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; 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 first telescopic pallet fork and located in the temporary storage space, and the carrying mechanism is configured to keep a material box located above the first telescopic pallet fork in the temporary storage space synchronous with the first telescopic pallet fork in the first direction. The carrying robot can be used for stacking and unstacking, and the occupied area is small.

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 handling robot can be used for stacking and destacking. However, in the related art, the handling robot has the technical problems of occupying a large area, carrying a small number of material boxes, and low operating efficiency. Utility Model Content

[0004] In view of the above problems, an embodiment of the present application provides a transport robot and a warehousing system. The transport robot occupies a small area and can stack and destacker material boxes. There is no need to set up shelves in the warehouse to store material boxes, thereby reducing the shelf cost.

[0005] In order to achieve the above objectives, the embodiments of the present application provide the following technical solutions:

[0006] A first aspect of an embodiment of the present application provides a transport robot, comprising: a chassis having a temporary storage position, wherein the temporary storage position is configured to store a material box; a lifting frame, which is arranged on the chassis, wherein a temporary storage space extending along a first direction is formed inside the lifting frame, wherein the temporary storage space is located above the temporary storage position and is in communication with the temporary storage position;

[0007] The fork device comprises a first telescopic fork and a second telescopic fork, wherein the first telescopic fork and the second telescopic fork are 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 move up and down in a first direction and telescopically move in a second direction relative to the lifting frame to pick up and place the material box; wherein the first direction and the second direction are perpendicular to each other,

[0008] A carrying mechanism is provided on the first telescopic fork and is located in the temporary storage space, and the carrying mechanism is configured to hold a material box located above the first telescopic fork in the temporary storage space and synchronize with the first telescopic fork in the first direction.

[0009] In some optional embodiments, the carrying mechanism is disposed on an upper portion of the first telescopic fork.

[0010] In some optional embodiments, a lifting assembly is further included, wherein the lifting assembly is configured to drive at least one of the first telescopic fork and the second telescopic fork to move up and down along the first direction.

[0011] In some optional embodiments, the lifting assembly includes a first lifting mechanism, the first telescopic fork is connected to the second telescopic fork, and the first lifting mechanism is configured to be connected to the second telescopic fork so that the second telescopic fork drives the first telescopic fork to rise and fall synchronously along the first direction.

[0012] In some optional embodiments, a connecting member is further included, wherein the connecting member is configured to connect the first telescopic fork and the second telescopic fork.

[0013] In some optional 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 respectively 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 are 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 second telescopic fork.

[0014] In some optional embodiments, 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 second telescopic fork.

[0015] In some optional embodiments, the lifting assembly includes a second lifting mechanism and a third lifting mechanism, the second lifting mechanism is configured to drive the first telescopic fork to move up and down along the first direction; the third lifting mechanism is configured to drive the second telescopic fork to move up and down along the first direction.

[0016] In some optional embodiments, the second lifting mechanism and the third lifting mechanism are relatively arranged at the front and rear sides of the lifting frame.

[0017] In some optional embodiments, 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 can be synchronously 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 first telescopic fork;

[0018] The third lifting mechanism includes a third lifting motor, a third rotating member and two groups of third traction members, the two groups of third traction members are arranged on the left and right sides of the third rotating member, the output shaft of the third lifting motor is connected to the third rotating member, one end of the two groups of third traction members is connected to the third rotating member and is at least partially wound around the third rotating member, and the other ends of the two groups of third traction members are respectively connected to the left and right sides of the second telescopic fork.

[0019] In some optional embodiments, 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 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 first telescopic fork;

[0020] The third traction member includes a third front end traction member and a third rear end traction member, one end of the third front end traction member and the third rear end traction member are connected to the same side of the third rotating member at intervals, and the other end of the third front end traction member and the third rear end traction member are connected to the front and rear ends of the same side of the second telescopic fork.

[0021] In some optional 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 are slidably connected to the lifting frame, and the two sets of the first telescopic arm assemblies are configured to be telescopic along the second direction to pick up and place the material box;

[0022] The second telescopic fork comprises two sets of second telescopic arm assemblies, the two sets of the second telescopic arm assemblies are spaced apart in the third direction and are relatively arranged on opposite sides of the lifting frame, and are slidably connected to the lifting frame, and the two sets of the second telescopic arm assemblies are configured to be telescopic along the second direction to pick up and place the material box;

[0023] The third direction is perpendicular to the first direction and the second direction respectively.

[0024] In some optional embodiments, the first telescopic arm assembly includes a first base, a first telescopic arm at a telescopic end, and a first pickup member, the first base is slidably connected to the lifting frame, 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;

[0025] The second telescopic arm assembly includes a second base, a second telescopic arm located at the telescopic end, and a second picking piece. The second base is slidably connected to the lifting frame. 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.

[0026] In some optional embodiments, the length of the second telescopic arm along the first direction is greater than the length of the second base in the first direction.

[0027] In some optional embodiments, the first pickup member is disposed at the bottom of the first telescopic arm; and / or

[0028] The second pickup piece is arranged at the bottom of the second telescopic arm.

[0029] In some optional embodiments, the first picking-up member and the second picking-up member are respectively at least one of a clamping block, a clamping plate, a hooking member, a suction cup, and a rotating member.

[0030] In some optional embodiments, the carrying mechanism includes two clamp groups, each of which includes at least one clamp, and the two clamp groups are respectively disposed on the upper portions of two oppositely disposed first bases.

[0031] In some optional embodiments, the clamp is a clamp block, a clamp plate, or a rotating member.

[0032] In some optional embodiments, two first driving mechanisms are further included, and the two first driving mechanisms respectively drive two groups of the first telescopic arm assemblies to telescopically move in the second direction.

[0033] In some optional embodiments, a second driving mechanism is further included, and the second driving mechanism is configured to drive the two groups of the second telescopic arm assemblies to telescopically move in the second direction.

[0034] In some optional embodiments, the second driving mechanism is disposed on the top of the second telescopic fork and is located between two sets of the second telescopic arm assemblies.

[0035] In some optional embodiments, two third driving mechanisms are further included, and the two third driving mechanisms respectively drive two groups of the second telescopic arm assemblies 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.

[0036] In some optional embodiments, at least two limiting members are further included, and the at least two limiting members are spaced apart in the circumferential direction of the temporary storage position.

[0037] In some optional embodiments, a guide structure is provided on the chassis, and the guide structure is configured to guide the material box entering the temporary storage position.

