wheel;

[0061] 200-lifting frame;

[0062] 300-fork device; 310-first telescopic fork;

[0063] 311-first telescopic arm assembly; 3111-first base; 3112-first telescopic arm; 3113-first pickup piece; 312-first anti-collision piece;

[0064] 320-second telescopic fork; 321-second telescopic arm assembly; 3211-second base;

[0065] 3212-second telescopic arm; 3213-second picking piece; 322-second sliding part;

[0066] 330-carrying mechanism; 33-clamp assembly; 331-clamp; 332-slide; 333-buffer;

[0067] 334-second anti-collision member; 335-limiting structure; 336-first sliding part;

[0068] 340-first driving mechanism; 350-second driving mechanism; 370-first pulley;

[0069] 400-lifting assembly;

[0070] 410-first lifting mechanism; 411-first lifting motor; 412-first rotating member;

[0071] 413-first traction member; 4131-first front end traction member; 4132-first rear end traction member;

[0072] 420-second lifting mechanism; 421-second lifting motor; 422-second rotating member;

[0073] 423-second traction member; 4231-second front end traction member; 4232-second rear end traction member;

[0074] 20-Material box; 30-Material box stack. DETAILED DESCRIPTION

[0075] With the rapid development of artificial intelligence technology, automation technology and information technology, the intelligence level of the warehousing system is also constantly improving. The handling robot is one of the main equipment that can realize automatic handling operations in the warehousing system, so as to reduce the heavy physical labor of humans and improve the efficiency of handling operations. In the related art, there are multiple shelves in the warehousing system, each shelf has multiple independent storage locations, which can provide storage units for material boxes; the handling robot includes a chassis, a column and a fork, the column is arranged on the chassis, and the fork is arranged on the column, and can be raised and lowered relative to the column along the extension direction of the column to pick up and place material boxes of different heights through the fork. However, in the related art, if multiple material boxes need to be taken out from the shelf, the handling robot can only take them out one by one, and there is a technical problem of low operation efficiency.

[0076] In order to solve the above problems, the embodiments of the present application provide a handling robot and a storage system, wherein a temporary storage position is arranged on the chassis, and a temporary storage space connected to the temporary storage position is arranged on the lifting frame, wherein the temporary storage space extends along a first direction so as to store material boxes through the temporary storage space; in addition, a first telescopic fork and a second telescopic fork are arranged on the lifting frame, wherein the first telescopic fork is located below the second telescopic fork, and the first telescopic fork and the second telescopic fork can be lifted and moved relative to the lifting frame in the first direction and telescopically moved in the second direction so as to take and place material boxes; secondly, a carrying mechanism is arranged on the second telescopic fork, wherein the carrying mechanism is located in the temporary storage space, and the carrying mechanism can be moved relative to the lifting frame The second telescopic fork moves up and down in the first direction, and the carrying mechanism can hold the material box located above the first telescopic fork in the temporary storage space, so that it moves synchronously with the second telescopic fork in the first direction. In this way, through the mutual cooperation between the first telescopic fork, the second telescopic fork and the carrying mechanism, on the one hand, multiple material boxes can be stacked into material box stacks; on the other hand, one or more material boxes of the material box stack can be taken out at the same time, or one or more target material boxes can be inserted between any two adjacent material boxes in the material box stack, thereby improving the efficiency of picking and placing goods and improving the operating efficiency of the handling robot; on the other hand, there is no need to set up shelves for placing material boxes in the warehouse, thereby reducing costs.

[0077] In order to make the above-mentioned purposes, features and advantages of the embodiments of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work belong to the scope of protection of this application.

[0078] An embodiment of the present application provides a transport robot, which includes but is not limited to being suitable for use in smart warehouses. The transport robot has the functions of stacking multiple material boxes to form a material box stack, or stacking the material box stacks into firewood stacks and transporting material boxes.

[0079] The structure of the transport robot will be described in detail below with reference to the accompanying drawings.

[0080] Please refer to Figures 1 to 14 As shown, the handling robot 10 provided in the embodiment of the present application includes a chassis 100. The chassis 100 serves as a bearing base for various mechanisms or modules in the handling robot 10, so that the various mechanisms or modules on the handling robot 10 can be interconnected or operate with each other. Therefore, the chassis 100 needs to have a certain strength and rigidity to improve the working reliability of the handling robot 10.

[0081] In addition, the chassis 100 has a walking mechanism, for example, the walking mechanism includes a driving motor and at least two driving wheels 150, and the at least two driving wheels 150 are respectively arranged on opposite sides of the chassis 100 and in contact with the ground. In this way, the driving motor provides driving force to the driving wheels 150, so that the transport robot 10 can move in a space such as a warehouse.

[0082] In order to improve the grip between the driving wheel 150 and the ground, in some embodiments, the chassis 100 also has an elastic member 140. Exemplarily, the elastic member 140 is, for example, a spring. The elastic member 140 is connected between the driving wheel 150 and the chassis 100 so that there is sufficient grip between the driving wheel 150 and the ground, and the problem of unstable walking of the transport robot 10 is not caused by insufficient grip of the driving wheel 150 due to uneven ground.

[0083] In some embodiments, the chassis 100 is also provided with sensing components such as laser radars for sensing the environment around the transport robot 10 , so as to help the transport robot 10 avoid obstacles and improve the safety and reliability of the movement of the transport robot 10 .

[0084] The chassis 100 also has an electric control system, which can provide power for the movement of the transport robot 10 and can also be used to control the movement of each mechanism or module in the transport robot 10 .

[0085] In some embodiments, the chassis 100 further has a temporary storage location for storing the material box 20 , that is, the chassis 100 has a space for placing the material box 20 for temporary storage of the material box 20 .

[0086] Exemplarily, a temporary storage rack is provided on the chassis 100, and the temporary storage rack is arranged to form a temporary storage position. The contour shape of the temporary storage position can match the contour shape of the material box 20, for example, the temporary storage rack is arranged to form a temporary storage position with a contour shape of a cube, a rectangular parallelepiped, etc., so as to temporarily store the material box 20.

[0087] In order to prevent the material box 20 from shifting at the temporary storage position, in some embodiments, at least two stoppers are further provided on the chassis 100, and the at least two stoppers are spaced apart in the circumferential direction of the temporary storage position. For example, when the material box 20 is placed at the temporary storage position, the material box 20 has stoppers around it that can limit the material box 20, so as to prevent the position of the handling robot 10 from shifting or shaking during the walking process, thereby improving the stability and reliability of the material box 20 in the temporary storage position.

[0088] Exemplarily, the limiting member is a structure such as a limiting plate or a limiting block, and no limitation is made here as long as it can limit the material box 20 in the temporary storage position.

[0089] In some embodiments, a guide structure is further provided on the chassis 100 , and the guide structure is configured to guide the material box 20 entering the temporary storage position, so as to facilitate the material box 20 to enter the temporary storage position or be taken out from the temporary storage position.

[0090] Exemplarily, the guide structure is a structure such as a guide plate having an inclined angle with the limit member, and as long as it can guide the material box 20 when entering or leaving the temporary storage position, no specific limitation is made here.

[0091] In some embodiments, the transport robot 10 further includes a lifting frame 200 , which is disposed on the chassis 100 . A temporary storage space extending along a first direction is formed inside the lifting frame 200 . The temporary storage space is located above the temporary storage position and is connected to the temporary storage position.

[0092] It can be understood that by forming a temporary storage space connected to the temporary storage position inside the lifting frame 200, multiple material boxes 20 can be stored in the temporary storage space along the first direction, so that the material boxes 20 located in the temporary storage position and the temporary storage space are stacked in sequence along the first direction to form a material box stack 30. There is no need to set a shelf or other structure for temporarily storing the material boxes 20 on the lifting frame 200 of the transport robot 10. On the one hand, the shelf structure on the transport robot 10 is saved and the cost is reduced; on the other hand, the temporary storage space can temporarily store more material boxes 20, thereby improving the transport efficiency of the transport robot 10.

[0093] Exemplarily, the lifting frame 200 includes, for example, a plurality of columns, which are arranged on the chassis 100 and together form a temporary storage space; for example, the lifting frame 200 includes four columns, which are respectively arranged on the chassis 100 and are respectively located at the four vertices of a rectangular figure, so that the four columns together form a temporary storage space with a rectangular cross-sectional shape.

[0094] In some embodiments, please refer to Figures 1 to 4 As shown, the transport robot 10 further includes a fork device 300, which includes a first telescopic fork 310 and a second telescopic fork 320. The first telescopic fork 310 and the second telescopic fork 320 are arranged on the lifting frame 200, and the first telescopic fork 310 is located below the second telescopic fork 320. The first telescopic fork 310 and the second telescopic fork 320 can be lifted and moved relative to the lifting frame 200 in a first direction, and the first telescopic fork 310 and the second telescopic fork 320 can be telescopically moved relative to the lifting frame 200 in a second direction, so as to pick up and place the material box 20 by the first telescopic fork 310 and the second telescopic fork 320.

[0095] The first direction and the second direction are perpendicular to each other. For example, when the first direction is a vertical direction, the second direction is a horizontal direction.

[0096] In some embodiments, please refer to Figures 2 to 9 As shown, the transport robot 10 also includes a carrying mechanism 330, which is arranged on the second telescopic fork 320 and is located in the temporary storage space. In this way, when the second telescopic fork 320 moves up and down along the first direction, it can drive the carrying mechanism 330 to move, so that the carrying mechanism 330 can carry the material box 20 in the temporary storage space and rise and fall synchronously with the second telescopic fork 320.

[0097] By arranging the carrying mechanism 330 on the second telescopic fork 320, the distance between the carrying mechanism 330 and the first telescopic fork 310 is variable. When the first telescopic fork 310, the second telescopic fork 320 and the carrying mechanism 330 cooperate to take and put the material box 20, multiple material boxes 20 can be extracted from the material box stack 30 in the warehouse at one time and placed in the temporary storage space, so as to improve the efficiency of taking and putting the material box 20.

[0098] In addition, when the first telescopic fork 310 moves to the lowest end in the first direction, that is, when the first telescopic fork 310 reaches a lower height in the first direction, if the second telescopic fork 320 wants to pick up the material box 20 at the lowest end, the second telescopic fork 320 drives the carrying mechanism 330 to move along the first direction. When the carrying mechanism 330 moves to the top of the first telescopic fork 310 and contacts the top of the first telescopic fork 310, it cannot move downward any further, thereby causing the second telescopic fork 320 to be unable to move downward any further, and further causing the second telescopic fork 320 to be unable to pick up the material box 20 at the lowest end.

[0099] Based on the above problems, in the embodiment of the present application, the carrying mechanism 330 is movably arranged on the second telescopic fork 320, so that the carrying mechanism 330 can be raised and lowered relative to the second telescopic fork 320 in the first direction. In this way, when the second telescopic fork 320 drives the carrying mechanism 330 to move to the position of the first telescopic fork 310, as the second telescopic fork 320 continues to descend along the first direction, the carrying mechanism 330 can move upward in the second direction relative to the second telescopic fork 320, and will not affect the continued descent of the second telescopic fork 320 along the first direction, so that the second telescopic fork 320 can pick up the lowest end of the material box 20, thereby increasing the application range of the transport robot 10 and improving the user experience.

[0100] In some embodiments, the lowest point of the carrying mechanism 330 is not higher than the lowest point of the second telescopic fork 320 , so that the carrying mechanism 330 can get the material box above the first telescopic fork 310 and closest to the first telescopic fork 310 .

[0101] The following is an example of the process of taking and placing goods by the cooperation between the first telescopic fork 310, the second telescopic fork 320 and the carrying mechanism 330.

[0102] The picking process refers to taking out the first target box from the box stack 30 in the warehouse and placing it in the temporary storage space, while the releasing process refers to placing the second target box in the temporary storage space into the box stack 30 in the warehouse.

[0103] When it is necessary to place the first target material box in the material box stack 30 to the first target cargo placement position in the temporary storage space, first, the handling robot 10 is moved to the position of the material box stack 30; in addition, if there is a material box 20 at the first target cargo placement position, at this time, the carrying mechanism 330 is used to dock with the first material box located at the first target cargo placement position in the temporary storage space, and the second telescopic fork 320 drives the carrying mechanism 330 to lift up along the first direction until the first target cargo placement position in the temporary storage space is vacant; thereafter, if there are no other material boxes on the upper part of the first target material box, the first telescopic fork 310 can directly retrieve the first target material box and place it at the first target cargo placement position; if there is also a second material box on the upper part of the first target material box, the first telescopic fork 310 and the second telescopic fork 320 are controlled to extend toward the material box stack 30 along the second direction, so that the second telescopic fork 320 is aligned with the second material box above the first target material box in the material box stack 30 The first telescopic fork 310 is controlled to dock with the first target material box, and then the second telescopic fork 320 and the first telescopic fork 310 are controlled to be lifted simultaneously in the first direction so that there is a gap between the first target material box and the first support member located below the first target material box; then the first telescopic fork 310 is controlled to retract in the second direction so as to place the first target material box taken by the first telescopic fork 310 to the first target cargo placement position, and the second telescopic fork 320 is controlled to descend in the first direction so that the carrying mechanism 330 places the first material box on the first target material box, and then the second telescopic fork 320 is controlled to continue to descend in the first direction until the second material box is placed on the first support member, thereby completing the removal of the first target material box from the first target material box stack 30 and placing it in the first target cargo placement position of the temporary storage space.