[0038] In some optional embodiments, the lifting frame has a slide groove extending along the first direction;

[0039] The first telescopic fork is provided with a first pulley matching the slide groove at a position facing the slide groove on the lifting frame;

[0040] The second telescopic fork is provided with a second pulley matching the slide groove at a position facing the slide groove on the lifting frame;

[0041] The first pulley and the second pulley are configured to be located in the slide groove and slide along the slide groove.

[0042] A second aspect of an embodiment of the present application provides a warehousing system, comprising a handling robot as described in the above embodiment and at least one material box stack, wherein the material box stack is formed by stacking multiple material boxes.

[0043] Compared with the related art, the handling robot provided in the embodiment of the present application has at least the following advantages:

[0044] 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 that the material box can be stored through the temporary storage space. In this way, the space utilization rate of the handling robot can be improved and the footprint of the handling robot can be reduced; 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 lowered in the first direction and telescopically moved in the second direction relative to the lifting frame to pick up and place the material box; secondly, a carrying mechanism is provided on the first telescopic fork, and the carrying mechanism A material box is located in the temporary storage space, 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 first 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, any material box in the material box stack can be taken out, or a target material box can be inserted between any two adjacent material boxes in the material box stack; of course, one or more material boxes can also be picked up and placed at a time, thereby improving the efficiency of picking and placing goods, and improving the operating efficiency of the handling robot; there is no need to set up shelves for placing material boxes in the warehouse, thereby reducing shelf costs.

[0045] The warehousing system provided in the embodiment of the present application has the same beneficial effects as the handling robot provided in the above-mentioned embodiment, which will not be repeated here.

[0046] 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

[0047] 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.

[0048] Figure 1 A schematic diagram of an application scenario of a handling robot provided in an embodiment of the present application;

[0049] Figure 2 A schematic diagram of a state of a cargo picking process of a transport robot provided in an embodiment of the present application;

[0050] Figure 3 for Figure 2 Schematic diagram of the side projection of

[0051] Figure 4 A schematic diagram of another state of the cargo picking process of the transport robot provided in an embodiment of the present application;

[0052] Figure 5 A schematic diagram of the structure of a chassis in a transport robot provided in an embodiment of the present application;

[0053] Figure 6 for Figure 5 Schematic diagram of the side projection of

[0054] Figure 7 for Figure 5 Schematic diagram of top view;

[0055] Figure 8 A schematic diagram of the structure of a first telescopic fork in a handling robot provided in an embodiment of the present application;

[0056] Fig. 9 A schematic structural diagram of the first telescopic fork from another perspective provided in an embodiment of the present application;

[0057] Fig.10 for Fig. 9 Schematic diagram of the side projection of

[0058] Fig.11 A schematic diagram of the structure of a first telescopic fork and a second telescopic fork on the lifting frame in a transport robot provided in an embodiment of the present application;

[0059] Fig.12 A schematic diagram of the structure of a lifting frame in a handling robot provided in an embodiment of the present application;

[0060] Fig.13 A schematic diagram of the structure of a first lifting mechanism in a handling robot provided in an embodiment of the present application;

[0061] Fig.14 A schematic diagram of the structure of the second lifting mechanism and the third lifting mechanism in the handling robot provided in an embodiment of the present application;

[0062] Fig.15 Another structural schematic diagram of the transport robot provided in an embodiment of the present application;

[0063] Fig.16 15 is a schematic diagram of the lateral projection;

[0064] Fig.17 for Fig.15 A schematic diagram of the structure of the first telescopic fork and the second telescopic fork;

[0065] Fig.18 for Fig.17 Schematic diagram of the side projection of

[0066] Fig.19 for Fig.15 Schematic diagram of some structures;

[0067] Fig. 20 A partial structural diagram of another structure of a transport robot provided in an embodiment of the present application;

[0068] Fig.21 A schematic diagram of a state of the cargo placing process of the transport robot provided in an embodiment of the present application.

[0069] Description of reference numerals:

[0070] 10-Transportation robot;

[0071] 100- chassis; 110- temporary storage position; 120- limiter; 130- guide structure; 140- elastic member; 150- driving wheel;

[0072] 200-lifting frame; 210-slideway;

[0073] 300-fork device; 310-first telescopic fork;

[0074] 311-first telescopic arm assembly; 3111-first base; 3112-first telescopic arm; 3113-first pickup piece;

[0075] 320-second telescopic fork; 321-second telescopic arm assembly; 3211-second base; 3212-second telescopic arm; 3213-second pickup piece;

[0076] 330-carrying mechanism; 331-clamp group; 3311-clamp;

[0077] 340-first driving mechanism;

[0078] 350 - second driving mechanism; 351 - third driving mechanism;

[0079] 360-connecting piece; 361-connecting frame;

[0080] 370-first pulley; 380-second pulley;

[0081] 40-lifting assembly;

[0082] 400-first lifting mechanism; 410-first lifting motor; 420-first rotating member;

[0083] 430-first traction member; 431-first front end traction member; 432-first rear end traction member;

[0084] 500-second lifting mechanism; 510-second lifting motor; 520-second rotating member;

[0085] 530-second traction member; 531-second front end traction member; 532-second rear end traction member;

[0086] 600-third lifting mechanism; 610-third lifting motor; 620-third rotating member;

[0087] 630-third traction member; 631-third front end traction member; 632-third rear end traction member;

[0088] 20- material box; 21- first material box; 22- second material box; 23- first target material box;

[0089] 24-first support member; 25-third material box; 26-fourth material box; 27-second target material box;

[0090] 28-second support member; 30-stack of bins; 50-first target cargo placement position;

[0091] 60-Second target delivery location. DETAILED DESCRIPTION

[0092] 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. Through handling robots, human heavy physical labor can be reduced and handling efficiency can be improved. In the related art, handling robots can be used to stack material boxes or to destacker material box stacks. However, in the related art, handling robots have technical problems such as large footprint, small number of material boxes to be handled, and low operating efficiency.

[0093] In order to solve the above problems, the embodiments of the present application provide a handling robot and a storage system. In the handling robot, 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. The temporary storage space extends along a first direction so that material boxes can be stored through the temporary storage space. In this way, the space utilization rate of the handling robot can be improved and the floor space occupied by the handling robot can be reduced. 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 lowered in the first direction and telescopically moved in the second direction relative to the lifting frame to pick up and place the material boxes. Secondly, a first telescopic fork is provided on the first telescopic fork. A carrying mechanism is provided, which is located in the temporary storage space, 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 first 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, any material box in the material box stack can be taken out, or a target material box can be inserted between any two adjacent material boxes in the material box stack; of course, one or more material boxes can also be picked up and placed at a time, thereby improving the efficiency of picking and placing goods, and improving the operating efficiency of the handling robot; there is no need to set up shelves for placing material boxes in the warehouse, thereby reducing shelf costs.

[0094] 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.

[0095] Please refer to Figure 1 As shown, an embodiment of the present application provides a handling robot 10, which includes but is not limited to being suitable for use in smart warehouses, and has the functions of stacking multiple material boxes 20 to form a material box stack 30; it can also destacker the material box stack 30 and carry the material box 20.

[0096] The structure of the transport robot 10 will be described in detail below with reference to the accompanying drawings.

[0097] Please refer to Figures 1 to 20 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.

[0098] 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.

[0099] 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, and the elastic member 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.

[0100] 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 .

[0101] 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 .

[0102] In some embodiments, please refer to Figures 5 to 7 As shown, the chassis 100 also has a temporary storage position 110, and the temporary storage position 110 is used to store the material box 20, that is, the chassis 100 has a space for placing the material box 20, so as to provide temporary storage for the material box 20.

[0103] Exemplarily, a temporary storage rack is provided on the chassis 100, and the temporary storage rack is arranged to form a temporary storage position 110. The outline shape of the temporary storage position 110 can match the outline shape of the material box 20. For example, the temporary storage rack is arranged to form a temporary storage position 110 with an outline shape of a cube, a rectangular parallelepiped, etc., so as to temporarily store the material box 20.

[0104] In order to prevent the material box 20 on the temporary storage position 110 from shifting, in some embodiments, as Figure 5 and Figure 6 As shown in , at least two stoppers 120 are further provided on the chassis 100, and the at least two stoppers 120 are spaced apart in the circumferential direction of the temporary storage position 110. For example, when the material box 20 is placed in the temporary storage position 110, the material box 20 has stoppers 120 around it that can limit the material box 20, so as to prevent the position of the transport 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 110.

[0105] Exemplarily, the limiting member 120 is a structure such as a limiting plate or a limiting block, and as long as it can limit the material box 20 in the temporary storage position 110, there is no limitation here.

[0106] In some embodiments, please refer to Figure 5 and Figure 6 As shown, a guide structure 130 is also provided on the chassis 100 , and the guide structure 130 is configured to guide the material box 20 entering the temporary storage position 110 , so as to facilitate the material box 20 to enter the temporary storage position 110 or be taken out from the temporary storage position 110 .

[0107] Exemplarily, the guide structure 130 is a structure such as a guide plate having an inclined angle with the limiting member 120. As long as it can guide the material box 20 when entering or exiting the temporary storage position 110, no specific limitation is made here.

[0108] 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 110 and is connected to the temporary storage position 110 .

[0109] It can be understood that by forming a temporary storage space connected to the temporary storage position 110 in the lifting frame 200, a plurality of material boxes 20 can be stored in the temporary storage space along a first direction, so that the material boxes 20 located in the temporary storage position 110 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.

[0110] In some embodiments, the handling 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 move up and down in a first direction and telescopically move in a second direction relative to the lifting frame 200, so as to pick up and place the material box 20 by the first telescopic fork 310 and the second telescopic fork 320; wherein the first direction and the second direction are perpendicular to each other. Exemplarily, when the first direction is, for example, a vertical direction, the second direction is a horizontal direction.

[0111] In addition, the transport robot 10 also includes a carrying mechanism 330, which is arranged on the first telescopic fork 310 and located in the temporary storage space. The carrying mechanism 330 is configured to maintain the material box 20 located above the first telescopic fork 310 in the temporary storage space and synchronize with the first telescopic fork 310 in the first direction.

[0112] That is, when the first telescopic fork 310 moves up and down along the first direction, the carrying mechanism 330 can dock and carry the material box 20 located above the first telescopic fork 310 in the temporary storage space, so that the material box 20 located above the first telescopic fork 310 moves up and down synchronously with the first telescopic fork 310. Of course, the carrying mechanism 330 may not carry any material box 20.

[0113] The following will introduce the process of picking up and placing goods by the cooperation between the first telescopic fork 310, the second telescopic fork 320 and the carrying mechanism 330.

[0114] The picking process refers to taking out the first target box 23 from a box stack in a warehouse, for example, and placing it in a temporary storage space, for example; and the releasing process refers to placing the second target box 27 in the temporary storage space into a box stack in a warehouse, for example.

[0115] Please combine Figure 2 and Figure 3 As shown, when the first target material box 23 in the material box stack 30 needs to be placed at the first target cargo placement position 50 in the temporary storage space, that is, during the picking process, if the first target cargo placement position 50 of the first target material box 23 has the first material box 21, first, the handling robot 10 is moved to the position corresponding to the material box stack 30 where the first target material box 23 is located. At this time, the carrying mechanism 330 is used to dock with the first material box 21 located at the first target cargo placement position 50 in the temporary storage space, and the first telescopic fork 310 drives the carrying mechanism 330 to be lifted along the first direction until the first target cargo placement position 50 in the temporary storage space is vacant (as shown in FIG. 1 ). Figure 2 and Figure 3Afterwards, the first telescopic fork 310 and the second telescopic fork 320 are controlled to extend toward the stack of bins 30 in the second direction, so that the second telescopic fork 320 docks with the second bin 22 above the first target bin 23 in the stack of bins, the second telescopic fork 320 is controlled to lift the second bin 22 in the first direction, and the first telescopic fork 310 docks with the first target bin 23 at the same time, and the second telescopic fork 320 and the first telescopic fork 310 are controlled to lift in the first direction, so that there is a gap between the first target bin 23 and the first support member 24 located below the first target bin 23 (as shown in FIG. 1 ). Figure 2 and Figure 3 ); then the first telescopic fork 310 is controlled to retract along the second direction to place the taken first target material box 23 to the first target cargo placement position 50, and the second telescopic fork 320 is controlled to descend along the first direction so that the carrying mechanism 330 places the first material box 21 on the first target material box 23, and then the second telescopic fork 320 is controlled to continue to descend along the first direction until the second material box 22 is placed on the first support member 24 (as shown in FIG. Figure 4 ), thereby taking out the first target material box 23 from the material box stack 30 and placing it on the first target loading position 50 of the temporary storage space.