[0104] It should be noted that the first material box may be one material box, or a plurality of material boxes stacked in sequence along the first direction. The second material box may also be one material box 20, or a plurality of material boxes 20 stacked in sequence along the first direction.

[0105] The first support member under the first target material box may be the material box 20 , or a support structure for supporting the material box 20 .

[0106] Among them, since the distance between the carrying mechanism 330 and the first telescopic fork 310 is adjustable, the carrying mechanism 330 can carry the first material box 20 and lift it to a sufficient height so that the first target cargo placement position has sufficient space. Exemplarily, for example, the first target cargo placement position can place multiple material boxes 20 stacked along the first direction at one time, that is, the first target material box can be multiple material boxes 20. In this way, multiple material boxes 20 can be picked up in one picking process, thereby improving the picking efficiency.

[0107] The process of releasing goods is the opposite of the above-mentioned process of picking up goods, so it will not be repeated here.

[0108] It can be seen that in the embodiment of the present application, on the one hand, through the mutual cooperation between the first telescopic fork 310, the second telescopic fork 320 and the carrying mechanism 330, multiple material boxes 20 can be stacked into a material box stack 30, or the material box stack 30 can be destackered; it is also possible to extract a target material box from the material box stack 30 or insert a target material box into the material box stack 30; on the other hand, by arranging the carrying mechanism 330 in the direction of the second telescopic fork 320, and the second telescopic fork 320 is arranged above the first telescopic fork 310, so that when the first telescopic fork 310 and the second telescopic fork 320 are respectively lifted and moved relative to the lifting frame 200 in the first direction, the distance between the first telescopic fork 310 and the carrying mechanism 330 in the first direction is adjustable. Therefore, when the handling robot 10 takes and places the material box 20, the carrying mechanism 330 can Driven by the second telescopic fork 320, the material box 20 at the target cargo placement position can be picked up first, so as to make enough space for the target cargo placement position of multiple material boxes 20, and then, the multiple target material boxes 20 are picked up by the first telescopic fork 310, and the multiple target material boxes 20 are placed at the corresponding target positions. In this way, the handling robot 10 can extract multiple material boxes 20 in one picking and placing process, thereby improving the picking and placing efficiency of the handling robot 10; on the other hand, by making the carrying mechanism 330 rise and fall relative to the second telescopic fork 320 in the first direction, when the second telescopic fork 320 moves downward along the first direction, the carrying mechanism 330 will not interfere with the first telescopic fork 310, thereby increasing the downward probing height of the second telescopic fork 320 and improving the application range of the handling robot 10.

[0109] In some embodiments, Figure 5 As shown, the carrying mechanism 330 includes two clamp assemblies 33, and the two clamp assemblies 33 are respectively arranged on the opposite sides of the second telescopic fork 320 in the third direction. For example, when the second telescopic fork 320 is lifted or lowered along the first direction, the carrying mechanism 330 can dock with the material box 20 located in the temporary storage space and at the target cargo release position through the two clamp assemblies 33, so that the two clamp assemblies 33 and the second telescopic fork 320 are lifted synchronously, so that enough space is freed up at the target cargo release position in the temporary storage space, so as to facilitate the target material box 20 docked with the first telescopic fork 310 to be placed at the target cargo release position in the temporary storage space.

[0110] In some embodiments, the two clamp assemblies 33 are respectively slidably connected to the second telescopic fork 320, so that the two clamp assemblies 33 can be lifted and lowered relative to the second telescopic fork 320 in the first direction, so that when the second telescopic fork 320 moves downward along the first direction, the carrying mechanism 330 can move upward along the first direction relative to the second telescopic fork 320 to avoid the first telescopic fork 310, thereby avoiding interference between the carrying mechanism 330 and the first telescopic fork 310 and affecting the downward height of the second telescopic fork 320 in the first direction.

[0111] The third direction is perpendicular to the first direction and the second direction, for example, in a spatial coordinate system, Figure 3 As shown in , the first direction is, for example, the Z direction of the space coordinate system, the second direction is, for example, the X direction of the space coordinate system, and the third direction is, for example, the Y direction of the space coordinate system.

[0112] In some embodiments, please refer to Figure 5 and Figure 6 As shown, each clamp assembly 33 includes a slide 332 and a clamp 331, the clamp 331 is arranged on the slide 332, the slide 332 has a first sliding portion 336 extending along the first direction, the second telescopic fork 320 has a second sliding portion 322 matching the first sliding portion 336, the first sliding portion 336 is slidably connected with the second sliding portion 322, so that the slide 332 slides relative to the second telescopic fork 320 in the first direction, so as to avoid the first telescopic fork 310 and increase the downward height of the second telescopic fork 320 in the first direction.

[0113] Exemplarily, the first sliding portion 336 is, for example, one of a slide groove and a slide rail, and the second sliding portion 322 is, for example, the other of the slide groove and the slide rail, and the extension direction of the slide rail and the slide groove is, for example, extending along the first direction. In this way, when the slide 332 is set on the second telescopic fork 320, the slide 332 slides upward relative to the second telescopic fork 320 along the extension direction of the slide rail and the slide groove under the external upward thrust force along the first direction; or, when the external force is released, the slide 332 and the clamp 331 slide downward relative to the second telescopic fork 320 along the extension direction of the slide groove and the slide rail under the gravity force of themselves.

[0114] It can be understood that the slide 332 and the second telescopic fork 320 are connected via a slide groove and a slide rail, so that when the slide 332 slides relative to the second telescopic fork 320, it slides along the extension direction of the slide groove and the slide rail, thereby improving the accuracy of the sliding path of the slide 332 when sliding relative to the second telescopic fork 320.

[0115] In some embodiments, the slide 332 is, for example, a rod-shaped or plate-shaped slide 332. In addition, two relatively arranged slides 332 in two relatively arranged clamp assemblies can be connected by connecting parts such as connecting rods or connecting plates to form an integral structure. In this way, the two clamp assemblies can slide synchronously relative to the second telescopic fork 320 when sliding along the first direction, thereby improving the reliability of the two clamp assemblies when carrying the material box 20 and avoiding the problem of the two clamp assemblies being misaligned with each other in the first direction and causing the material box 20 to fall.

[0116] In some embodiments, Figure 5 As shown, a limiting structure 335 is provided at one end of the first sliding portion 336 away from the clamp 331, and the limiting structure 335 is used to prevent the first sliding portion 336 and the second sliding portion 322 from detaching from each other, that is, the limiting structure 335 can prevent the first sliding portion 336 from slipping off the second sliding portion 322, thereby improving the sliding reliability between the first sliding portion 336 and the second sliding portion 322.

[0117] Exemplarily, the first sliding portion 336 is a slide rail, the second sliding portion 322 is a slide groove, and the limiting structure 335 is a limiting block or a limiting plate arranged on the top of the slide rail. When the slide 332 slides to the bottom end along the slide groove on the second telescopic fork 320 through the slide rail, the limiting block or the limiting plate abuts against the second telescopic fork 320 to prevent the slide 332 from falling off the second telescopic fork 320.

[0118] In some embodiments, the clamp 331 may be disposed at the bottom of the slide 332 , so that the clamp 331 can pick up the material box 20 at a lower position in the temporary storage space.

[0119] In addition, the clamp 331 can be one of a clamp block, a clamp plate, a rotating member or a clamping member. Exemplarily, when the clamp 331 is a clamping block or a clamping plate, the two clamping blocks or clamping plates arranged opposite to each other can clamp the opposite sides of the material box 20 to achieve the picking up of the material box 20; or, the clamp 331 can also be a rotating part. When it is necessary to carry the material box 20 for lifting, the rotating part rotates to abut against the side wall of the material box 20, so that when the carrying mechanism 330 is lifted or lowered, the material box 20 can be lifted or lowered synchronously; and when it is not necessary to carry the material box 20 for lifting or lowering, the rotating part rotates to the side away from the material box 20; or, the clamp 331 can also be a snap-in part. Accordingly, a snap-in position matching the snap-in part can be provided on the side wall of the material box 20, so that when the clamp 331 is docked with the material box 20, the snap-in part is directly engaged with the snap-in position to achieve the picking up of the material box 20. Exemplarily, the snap-in part is, for example, a hook, and the snap-in position is, for example, a slot.

[0120] In some embodiments, Figure 5 and Figure 6As shown, the carrying mechanism 330 also includes a buffer 333, which is arranged at one end of the carrying mechanism 330 close to the first telescopic fork 310, and the distance between the buffer 333 and the first telescopic fork 310 is smaller than the distance between the clamp 331 and the first telescopic fork 310. For example, when the first telescopic fork 310 is lowered to the lowest position along the first direction, that is, the first telescopic fork 310 cannot continue to be lowered, and the second telescopic fork 320 drives the carrying mechanism 330 to be lowered along the first direction, so that the second telescopic fork 320 can take For example, take the material box 20 at the lowest end of the material box stack 30. When the carrying mechanism 330 moves close to the first telescopic fork 310, the buffer 333 on the carrying mechanism 330 first contacts the first telescopic fork 310, so that most of the kinetic energy of the carrying mechanism 330 and the first telescopic fork 310 when contacting is absorbed by the buffer 333, thereby reducing the collision impact force between the carrying mechanism 330 and the first telescopic fork 310, thereby avoiding the problem of damage or collision vibration caused by the collision between the first telescopic fork 310 and the carrying mechanism 330.

[0121] Of course, the buffer member 333 may not be disposed on the carrying mechanism 330, but may be disposed on the top of the first telescopic fork 310, so that the buffer member 333 can absorb the collision force when the carrying mechanism 330 contacts the first telescopic fork 310, so as to improve the service life of the carrying mechanism 330 and the first telescopic fork 310 and the stability when in contact.

[0122] Exemplarily, the buffer 333 includes but is not limited to at least one of a hydraulic buffer and an elastic buffer; for example, when the buffer 333 is a hydraulic buffer, the buffer can achieve collision buffering during collision through the hydraulic principle to reduce the collision force. Exemplarily, the hydraulic buffer can be a hydraulic structure such as a hydraulic rod or a hydraulic column prepared by the hydraulic principle in the first direction, so that the hydraulic buffer has a certain hydraulic movement in the first direction, thereby absorbing the force of the collision impact in the first direction; or, when the buffer 333 is an elastic buffer, the impact generated during the collision can be absorbed by the elastic force of the elastic buffer itself, thereby reducing the impact force during the collision. Exemplarily, the elastic buffer can be a structure such as an elastic column or an elastic pad with a certain elasticity in the first direction; of course, the buffer 333 can also be other buffer structures, as long as it can reduce the force of the collision impact when the carrying mechanism 330 collides with the first telescopic fork 310.

[0123] The buffer 333 can be detachably connected to the carrying mechanism 330 or the first telescopic fork 310 , so that when the buffer 333 fails to work, only the buffer 333 can be replaced without replacing the carrying mechanism 330 , thereby reducing the cost of the transport robot 10 .

[0124] In some embodiments, please refer to Figure 5 , Figure 6 , Fig.10 and Fig.14 As shown, the transport robot 10 also includes a first anti-collision member 312 and a second anti-collision member 334, the first anti-collision member 312 is arranged on the side of the first telescopic fork 310 facing the carrying mechanism 330, and the second anti-collision member 334 is arranged on the side of the carrying mechanism 330 facing the first telescopic fork 310, and is arranged opposite to the first anti-collision member 312, wherein the distance between the second anti-collision member 334 and the first telescopic fork 310 is greater than the distance between the buffer member 333 and the second telescopic fork 320, and is smaller than the distance between the clamp 331 and the first telescopic fork 310.

[0125] For example, in Figure 6 In the figure, the distance between the lowest end of the second anti-collision member 334 and the lowest end of the buffer member 333 is represented by A, and the distance between the lowest end of the second anti-collision member 334 and the lowest end of the clamp 331 is represented by B, then A is greater than B, so that when the clamp 331 contacts the first telescopic fork 310, the kinetic energy between the carrying mechanism 330 and the first telescopic fork 310 is completely absorbed by the buffer member 333 and the first anti-collision member 312 and the second anti-collision member 334, thereby reducing the impact force when the clamp 331 contacts the first telescopic fork 310.

[0126] Exemplarily, when the carrying mechanism 330 moves toward the first telescopic fork 310, the buffer 333 on the carrying mechanism 330 first contacts the first telescopic fork 310, and first absorbs at least most of the kinetic energy through the buffer 333 to reduce the impact of the collision between the two. As the carrying mechanism 330 moves further toward the first telescopic fork 310, the first anti-collision member 312 on the first telescopic fork 310 and the second anti-collision member 334 on the carrying mechanism 330 contact each other to absorb the residual kinetic energy between the two, so as to avoid direct collision between the carrying mechanism 330 and the first buffer fork, and the first telescopic fork 310 can be respectively impacted. Afterwards, as the carrying mechanism 330 continues to move toward the first telescopic fork 310, the carrying mechanism 330 moves upward in the first direction relative to the second telescopic fork 320 under the upward push force of the first telescopic fork 310, and there is no relative movement between the carrying mechanism 330 and the first telescopic fork 310 in the first direction, so that the second telescopic fork 320 can continue to move downward in the first direction, so that the second telescopic fork 320 can pick up, for example, a material box 20 closer to the lower end of the material box stack 30.