[0116] It should be noted that when the first target material box 23 in the material box stack 30 is taken out and placed in the first target cargo placement position 50 of the temporary storage space, the handling robot 10 is moved to the material box stack 30, docked with the first material box 21 located at the target cargo placement position in the temporary storage space through the carrying mechanism 330, and the first telescopic fork 310 is lifted along the first direction. The movement of the above-mentioned handling robot 10 can be carried out successively with the action of the carrying mechanism 330 and the first telescopic fork 310, or it can be carried out simultaneously, and the specific adaptive setting can be carried out according to actual needs.

[0117] In addition, the first material box 21 may be a material box, or a plurality of material boxes 20 stacked in sequence along the first direction. The second material box 22 may also be a material box, or a plurality of material boxes 20 stacked in sequence along the first direction.

[0118] The first support member 24 under the first target material box 23 may be the material box 20 , or a support structure for supporting the material box 20 .

[0119] Please combine Fig.21As shown, when the second target material box 27 located on the second support member 28 in the temporary storage space needs to be placed at the second target cargo placement position 60 in the material box stack, that is, the cargo placement process, when there is a third material box 25 on the top of the second target material box 27, the carrying mechanism 330 is controlled to dock with the third material box 25 located on the top of the second target material box 27 in the temporary storage space, and the first telescopic fork is controlled to be lifted along the first direction until there is a gap between the second target material box 27 and the third material box 25; the handling robot is controlled to move to the second target cargo placement position 60, and when there is a fourth material box 26 at the second target cargo placement position 60, the second ... The telescopic fork extends along the second direction toward the stack of boxes 30 so that the second telescopic fork docks with the fourth box 26 and lifts the fourth box 26 to vacate the second target cargo placement position 60; the first telescopic fork is controlled to place the second target cargo placement position 60, and the second telescopic fork is controlled to descend along the first direction to place the fourth box 26 on the second target cargo placement position 60; the first telescopic fork and the second telescopic fork are controlled to retract, and the first telescopic fork is controlled to descend to place the third box 25 on the second support member 28 of the temporary storage space, and the carrying mechanism is controlled to undocking with the third box 25.

[0120] It should be noted that the order of the above actions is adjustable, and can be performed one after the other or simultaneously, and can be adaptively set according to actual needs.

[0121] In addition, the second support member 28 may be a material box 20 located in the temporary storage space, or may be a support structure on the chassis 100 for supporting the material box 20 .

[0122] The first target material box 23 and the second target material box 27 to be picked up and put down can be one or more.

[0123] It can be seen that in the handling robot 10 provided in the embodiment of the present application, a temporary storage position 110 is provided on the chassis 100, and a temporary storage space connected to the temporary storage position 110 is provided on the lifting frame 200, and the temporary storage space extends along the first direction to store the material box 20 through the temporary storage space. In this way, the space inside the handling robot 10 can be fully utilized, the space utilization rate of the handling robot is improved, and the structural compactness of the handling robot is improved, thereby reducing the footprint of the handling robot; in addition, a first telescopic fork 310 and a second telescopic fork 320 are provided on the lifting frame 200, the first telescopic fork 310 is located below the second telescopic fork 320, and the first telescopic fork 310 and the second telescopic fork 320 can be lifted and lowered in the first direction and telescopically moved in the second direction relative to the lifting frame 200 to take and place the material box 20; secondly, ... A carrying mechanism 330 is provided on a telescopic fork 310, and the carrying mechanism 330 is located in the temporary storage space. The carrying mechanism 330 can hold the material box 20 located above the first telescopic fork 310 in the temporary storage space, so that it moves synchronously with the first telescopic fork 310 in the first direction. In this way, through the mutual cooperation between the first telescopic fork 310, the second telescopic fork 320 and the carrying mechanism 330, on the one hand, multiple material boxes 20 can be stacked into material box stacks; on the other hand, any material box 20 in the material box stack can be taken out, or a target material box 20 can be inserted between any two adjacent material boxes 20 in the material box stack; of course, one or more material boxes 20 can also be picked up and placed at a time, thereby improving the efficiency of picking and placing goods, and improving the operating efficiency of the handling robot 10; there is no need to set up shelves for placing material boxes 20 in the warehouse, thereby reducing shelf costs.

[0124] In some embodiments, Figure 8 As shown in the figure, the carrying mechanism 330 is arranged on the upper part of the first telescopic fork 310, so that when the carrying mechanism 330 follows the first telescopic fork 310 to be lifted along the first direction to vacate the target cargo placement position in the temporary storage space, the first telescopic fork 310 can be retracted to place the taken material box 20 on the target cargo placement position. Alternatively, the first telescopic fork 310 is retracted to take out the target material box 20 in the temporary storage space, and is extended to place the target material box 20 in the corresponding material box stack 30.

[0125] Exemplarily, the carrying mechanism 330 is disposed at a position close to the top of the first telescopic fork 310 , and can be adaptively designed according to actual needs, and no specific limitation is made herein.

[0126] In some embodiments, Figure 8As shown in the figure, the carrying mechanism 330 includes two clamp groups 331, and the clamp group 331 includes at least one clamp 3311. The two clamp groups 331 are respectively arranged on the upper parts of two oppositely arranged first bases 3111, so that when the first telescopic fork 310 is lifted and lowered along the first direction, the carrying mechanism 330 can carry the material box 20 located in the temporary storage space and on the first telescopic fork 310 through the two clamp groups 331, so that the material box 20 above the first telescopic fork 310 and located in the temporary storage space is kept in synchronous lifting and lowering with the first telescopic fork 310, so that the target material box 20 in the temporary storage space can be taken out and placed in the material box stack 30, or the material box 20 in the material box stack 30 can be taken out and placed in the temporary storage space.

[0127] In some embodiments, the clamp 3311 can be a clamp block, a clamp plate or a rotating member. Exemplarily, when the clamp 3311 is a clamp block or a clamp plate, the two clamp groups 331 arranged opposite to each other can clamp the opposite sides of the material box 20 to achieve the picking and placing of the material box 20; or, the clamp 3311 can also be a rotating member, when it is necessary to carry the material box 20 for lifting, the rotating member rotates to dock with the groove on the side wall of the material box 20, so that when the carrying mechanism 330 is lifted, the material box 20 can be lifted synchronously; and when it is not necessary to carry the material box 20 for lifting, the rotating member rotates to the side away from the material box 20.

[0128] In some embodiments, Fig. 20 As shown, the clamp 3311 may also be a telescopic clamp that is telescopic in the second direction, and the telescopic clamp is located on the upper part of the first telescopic fork 310 and is connected to the first telescopic fork 310. Fig. 20 In the embodiment, the telescopic clamp 3311 is connected to the first telescopic fork 310 via the connecting frame 361, so that when the first telescopic fork 310 is lifted or lowered along the first direction, the telescopic clamp 3311 can be driven to be lifted or lowered synchronously.

[0129] It can be understood that by setting the clamp 3311 in the carrying mechanism 330 as a retractable clamp 3311, the clamp 3311 can carry the material box 20 in the temporary storage space, and can also carry the material box 20 located outside the temporary storage space for lifting, thereby increasing the application scope of the carrying mechanism 330 and improving the user experience.

[0130] In some embodiments, Figure 2As shown, the handling robot 10 further includes a lifting assembly 40, and the lifting assembly 40 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. That is, the lifting assembly 40 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, and can also drive the first telescopic fork 310 and the second telescopic fork 320 to move up and down along the first direction synchronously.

[0131] In some embodiments, Fig.15 As shown, the lifting assembly 40 includes a first lifting mechanism 400, a first telescopic fork 310 and a second telescopic fork 320 are connected, and the first lifting mechanism 400 is configured to be connected to the second telescopic fork 320 so that the second telescopic fork 320 drives the first telescopic fork 310 to be synchronously lifted and lowered along the first direction; or the first lifting mechanism 400 can also be connected to the first telescopic fork 310 so that the second telescopic fork 320 can be synchronously lifted and lowered along the first direction through the first telescopic fork 310.

[0132] That is, the first telescopic fork 310 and the second telescopic fork 320 are connected. In this way, as long as the first lifting mechanism 400 is connected to one of the first telescopic fork 310 and the second telescopic fork 320, the first telescopic fork 310 and the second telescopic fork 320 can be synchronously lifted and lowered along the first direction under the action of the first lifting mechanism 400.

[0133] In some embodiments, Figures 15 to 19 As shown, the first telescopic fork 310 and the second telescopic fork 320 are connected to each other through a connecting member 360. For example, the connecting member 360 includes but is not limited to a connecting structure such as a connecting plate and a connecting rod, and the connecting member 360 connects the first telescopic fork 310 and the second telescopic fork 320 respectively, so that the first telescopic fork 310 and the second telescopic fork 320 form an integral structure, so that the first telescopic fork 310 and the second telescopic fork 320 are driven to rise and fall synchronously through the first lifting mechanism 400.

[0134] In some embodiments, Fig.13As shown, the first lifting mechanism 400 includes a first lifting motor 410, a first rotating member 420 and two groups of first traction members 430, the two groups of first traction members 430 are respectively arranged on the left and right sides of the first rotating member 420, the output shaft of the first lifting motor 410 is connected to the first rotating member 420, one end of the two groups of first traction members 430 is connected to the first rotating member 420, and can be synchronously wound on the first rotating member 420, and the other ends of the two groups of first traction members 430 are respectively connected to the left and right sides of the second telescopic fork 320. Among them, the first traction member 430 includes but is not limited to a traction structure such as a traction rope, and the traction rope is, for example, a wire rope. The first rotating member 420 is, for example, a drum or a winch that can wind the first traction member 430.

[0135] For example, Fig.13 As shown in the figure, the first traction member 430 includes a first front end traction member 431 and a first rear end traction member 432, one end of the first front end traction member 431 and the first rear end traction member 432 are connected to the same side of the first rotating member 420 at intervals, and the other end of the first front end traction member 431 and the first rear end traction member 432 are connected to the front and rear ends of the same side of the second telescopic fork 320.

[0136] The front and rear ends of the second telescopic fork 320 are, for example, the two ends of the second telescopic fork 320 along the third direction, wherein the third direction is perpendicular to the first direction and the second direction respectively.

[0137] In this way, the two groups of first traction members 430 have two first front end traction members 431 and two second rear end traction members 532, so that one end of the two first front end traction members 431 and the two second rear end traction members 532 are respectively wound around the corresponding first rotating member 420, and the other ends of the two first front end traction members 431 and the two second rear end traction members 532 are respectively wound around the front and rear ends of the second telescopic fork 320, thereby improving the lifting stability of the second telescopic fork 320 and the first telescopic fork 310.

[0138] In other embodiments, please refer to Figure 4 As shown, the lifting assembly 40 includes a second lifting mechanism 500 and a third lifting mechanism 600. The second lifting mechanism 500 is configured to drive the first telescopic fork 310 to move up and down along the first direction; the third lifting mechanism 600 is configured to drive the second telescopic fork 320 to move up and down along the first direction.

[0139] 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 second lifting mechanism 500 drives the first telescopic fork 310 to be lifted and lowered, while the third lifting mechanism 600 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.

[0140] In some embodiments, please refer to Figure 4 As shown, the second lifting mechanism 500 and the third lifting mechanism 600 are relatively arranged on the front and rear sides of the lifting frame 200, that is, the second lifting mechanism 500 and the third lifting mechanism 600 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.

[0141] In some embodiments, please refer to Fig.14 As shown, the second lifting mechanism 500 includes a second lifting motor 510, a second rotating member 520 and two groups of second traction members 530. The two groups of second traction members 530 are arranged on the left and right sides of the second rotating member 520. The output shaft of the second lifting motor 510 is connected to the second rotating member 520. One ends of the two groups of second traction members 530 are connected to the second rotating member 520 and can be synchronously wound on the second rotating member 520. The other ends of the two groups of second traction members 530 are respectively connected to the left and right sides of the first telescopic fork 310.

[0142] The second traction member 530 includes but is not limited to a traction rope, such as a wire rope, etc. The second rotating member 520 is, for example, a drum or a winch that can rotate around its own axis.

[0143] In order to improve the stability of the second traction member 530 pulling the first telescopic fork 310 to rise and fall, in the embodiment of the present application, please refer to Fig.14 As shown, the second traction member 530 includes a second front traction member 531 and a second rear traction member 532, one end of the second front traction member 531 and the second rear traction member 532 are connected to the same side of the second rotating member 520 at intervals, and the other ends of the second front traction member 531 and the second rear traction member 532 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 second traction members 530 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 second front traction member 531 and the second rear traction member 532 of each group of second traction members 530, thereby improving the connection reliability and stability of the first telescopic fork 310.