[0127] Among them, the first anti-collision member 312 and the second anti-collision member 334 can be detachably connected to the first telescopic fork 310 and the carrying mechanism 330 respectively. In this way, when the first anti-collision member 312 and the second anti-collision member 334 are damaged to the point of failure, only the first anti-collision member 312 and the second anti-collision member 334 can be replaced without replacing the carrying mechanism 330 and the first telescopic fork 310, thereby reducing economic costs.

[0128] In some embodiments, the first anti-collision member 312 and the second anti-collision member 334 are at least one of an anti-collision plate and an anti-collision block, respectively; exemplarily, the first anti-collision member 312 is an anti-collision plate, and the second anti-collision member 334 is an anti-collision block, so that the contact reliability between the second anti-collision member 334 and the first anti-collision member 312 can be ensured when the carrying mechanism 330 contacts the first telescopic fork 310, that is, when the carrying mechanism 330 moves toward the first telescopic fork 310, the second anti-collision member 334 must be in contact with the first anti-collision member 312 on the first telescopic fork 310, so that the first anti-collision member 312 and the second anti-collision member 334 absorb the residual kinetic energy when the carrying mechanism 330 contacts the first telescopic fork 310.

[0129] In some embodiments, the first anti-collision component 312 and the second anti-collision component 334 can be respectively made of materials with a certain elasticity such as rubber, silicone or polyurethane to achieve the effect of absorbing kinetic energy and achieving a buffering effect.

[0130] In some embodiments, the transport robot 10 may further include a driving unit, which is configured to drive the carrying mechanism 330 to move up and down in the first direction relative to the second telescopic fork 320. In this way, the driving unit can drive the carrying mechanism 330 to move up and down in the first direction relative to the second telescopic fork 320 according to actual working conditions.

[0131] Exemplarily, the driving unit may include a driving motor and a power transmission mechanism, wherein the power transmission mechanism is, for example, a gear rack structure, or a transmission belt assembly, etc., and can be adaptively designed according to actual needs. The gear rack structure, transmission belt assembly, etc. can refer to relevant technologies. As long as the lifting and lowering movement of the driving carrying mechanism 330 can be achieved, there is no limitation here.

[0132] In some embodiments, Fig.14As shown, the first telescopic fork 310 includes two sets of first telescopic arm assemblies 311, which are spaced apart in the third direction and relatively arranged on opposite sides of the lifting frame 200, and the two sets of first telescopic arm assemblies 311 are configured to be telescopic along the second direction to take and place the material box 20, that is, the first telescopic arm assembly 311 can be retracted toward the temporary storage space side or extended toward the side away from the temporary storage space along the second direction, so as to take out the material box 20 in the temporary storage space and put it into, for example, a material box stack 30 in a warehouse. Alternatively, the material box 20 in the material box stack 30 is taken out and put into the temporary storage space.

[0133] In some embodiments, Fig.14 As shown, the first telescopic arm assembly 311 includes a first base 3111, a first telescopic arm 3112 located at the telescopic end, and a first picking piece 3113. The first telescopic arm 3112 moves in the second direction relative to the first base 3111. The first picking piece 3113 is arranged on the first telescopic arm 3112. The first picking piece 3113 is configured to pick up and place the material box 20.

[0134] In some embodiments, the first telescopic arm assembly 311 may also be provided with one or more telescopic arms between the first base 3111 and the first telescopic arm 3112 at the telescopic end according to different telescopic length requirements, so that the first telescopic arm assembly 311 can meet different telescopic requirements.

[0135] In addition, in order to improve the stability of the first telescopic fork 310 in the lifting and lowering movement in the first direction, in some embodiments, the first base 3111 is slidably connected to the lifting frame 200, so that when the first telescopic arm assembly 311 is lifted and lowered along the first direction, the lifting frame 200 can guide the first base 3111, thereby improving the lifting stability and reliability of the first telescopic arm assembly 311 in the first direction.

[0136] Exemplarily, the lifting frame 200 has a slide groove extending in the first direction, and the first telescopic fork 310 faces the slide groove of the lifting frame 200 and has a first pulley 370 matching the slide groove, for example, the first pulley 370 is disposed on the first base 3111. In this way, the first pulley 370 is located in the slide groove, so that the first telescopic fork 310 slides along the slide groove under the action of the lifting driving force.

[0137] In some embodiments, Fig. 9As shown, the second telescopic fork 320 includes two groups of second telescopic arm assemblies 321, and the two groups of second telescopic arm assemblies 321 are spaced apart in the third direction and relatively arranged on opposite sides of the lifting frame 200. The two groups of second telescopic arm assemblies 321 are configured to be telescopic along the second direction to take and place the material box 20, that is, the second telescopic arm assembly 321 can be retracted along the second direction toward the side of the temporary storage space or extended toward the side away from the temporary storage space, so as to take out the material box 20 in the temporary storage space and place it in, for example, a material box stack 30 in a warehouse; or, take out the material box 20 in the material box stack 30 and place it in the temporary storage space.

[0138] In some embodiments, Figures 9 to 11 As shown, the second telescopic arm assembly 321 includes a second base 3211, a second telescopic arm 3212 located at the telescopic end, and a second picking piece 3213. The second base 3211 is slidably connected to the lifting frame 200, and the second telescopic arm 3212 moves in the second direction relative to the second base 3211. The second picking piece 3213 is arranged on the second telescopic arm 3212, and the second picking piece 3213 is configured to pick up and place the material box 20.

[0139] In some embodiments, Fig.10 As shown, the second telescopic arm 3212 can extend in the first direction toward the chassis 100, that is, the second telescopic arm 3212 is extended downward in the vertical direction, and the second picking piece 3213 is arranged at the bottom of the second telescopic arm 3212. In this way, as the second telescopic fork 320 descends, the second picking piece 3213 can pick up the lowest box in the box stack 30.

[0140] In some embodiments, the second telescopic arm assembly 321 can also set one or more telescopic arms between the second base 3211 and the second telescopic arm 3212 at the telescopic end according to different telescopic length requirements, so that the second telescopic arm assembly 321 can meet different telescopic requirements.

[0141] In addition, in order to improve the stability of the second telescopic fork 320 in the lifting and lowering movement in the first direction, in some embodiments, the second base 3211 is slidably connected to the lifting frame 200, so that when the second telescopic arm assembly 321 is lifted and lowered along the first direction, the lifting frame 200 can guide the second base 3211, thereby improving the lifting stability and reliability of the second telescopic arm assembly 321 in the first direction.