[0144] In some embodiments, please refer to Fig.14As shown, the third lifting mechanism 600 includes a third lifting motor 610, a third rotating member 620 and two sets of third traction members 630, the two sets of third traction members 630 are arranged on the left and right sides of the third rotating member 620, the output shaft of the third lifting motor 610 is connected to the third rotating member 620, one end of the two sets of third traction members 630 is connected to the third rotating member 620 and at least partially wound on the third rotating member 620, and the other ends of the two sets of third traction members 630 are respectively connected to the left and right sides of the second telescopic fork 320. Among them, the third traction member 630 includes but is not limited to a third traction rope, the traction rope is, for example, a wire rope, etc., and the third rotating member 620 is, for example, a drum or a winch that can rotate around its own axis.

[0145] In order to improve the stability of the second traction member 530 pulling the second telescopic fork 320 to rise and fall, in the embodiment of the present application, please continue to refer to Fig.14 As shown, the third traction member 630 includes a third front end traction member 631 and a third rear end traction member 632, one end of the third front end traction member 631 and the third rear end traction member 632 are connected to the same side of the third rotating member 620 at intervals, and the other ends of the third front end traction member 631 and the third rear end traction member 632 are connected to the front and rear ends of the same side of the second telescopic fork 320.

[0146] 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 third traction members 630 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 third front end traction member 631 and the third rear end traction member 632 of each group of third traction members 630, thereby improving the connection reliability and stability of the second telescopic fork 320.

[0147] In some embodiments, the first traction member 430, the second traction member 530 and the third traction member 630 can be guided by the corresponding guide wheels respectively to guide the first traction member 430, the second traction member 530 and the third traction member 630 to the preset positions respectively; in addition, the first traction member 430, the second traction member 530 and the third traction member 630 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.

[0148] In some embodiments, please refer to Figure 8As 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.

[0149] In some embodiments, 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 disposed on the first telescopic arm 3112. The first picking piece 3113 is configured to pick up and place the material box 20.

[0150] 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.

[0151] In addition, in order to improve the stability of the first telescopic fork 310 in the first direction, in some embodiments, please refer to Fig.11 As shown, the first base 3111 is slidably connected to the lifting frame 200, so that when the first telescopic arm assembly 311 is lifted and moved 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.

[0152] For example, Fig.11 and Fig.12 As shown in , the lifting frame 200 has a slide groove 210 extending in a first direction, and the first telescopic fork 310 faces the slide groove 210 of the lifting frame 200, and has a first pulley 370 matching the slide groove 210, for example, the first pulley 370 is arranged on the first base 3111. In this way, the first pulley 370 is located in the slide groove 210, so that the first telescopic fork 310 slides along the slide groove 210 under the action of the lifting driving force.

[0153] In some embodiments, as shown in FIG. 12 , the lifting frame 200 includes four columns, and the four columns are arranged to form a temporary storage space. The slide groove 210 is arranged on the columns and extends along the first direction.

[0154] In some embodiments, please refer to 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.

[0155] In some embodiments, 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 a 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.

[0156] 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.

[0157] In addition, in order to improve the stability of the second telescopic fork 320 in the first direction, in some embodiments, please refer to Fig.11 As shown, the second base 3211 is slidably connected to the lifting frame 200, so that when the second telescopic arm assembly 321 is lifted and moved 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.

[0158] For example, Fig.11 As shown in , the lifting frame 200 has a slide groove 210 extending in a first direction, and the second telescopic fork 320 faces the slide groove 210 of the lifting frame 200 and has a second pulley 380 matching the slide groove 210. For example, the second pulley 380 is arranged on the second base 3211. In this way, the second pulley 380 is located in the slide groove 210, so that the second telescopic fork 320 slides along the slide groove 210 under the action of the lifting driving force.

[0159] In order to prevent the first base 3111 of the first telescopic fork 310 from blocking the second base 3211 of the second telescopic fork 320, so that the second base 3211 cannot be lowered to the lowest position of the transport robot 10, so that the second telescopic fork 320 cannot take the goods located at the lowest point outside the transport robot 10, based on this problem, in the embodiment of the present application, please refer to Figures 8 to 11 As shown in the figure, 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.

[0160] 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.

[0161] 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.

[0162] 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 be, for example, rotatable 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 docks with the groove of the box wall at one end of the material box 20. In this way, when the telescopic arm is extended and retracted, the material box 20 can be pushed by the rotating member to achieve the picking and placing of the material box 20. Alternatively, the rotating member can be rotated around an axis extending in the second direction, so that the rotating member is oriented toward or toward in the first direction, so that the rotating member can pick up the material box 20 at a higher or lower position.

[0163] When multiple material boxes 20 are picked up and placed, the first picking piece 3113 and / or the second picking piece 3213 only need to dock with the bottommost material box 20 to move the multiple material boxes 20.

[0164] In order to enable the two first telescopic arm assemblies 311 to telescopically move along the second direction, in some embodiments, such as Figure 8As 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.

[0165] In some embodiments, Fig. 9 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.

[0166] 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.

[0167] In other embodiments, Fig.17 As shown, the handling robot 10 further includes two third driving mechanisms 351, which respectively drive two groups of second telescopic arm assemblies 321 to telescopically move in the second direction, and the two third driving mechanisms 351 are respectively arranged on the outside of the second telescopic arm assemblies 321. In other words, one third driving mechanism 351 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.

[0168] like Figure 1 As shown, an embodiment of the present application further provides a warehousing system, including a handling robot 10 as in the above embodiment and at least one material box stack 30, wherein the material box stack 30 is formed by stacking multiple material boxes 20 along, for example, a first direction (such as a vertical direction).

[0169] The structure and working principle of the transport robot 10 have been described in detail in the above embodiments and will not be repeated here.

[0170] In the embodiment of the present application, the handling robot 10 can stack multiple material boxes 20 to form a material box stack 30, or destacker the material box stack 30, without setting up shelves for storing the material boxes 20 in the storage system, thereby saving shelf costs.

[0171] Please refer to Figures 1 to 20 As shown, the embodiment of the present application also provides a cargo picking method of a transport robot, which is applied to the transport robot 10. The transport robot 10 includes: a chassis 100, a lifting frame 200, a fork device 300 and a carrying mechanism 330. The lifting frame 200 is arranged on the chassis 100, and a temporary storage space extending along a first direction is formed inside the lifting frame 200; the fork device 300 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, and the carrying mechanism 330 is arranged on the first telescopic fork 310 and is located in the temporary storage space.

[0172] In some embodiments, the cargo picking method of the transport robot 10 provided in the embodiment of the present application includes the following steps:

[0173] Step S101: receiving a picking instruction, where the picking instruction is used to instruct the transport robot to take a first target material box from a material box stack and place it at a first target delivery position in a temporary storage space.

[0174] Step S102: When there is a material box at the first target delivery position of the first target material box, control the transport robot to move to the material box stack, control the carrying mechanism to dock with the first material box at the first target delivery position in the temporary storage space, and control the first telescopic fork to be lifted along the first direction to vacate the first target delivery position.

[0175] Step S103: Control the first telescopic fork and the second telescopic fork to extend toward the material box stack along the second direction so that the second telescopic fork docks with the second material box above the target material box, control the second telescopic fork to lift the second material box, and dock the first telescopic fork with the first target material box, and then control the second telescopic fork and the first telescopic fork to lift along 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.

[0176] Step S104: Control the first telescopic fork to retract along the second direction to place the taken first target material box to the first target loading position; and control the second telescopic fork to descend along the first direction so that the carrying mechanism places the first material box on the first target material box, and then control the second telescopic fork to continue to descend to place the second material box on the first support member.

[0177] When implementing it, please combine Figure 2 and Figure 3 As shown, when the first target material box 23 in the material box stack 30 needs to be placed at the first target cargo placement position 50 in the temporary storage space, that is, during the picking process, if the first target cargo placement position 50 of the first target material box 23 has the first material box 21, first, the handling robot 10 is moved to the position corresponding to the material box stack 30 where the first target material box 23 is located. At this time, the carrying mechanism 330 is used to dock with the first material box 21 located at the first target cargo placement position 50 in the temporary storage space, and the first telescopic fork 310 drives the carrying mechanism 330 to be lifted along the first direction until the first target cargo placement position 50 in the temporary storage space is vacant (as shown in FIG. 1 ). Figure 2 and Figure 3 ). Then, the first telescopic fork 310 and the second telescopic fork 320 are controlled to extend toward the stack of bins 30 in the second direction, so that the second telescopic fork 320 docks with the second bin 22 above the first target bin 23 in the stack of bins 30, the second telescopic fork 320 is controlled to lift the second bin 22 in the first direction, and the first telescopic fork 310 docks with the first target bin 23, and the second telescopic fork 320 and the first telescopic fork 310 are controlled to lift in the first direction, so that there is a gap between the first target bin 23 and the first support member 24 located below the first target bin 23 (as shown in FIG. 1 ). Figure 2 and Figure 3 ); then the first telescopic fork 310 is controlled to retract along the second direction to place the taken first target material box 23 to the first target cargo placement position 50, and the second telescopic fork 320 is controlled to descend along the first direction so that the carrying mechanism 330 places the first material box 21 on the first target material box 23, and then the second telescopic fork 320 is controlled to continue to descend along the first direction until the second material box 22 is placed on the first support member 24 (as shown in FIG. Figure 4 ), thereby taking out the first target material box 23 from the material box stack 30 and placing it on the first target loading position 50 of the temporary storage space.

[0178] It should be noted that the order of some of the above actions is adjustable, and can be performed one after the other or simultaneously, and can be adaptively set according to actual needs.

[0179] In addition, the first material box 21 may be a material box 20, or a plurality of material boxes 20 stacked in sequence along the first direction. The second material box 22 may also be a material box 20, or a plurality of material boxes 20 stacked in sequence along the first direction.

[0180] The first support member 24 under the first target material box 23 may be the material box 20 , or a support structure for supporting the material box 20 .

[0181] There may be one or more first target material boxes 23 to be picked up or put down.

[0182] Please refer to Figures 1 to 21 As shown, the embodiment of the present application also provides a cargo placing method of a transport robot, which is applied to the transport robot 10. The transport robot 10 includes: a chassis 100, a lifting frame 200, a fork device 300 and a carrying mechanism 330. The lifting frame 200 is arranged on the chassis 100, and a temporary storage space extending along a first direction is formed inside the lifting frame 200; the fork device 300 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, and the carrying mechanism 330 is arranged on the first telescopic fork 310 and is located in the temporary storage space.

[0183] The method for releasing goods provided in the embodiment of the present application includes the following steps:

[0184] Step S101: receiving a cargo placing instruction, where the cargo placing instruction is used to instruct the transport robot to place a second target material box on a second support member in the temporary storage space at a second target cargo placing position in the material box stack;

[0185] Step S102: When there is a third material box on top of the second target material box, control the carrying mechanism to dock with the third material box located on top of the second target material box in the temporary storage space, and control the first telescopic fork to be lifted along the first direction until there is a gap between the second target material box and the third material box.

[0186] Step S103: Control the transport robot to move to the second target cargo placement position.

[0187] Step S104: when there is a fourth container at the second target cargo placement position, controlling the second telescopic fork to extend toward the container stack along a second direction, so that the second telescopic fork docks with the fourth container and lifts the fourth container to vacate the second target cargo placement position;

[0188] Step S105: controlling the first telescopic fork to place the second target material box at the second target cargo placement position, and controlling the second telescopic fork to descend along the first direction to place the fourth material box on the second target material box;

[0189] Step S106: Control the first telescopic fork and the second telescopic fork to retract, control the first telescopic fork to descend to place the third material box on the second support member of the temporary storage space, and control the carrying mechanism to undocking from the third material box.

[0190] When implementing it, please combine Fig.21As shown, when the second target material box 27 located on the second support member 28 in the temporary storage space needs to be placed at the second target cargo placement position 60 in the material box stack 30, that is, the cargo placement process, when there is a third material box 25 on the top of the second target material box 27, the carrying mechanism 330 is controlled to dock with the third material box 25 located on the top of the second target material box 27 in the temporary storage space, and the first telescopic fork is controlled to be lifted along the first direction until there is a gap between the second target material box 27 and the third material box 25; the handling robot is controlled to move to the second target cargo placement position 60, and when there is a fourth material box 26 at the second target cargo placement position 60, ... The two telescopic forks extend along the second direction toward the material box stack 30, so that the second telescopic fork docks with the fourth material box 26, and lifts the fourth material box 26 to make the second target cargo release position 60 vacant; the first telescopic fork is controlled to place the second target cargo box 27 at the second target cargo release position 60, and the second telescopic fork is controlled to descend along the first direction to place the fourth material box 26 on the second target material box 27; the first telescopic fork and the second telescopic fork are controlled to retract, and the first telescopic fork is controlled to descend to place the third material box 25 on the second support member 28 of the temporary storage space, and the carrying mechanism is controlled to undocking with the third material box 25.

[0191] It should be noted that the order of some of the above actions is adjustable, and can be performed one after the other or simultaneously, and can be adaptively set according to actual needs.