[0142] Exemplarily, the lifting frame 200 has a slide groove extending along the first direction, and the second telescopic fork 320 faces the slide groove of the lifting frame 200, and has a second pulley matching the slide groove. For example, the second pulley is arranged on the second base 3211, so that the second pulley is located in the slide groove, so that the second telescopic fork 320 slides along the slide groove under the action of the lifting driving force.

[0143] In order to prevent the first base 3111 in the first telescopic fork 310 from blocking the second base 3211 in the second telescopic fork 320, the second base 3211 cannot be lowered to the lowest position of the transport robot 10, so that the second telescopic fork 320 cannot pick up the goods located at the lowest point outside the transport robot 10.

[0144] Based on this problem, in the embodiments of the present application, Figures 9 to 11 As shown, the length of the second telescopic arm 3212 along the first direction is greater than the length of the second base 3211 in the first direction. In this way, when the first base 3111 blocks the second base 3211 from descending to the lowest position of the transport robot 10, the second telescopic fork 320 can be used to pick up the material box 20 located at a lower position outside the transport robot 10, thereby increasing the application range of the transport robot 10 and improving the user experience.

[0145] In some embodiments, the first picking piece 3113 is disposed on the first telescopic arm 3112. For example, the first picking piece 3113 is disposed at the bottom of the first telescopic arm 3112 so as to pick up and place the material box 20 through the first picking piece 3113. The second picking piece 3213 is disposed on the second telescopic arm 3212. For example, the second picking piece 3213 is disposed at the bottom of the second telescopic arm 3212 so as to pick up and place the material box 20 through the second picking piece 3213.

[0146] Among them, the first picking up part 3113 and the second picking up part 3213 are, for example, hook parts, clamping blocks, suction cups, clamping plates, rotating parts and other structures, as long as they can pick up and place the material box 20, and there is no limitation here.

[0147] It should be noted that when at least one of the first pickup member 3113 and the second pickup member 3213 is a rotating member, the rotating member can, for example, rotate around an axis extending in the second direction. When the material box 20 needs to be picked up, the rotating member rotates toward the material box 20 so that the rotating member abuts against the wall of one end of the material box 20. In this way, when the telescopic arm is extended or retracted, the rotating member can push the material box 20 to achieve the picking and placing of the material box 20. Alternatively, the rotating member can rotate around an axis extending in the second direction so that the rotating member faces or faces in the first direction, so that the rotating member can pick up the material box 20 at a higher or lower position.

[0148] In some embodiments, when the carrying mechanism 330 carries the container 20 above the first telescopic fork 310, there is a gap between the side wall of the container 20 and the second telescopic arm assembly 321 on the same side, for example, Fig.13 As shown in the figure, for the convenience of description, the gap is represented by C. By providing a gap C between the side wall of the material box 20 and the second telescopic arm assembly 321 on the same side, the second telescopic arm assembly 321 can be telescopically moved along the second direction to prevent the second telescopic arm assembly 321 from interfering with the material box 20 carried by the carrying mechanism 330 when telescoping in the second direction, thereby improving the telescopic reliability of the second telescopic arm assembly 321 in the second direction.

[0149] In addition, in order to enable the two first telescopic arm assemblies 311 to telescopically move along the second direction, in some embodiments, such as Fig.14 As shown, the handling robot 10 also includes two first driving mechanisms 340, and the two first driving mechanisms 340 respectively drive the two groups of first telescopic arm assemblies 311 to telescopically move in the second direction; that is, one first driving mechanism 340 is used to drive a first telescopic arm assembly 311 to telescopically move in the second direction, that is to say, the two groups of first telescopic arm assemblies 311 respectively have independent first driving mechanisms 340, so that the two groups of first telescopic arm assemblies 311 can be individually telescopic according to needs, and the telescopic lengths of the two groups of first telescopic arm assemblies 311 can be different, so as to meet different application scenarios, thereby increasing the applicability of the handling robot 10.

[0150] In some embodiments, Figures 9 to 12 As shown, the handling robot 10 further includes a second driving mechanism 350, which is configured to drive the two sets of second telescopic arm assemblies 321 to telescopically move in the second direction. In other words, the two sets of second telescopic arm assemblies 321 are driven by one second driving mechanism 350, so that the two sets of second telescopic arm assemblies 321 telescopically move in the second direction, thus reducing the cost of the handling robot 10.

[0151] In order to improve the structural compactness of the handling robot 10, exemplarily, the second driving mechanism 350 is arranged on the top of the second telescopic fork 320 and is located between the two groups of second telescopic arm assemblies 321, so that the two groups of second telescopic arm assemblies 321 are driven by the second driving mechanism 350 to synchronously extend and retract along the second direction, thereby improving the structural compactness of the handling robot 10 and improving space utilization.

[0152] In other embodiments, the handling robot 10 further includes two third driving mechanisms (not shown in the figure), the two third driving mechanisms respectively drive the two groups of second telescopic arm assemblies 321 to telescopically move in the second direction, and the two third driving mechanisms are respectively arranged on the outside of the second telescopic arm assemblies 321. In other words, one third driving mechanism drives one second telescopic arm assembly 321 to telescopically move, so that the two groups of second telescopic arm assemblies 321 can be telescoped separately according to needs, and the telescopic lengths of the two groups of second telescopic arm assemblies 321 can be different, so as to meet different application occasions, thereby increasing the application range of the handling robot 10.

[0153] In some embodiments, Figure 2 , Figure 3 and Fig.15 As shown, the handling robot 10 further includes a lifting assembly 400, which is configured to drive at least one of the first telescopic fork 310 and the second telescopic fork 320 to move up and down along the first direction. In other words, the lifting assembly 400 can drive any one of the first telescopic fork 310 and the second telescopic fork 320 to move up and down along the first direction.

[0154] The lifting assembly 400 may be a traction rope structure, so as to drive at least one of the first telescopic fork 310 and the second telescopic fork 320 to move up and down by lifting the traction rope in the first direction; or, it may be a belt transmission structure or a chain transmission structure, etc., as long as it can drive at least one of the first telescopic fork 310 and the second telescopic fork 320 to move up and down, and there is no limitation here.

[0155] Please refer to Fig.15 As shown, the lifting assembly 400 includes a first lifting mechanism 410 and a second lifting mechanism 420. The first lifting mechanism 410 is configured to drive the first telescopic fork 310 to move up and down along the first direction; the second lifting mechanism 420 is configured to drive the second telescopic fork 320 to move up and down along the first direction.

[0156] That is to say, the first telescopic fork 310 and the second telescopic fork 320 are lifted and lowered separately along the first direction. For example, the first lifting mechanism 410 drives the first telescopic fork 310 to be lifted and lowered, while the second lifting mechanism 420 drives the second telescopic fork 320 to be lifted and lowered. In this way, the adaptability range of the transport robot 10 can be increased, and different numbers of boxes 20 can be picked up and placed.

[0157] In some embodiments, please refer to Fig.15As shown, the first lifting mechanism 410 and the second lifting mechanism 420 are relatively arranged on the front and rear sides of the lifting frame 200, that is, the first lifting mechanism 410 and the second lifting mechanism 420 are respectively located on both sides of the lifting frame 200 in the third direction of the chassis 100, so that the stability of the overall structure of the handling robot 10 can be improved.

[0158] In some embodiments, please refer to Fig.15 As shown, the first lifting mechanism 410 includes a first lifting motor 411, a first rotating member 412 and two groups of first traction members 413. The two groups of first traction members 413 are arranged on the left and right sides of the first rotating member 412. The output shaft of the first lifting motor 411 is connected to the first rotating member 412. One ends of the two groups of first traction members 413 are connected to the first rotating member 412 and can be synchronously wound on the first rotating member 412. The other ends of the two groups of first traction members 413 are respectively connected to the left and right sides of the first telescopic fork 310.

[0159] The first traction member 413 includes but is not limited to a traction rope, such as a steel wire rope, etc. The first rotating member 412 is, for example, a drum or a winch that can rotate around its own axis.

[0160] In order to improve the stability of the first traction member 413 pulling the first telescopic fork 310 to rise and fall, in the embodiment of the present application, please refer to Fig.15 As shown, the first traction member 413 includes a first front traction member 4131 and a first rear traction member 4132, one end of the first front traction member 4131 and the first rear traction member 4132 are connected to the same side of the first rotating member 412 at intervals, and the other ends of the first front traction member 4131 and the first rear traction member 4132 are connected to the front and rear ends of the same side of the first telescopic fork 310. The front and rear ends of the first telescopic fork 310 are, for example, the two ends of the first telescopic fork 310 in the third direction. In this way, the two groups of first traction members 413 are respectively arranged on the left and right sides of the first telescopic fork 310 (such as the two sides in the second direction), and are connected to the front and rear ends of the first telescopic fork 310 through the first front traction member 4131 and the first rear traction member 4132 of each group of first traction members 413, thereby improving the connection reliability and stability of the first telescopic fork 310.

[0161] In some embodiments, please refer to Fig.15As shown, the second lifting mechanism 420 includes a second lifting motor 421, a second rotating member 422 and two sets of second traction members 423, the two sets of second traction members 423 are arranged on the left and right sides of the second rotating member 422, the output shaft of the second lifting motor 421 is connected to the second rotating member 422, one end of the two sets of second traction members 423 is connected to the second rotating member 422 and at least partially wound on the second rotating member 422, and the other ends of the two sets of second traction members 423 are respectively connected to the left and right sides of the second telescopic fork 320. Among them, the second traction member 423 includes but is not limited to a third traction rope, the traction rope is, for example, a wire rope, etc., and the second rotating member 422 is, for example, a drum or a winch that can rotate around its own axis.

[0162] In order to improve the stability of the first traction member 413 pulling the second telescopic fork 320 to rise and fall, in the embodiment of the present application, please continue to refer to Fig.15 As shown, the second traction member 423 includes a second front end traction member 4231 and a second rear end traction member 4232, one end of the second front end traction member 4231 and the second rear end traction member 4232 are connected to the same side of the second rotating member 422 at an interval, and the other end of the second front end traction member 4231 and the second rear end traction member 4232 are connected to the front and rear ends of the same side of the second telescopic fork 320.

[0163] The front and rear ends of the second telescopic fork 320 are, for example, the two ends of the first telescopic fork 310 in the third direction. In this way, the two groups of second traction members 423 are respectively arranged on the left and right sides of the second telescopic fork 320 (such as the two sides in the second direction), and are respectively connected to the front and rear ends of the second telescopic fork 320 through the second front end traction member 4231 and the second rear end traction member 4232 of each group of second traction members 423, thereby improving the connection reliability and stability of the second telescopic fork 320.

[0164] In some embodiments, the first traction member 413 and the second traction member 423 can be guided by the corresponding guide wheels respectively to guide the first traction member 413 and the second traction member 423 to the preset positions respectively; in addition, the first traction member 413 and the second traction member 423 slide relative to the corresponding guide wheels respectively, which can improve the lifting and lowering smoothness of the traction member and avoid the traction member from getting stuck.

[0165] A second aspect of an embodiment of the present application provides a warehousing system, including a handling robot as provided in the above embodiment.

[0166] Among them, the structure and working principle of the transport robot have been explained in detail in the above embodiments and will not be repeated here.

[0167] The handling robot provided in the embodiment of the present application can stack material boxes to form a material box stack, or destacker material box stacks, and can also insert material boxes in the middle of a material box stack. Therefore, in the storage system provided in the embodiment of the present application, there is no need to set up shelves for storing material boxes. The material boxes can form material box stacks and be placed in the warehouse of the storage system. In this way, the cost of shelves in the warehouse is saved, and multiple material boxes can be taken out from the warehouse at one time, thereby improving the operating efficiency of the handling robot.

[0168] The various embodiments or implementation methods in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referenced to each other.

[0169] In the description of this specification, the description of reference terms such as "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0170] 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 transport robot, characterized in that: include: A chassis having a temporary storage location configured to store a material box; A lifting frame, arranged on the chassis, wherein a temporary storage space extending along a first direction is formed inside the lifting frame, and the temporary storage space is located above the temporary storage position and communicated with the temporary storage position; A fork device, comprising a first telescopic fork and a second telescopic fork which are independently driven to be lifted and lowered, wherein the first telescopic fork and the second telescopic fork are slidably arranged on the lifting frame, and the first telescopic fork is located below the second telescopic fork, and the first telescopic fork and the second telescopic fork can be lifted and lowered in a first direction and telescopically moved in a second direction relative to the lifting frame to pick up and place a material box; wherein the first direction and the second direction are perpendicular to each other; A carrying mechanism is provided on the second telescopic fork and is located in the temporary storage space, and the carrying mechanism is configured to hold the material box located above the first telescopic fork in the temporary storage space and synchronize with the second telescopic fork in the first direction.

2. The handling robot according to claim 1, characterized in that: The carrying mechanism can be lifted and lowered relative to the second telescopic fork in a first direction.

3. The handling robot according to claim 1, characterized in that: The lowest point of the carrying mechanism is not higher than the lowest point of the second telescopic fork.