[0192] In addition, the second support member 28 may be a material box 20 located in the temporary storage space, or may be a support structure for supporting the material box 20 .

[0193] The first target material box 23 and the second target material box 27 to be picked up and put can be one or more. The above picking up and putting away method can be applied to any embodiment in this specification, as long as it includes the necessary structure for implementing the picking up and putting away method. The above picking up and putting away method can also be implemented successively, for example, picking up first and then putting away, or putting away first and then picking up.

[0194] 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.

[0195] 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.

[0196] 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; The fork device comprises a first telescopic fork and a second telescopic fork, wherein the first telescopic fork and the second telescopic fork are 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 move up and down in a first direction and telescopically move in a second direction relative to the lifting frame to pick up and place the material box; wherein the first direction and the second direction are perpendicular to each other, A carrying mechanism is provided on the first telescopic fork and is located in the temporary storage space, and the carrying mechanism is configured to hold a material box located above the first telescopic fork in the temporary storage space and synchronize with the first telescopic fork in the first direction.

2. The handling robot according to claim 1, characterized in that: The carrying mechanism is arranged on the upper part of the first telescopic fork.

3. The handling robot according to claim 1, characterized in that: The utility model further includes a lifting assembly configured to drive at least one of the first telescopic fork and the second telescopic fork to move up and down along the first direction.

4. The handling robot according to claim 3, characterized in that: The lifting assembly includes a first lifting mechanism, the first telescopic fork is connected to the second telescopic fork, and the first lifting mechanism is configured to be connected to the second telescopic fork so that the second telescopic fork drives the first telescopic fork to rise and fall synchronously along the first direction.

5. The handling robot according to claim 4, characterized in that: Also included is a connecting member configured to connect the first telescopic fork and the second telescopic fork.

6. The handling robot according to claim 4, characterized in that: 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 respectively 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 second telescopic fork.

7. The handling robot according to claim 6, 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 an interval, and the other end 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 second telescopic fork.

8. The handling robot according to claim 3, characterized in that: The lifting assembly includes a second lifting mechanism and a third lifting mechanism. The second lifting mechanism is configured to drive the first telescopic fork to move up and down along the first direction; and the third lifting mechanism is configured to drive the second telescopic fork to move up and down along the first direction.

9. The handling robot according to claim 8, characterized in that: The second lifting mechanism and the third lifting mechanism are arranged oppositely at the front and rear sides of the lifting frame.

10. The handling robot according to claim 9, characterized in that: The second lifting mechanism comprises a second lifting motor, a second rotating member and two sets of second traction members, wherein the two sets 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 sets of second traction members is connected to the second rotating member and can be synchronously wound on the second rotating member, and the other ends of the two sets of second traction members are respectively connected to the left and right sides of the first telescopic fork; The third lifting mechanism includes a third lifting motor, a third rotating member and two groups of third traction members, the two groups of third traction members are arranged on the left and right sides of the third rotating member, the output shaft of the third lifting motor is connected to the third rotating member, one end of the two groups of third traction members is connected to the third rotating member and is at least partially wound around the third rotating member, and the other ends of the two groups of third traction members are respectively connected to the left and right sides of the second telescopic fork.

11. The handling robot according to claim 10, characterized in that: 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 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 first telescopic fork; The third traction member includes a third front end traction member and a third rear end traction member, one end of the third front end traction member and the third rear end traction member are connected to the same side of the third rotating member at intervals, and the other end of the third front end traction member and the third rear end traction member are connected to the front and rear ends of the same side of the second telescopic fork.

12. The handling robot according to claim 8, 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 are slidably connected to the lifting frame, and the two sets of the first telescopic arm assemblies are configured to be telescopic along the second direction to pick up and place the material box; The second telescopic fork comprises two sets of second telescopic arm assemblies, the two sets of the second telescopic arm assemblies are spaced apart in the third direction and are relatively arranged on opposite sides of the lifting frame, and are slidably connected to the lifting frame, and the two sets of the second telescopic arm assemblies are configured to be telescopic along the second direction to pick up and place the material box; The third direction is perpendicular to the first direction and the second direction respectively.

13. The handling robot according to claim 12, characterized in that: The first telescopic arm assembly includes a first base, a first telescopic arm at a telescopic end, and a first pickup member, the first base is slidably connected to the lifting frame, 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; The second telescopic arm assembly includes a second base, a second telescopic arm located at the telescopic end, and a second picking piece. The second base is slidably connected to the lifting frame. 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.

14. The handling robot according to claim 13, characterized in that: A length of the second telescopic arm along the first direction is greater than a length of the second base along the first direction.

15. The handling robot according to claim 13, 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.

16. The handling robot according to claim 13, characterized in that: The first picking-up member and the second picking-up member are respectively at least one of a clamping block, a clamping plate, a hooking member, a suction cup, and a rotating member.

17. The handling robot according to claim 13, characterized in that: The carrying mechanism comprises two clamp groups, each of which comprises at least one clamp. The two clamp groups are respectively arranged on the upper parts of two oppositely arranged first bases.

18. The handling robot according to claim 17, characterized in that: The clamp is a clamp block, a clamp plate or a rotating part.

19. The transport robot according to claim 12, characterized in that: It also includes two first driving mechanisms, which respectively drive two groups of the first telescopic arm assemblies to telescopically move in the second direction.

20. The transport robot according to claim 12, characterized in that: It also includes a second driving mechanism, which is configured to drive two groups of the second telescopic arm assemblies to telescopically move in the second direction.

21. The handling robot according to claim 20, characterized in that: The second driving mechanism is arranged on the top of the second telescopic fork and is located between two sets of the second telescopic arm assemblies.

22. The transport robot according to claim 12, characterized in that: It also includes two third driving mechanisms, which respectively drive two groups of the second telescopic arm assemblies 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.

23. The handling robot according to claim 1, characterized in that: It also includes at least two limiting members, which are spaced apart in the circumferential direction of the temporary storage position.

24. The handling robot according to claim 23, characterized in that: A guide structure is provided on the chassis, and the guide structure is configured to guide the material box entering the temporary storage position.

25. The handling robot according to claim 1, characterized in that: The lifting frame has a slide groove extending along a first direction; The first telescopic fork is provided with a first pulley matching the slide groove at a position facing the slide groove on the lifting frame; The second telescopic fork is provided with a second pulley matching the slide groove at a position facing the slide groove on the lifting frame; The first pulley and the second pulley are configured to be located in the slide groove and slide along the slide groove.

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

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