4. The handling robot according to claim 2, characterized in that: The carrying mechanism includes two clamp assemblies, which are respectively arranged on opposite sides of the second telescopic fork in a third direction and are slidably or rollingly connected to the second telescopic fork, wherein the third direction is perpendicular to the first direction and the second direction respectively.

5. The handling robot according to claim 4, characterized in that: Each of the clamp assemblies includes a slide and a clamp, wherein the clamp is arranged on the slide, the slide has a first sliding portion extending along the first direction, the second telescopic fork has a second sliding portion matching the first sliding portion, and the first sliding portion is slidably connected to the second sliding portion so that the slide slides in the first direction relative to the second telescopic fork.

6. The handling robot according to claim 5, characterized in that: The clamp is arranged at the bottom of the slide.

7. The handling robot according to claim 6, characterized in that: The clamp is one of a clamping block, a clamping plate, a rotating member, and a clamping member.

8. The handling robot according to any one of claims 4 to 7, characterized in that: The carrying mechanism further includes a buffer, which is disposed at one end of the carrying mechanism close to the first telescopic fork, and a distance between the buffer and the first telescopic fork is smaller than a distance between the clamp and the first telescopic fork.

9. The handling robot according to claim 8, characterized in that: The buffer member includes at least one of a hydraulic buffer and an elastic buffer.

10. The handling robot according to claim 8, characterized in that: Also includes: a first anti-collision member and a second anti-collision member, wherein the first anti-collision member is arranged on a side of the first telescopic fork facing the carrying mechanism, and the second anti-collision member is arranged on a side of the carrying mechanism facing the first telescopic fork and is arranged opposite to the first anti-collision member; Wherein, the distance between the second anti-collision member and the first telescopic fork is greater than the distance between the buffer member and the second telescopic fork, and smaller than the distance between the clamp and the first telescopic fork.

11. The handling robot according to claim 10, characterized in that: The first anti-collision member and the second anti-collision member are respectively at least one of an anti-collision plate and an anti-collision block.

12. The handling robot according to claim 5, characterized in that: A limiting structure is provided at one end of the first sliding portion away from the clamp, and the limiting structure is used to prevent the first sliding portion and the second sliding portion from being separated from each other.

13. The handling robot according to claim 12, characterized in that: The limiting structure is a limiting block or a limiting plate arranged on the top of the first sliding part.

14. The handling robot according to claim 12, characterized in that: The first sliding part is a sliding rail, and the second sliding part is a sliding groove.

15. The handling robot according to any one of claims 2 to 7, characterized in that: The vehicle also includes a driving unit configured to drive the carrying mechanism to move up and down relative to the second telescopic fork in the first direction.

16. The transport robot according to claim 6, characterized in that: The first telescopic fork comprises two sets of first telescopic arm assemblies, the two sets of the first telescopic arm assemblies are spaced apart in the third direction and are relatively arranged on opposite sides of the lifting frame, and can be lifted and lowered relative to the lifting frame along the first direction, and the two sets of the first telescopic arm assemblies are configured to telescopically move along the second direction to pick up and place the material box; The second telescopic fork includes two sets of second telescopic arm assemblies, which are spaced apart in the third direction and relatively arranged on opposite sides of the lifting frame, and can be lifted and lowered relative to the lifting frame along the first direction. The two sets of second telescopic arm assemblies are configured to telescopically move along the second direction to pick up and place the material box.

17. The handling robot according to claim 16, characterized in that: The first telescopic arm assembly includes a first base, a first telescopic arm located at the telescopic end of the first telescopic arm assembly, and a first picking piece, the first telescopic arm moves in the second direction relative to the first base, the first picking piece is arranged on the first telescopic arm, and the first picking piece is configured to pick up and place a material box; The second telescopic arm assembly includes a second base, a second telescopic arm located at the telescopic end of the second telescopic arm assembly, and a second picking piece. The second telescopic arm moves in the second direction relative to the second base. The second picking piece is arranged on the second telescopic arm, and the second picking piece is configured to pick up and place a material box.

18. The handling robot according to claim 17, characterized in that: The first pickup unit is disposed at the bottom of the first telescopic arm; and / or The second pickup piece is arranged at the bottom of the second telescopic arm.

19. The handling robot according to claim 18, characterized in that: The second telescopic arm extends along the first direction toward one side of the chassis, and the second picking piece is arranged at the bottom of the second telescopic arm so that the second picking piece can pick up the lowest box in the stack of boxes.

20. The transport robot according to claim 19, characterized in that: When the carrying mechanism carries the material box above the first telescopic fork, there is a gap between the side wall of the material box and the second telescopic arm assembly on the same side, so that the second telescopic arm assembly can telescopically move along the second direction.

21. The handling robot according to any one of claims 1 to 7, characterized in that: The transport robot further includes a first lifting mechanism and a second lifting mechanism. The first lifting mechanism is configured to drive the first telescopic fork to move up and down along the first direction; the second lifting mechanism is configured to drive the second telescopic fork to move up and down along the first direction.

22. The handling robot according to claim 21, characterized in that: The first lifting mechanism and the second lifting mechanism are arranged oppositely at the front and rear sides of the lifting frame.

23. The handling robot according to claim 22, characterized in that: The first lifting mechanism comprises a first lifting motor, a first rotating member and two groups of first traction members, wherein the two groups of first traction members are arranged on the left and right sides of the first rotating member, the output shaft of the first lifting motor is connected to the first rotating member, one end of the two groups of first traction members is connected to the first rotating member and can be synchronously wound on the first rotating member, and the other ends of the two groups of first traction members are respectively connected to the left and right sides of the first telescopic fork; The second lifting mechanism includes a second lifting motor, a second rotating member and two groups of second traction members, the two groups of second traction members are arranged on the left and right sides of the second rotating member, the output shaft of the second lifting motor is connected to the second rotating member, one end of the two groups of second traction members is connected to the second rotating member and is at least partially wound around the second rotating member, and the other ends of the two groups of second traction members are respectively connected to the left and right sides of the second telescopic fork.

24. The handling robot according to claim 23, characterized in that: The first traction member includes a first front-end traction member and a first rear-end traction member, one end of the first front-end traction member and the first rear-end traction member are connected to the same side of the first rotating member at intervals, and the other ends of the first front-end traction member and the first rear-end traction member are connected to the front and rear ends of the same side of the first telescopic fork; The second traction member includes a second front-end traction member and a second rear-end traction member, one end of the second front-end traction member and the second rear-end traction member are connected to the same side of the second rotating member at an interval, and the other end of the second front-end traction member and the second rear-end traction member are connected to the front and rear ends of the same side of the second telescopic fork.

25. A storage system, characterized in that: It comprises a handling robot as described in any one of claims 1 to 24 and at least one material box stack formed by stacking material boxes.

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