Carrying robot and warehousing system

Abstract

The utility model provides a transfer robot and a warehousing system, and relates to the technical field of warehousing. The carrying robot comprises a base, a rack and a pallet fork assembly. The rack is arranged on the base. The pallet fork assembly is connected with the rack through a first mounting seat, and the pallet fork assembly is located between the first mounting seat and the base; the pallet fork assembly comprises a tray, two connecting pieces and a goods taking and placing assembly, one ends of the two connecting pieces are connected with the first mounting base, the other ends of the two connecting pieces extend towards the base, and the tray is arranged between the connecting pieces; the goods taking and placing assembly is arranged on the tray and can stretch out and retract relative to the tray so as to take and place goods. According to the carrying robot, goods located at the low position can be taken and placed, and the applicability of the carrying robot is improved.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to the technical field of intelligent warehousing, and in particular, to a handling robot and a warehousing system. Background Art

[0002] With the development of the logistics industry, handling robots are gradually applied to the work of handling cargo boxes, which can improve the handling efficiency of cargo boxes; therefore, handling robots have become a research hotspot in the logistics industry.

[0003] In related technologies, the lowest picking height of the fork mechanism of the handling robot is relatively high, resulting in the handling robot being unable to pick up and place goods at lower positions. Utility Model Content

[0004] In view of the above problems, embodiments of the present disclosure provide a handling robot and a warehousing system, which can pick up and place goods at lower positions, improving the applicability of the handling robot.

[0005] To achieve the above object, embodiments of the present disclosure provide the following technical solutions:

[0006] A first aspect of embodiments of the present disclosure provides a handling robot, which includes:

[0007] A base;

[0008] A frame, the frame is arranged on the base;

[0009] A fork assembly, the fork assembly is connected to the frame in a liftable manner through a first mounting seat, and the fork assembly is located between the first mounting seat and the base; wherein, the fork assembly includes a tray, two connecting pieces and a picking and placing component, one ends of the two connecting pieces are connected to the first mounting seat, the other ends of the two connecting pieces extend towards the base, and the tray is arranged between the connecting pieces; the picking and placing component is arranged on the tray and can extend and retract relative to the tray to pick up and place goods.

[0010] In a possible implementation manner, the picking and placing component includes a fork arm and a telescopic component connected to the fork arm, and the telescopic component is used to drive the fork arm to extend and retract relative to the tray;

[0011] The fork arm is used to lift the goods to pick up the goods, or to lower the goods after placing them on the shelf to separate from the goods.

[0012] In a possible implementation manner, the fork assembly further includes a rotating component, and the rotating component is rotatably connected to the first mounting seat;

[0013] The rotating assembly is also connected to the tray through two of the connecting members, so that the rotating assembly is located between the first mounting seat and the tray.

[0014] In a possible implementation, the top surface of the base includes a first top surface, a second top surface, and a connecting surface connecting the first top surface and the second top surface; the first top surface is lower than the second top surface, so that the first top surface, the second top surface, and the connecting surface enclose a receiving area;

[0015] The rack is disposed on the second top surface, and when the forklift assembly moves toward the base, the forklift assembly can move into the receiving area.

[0016] In a possible implementation, the handling robot further includes a first guiding strip and a second guiding strip, which are respectively disposed on two sides of the picking and placing component, and the first guiding strip and the second guiding strip are connected to the tray or the connecting member on the same side.

[0017] In a possible implementation, in the direction in which the picking and placing component extends out of and retracts into the tray, one end of the first guiding strip and the second guiding strip has a guiding surface, and the two guiding surfaces are inclined in a direction away from the center of the tray;

[0018] The other ends of the first guiding strip and the second guiding strip are both bent in a direction toward the center of the tray to respectively form a first bent section and a second bent section, and a notch is formed between the opposite ends of the first bent section and the second bent section; the notch is used for the forklift arm to pass through.

[0019] In a possible implementation, a first detection component is further included;

[0020] The first detection component includes a third mounting seat, a triggering member, and a detecting member disposed on the third mounting seat. The third mounting seat is disposed at at least one end of the picking and placing component, and the triggering member is movably connected to the third mounting seat and can move relative to the detecting member;

[0021] The detecting member is used for detecting the position information of the triggering member to determine whether the forklift arm hits an obstacle.

[0022] In a possible implementation, the handling robot includes a plurality of temporary storage pallets and a protective cover; the plurality of temporary storage pallets are spaced apart on the rack, and the forklift assembly and the plurality of temporary storage pallets are respectively disposed on two sides of the rack; the protective cover is disposed on one side of the rack and sleeved on one end of the plurality of temporary storage pallets.

[0023] In a possible implementation, the handling robot includes a temporary storage pallet. The temporary storage pallet and the fork assembly are respectively arranged on two sides of the rack. The handling robot further includes a second detection assembly located on the side of the temporary storage pallet close to the rack. The second detection assembly includes an optoelectronic receiving component and an optoelectronic transmitting component arranged oppositely. One of the optoelectronic receiving component and the optoelectronic transmitting component is arranged on the base, and the other of the optoelectronic receiving component and the optoelectronic transmitting component is arranged on the rack and located above the temporary storage pallet. The optoelectronic receiving component and the optoelectronic transmitting component are arranged corresponding to each other in the vertical direction;

[0024] The second detection assembly is used to detect whether the goods located on the temporary storage pallet protrude from the temporary storage pallet.

[0025] In a possible implementation, the handling robot includes a temporary storage pallet. The temporary storage pallet and the fork assembly are respectively arranged on two sides of the rack. A first adjustment mechanism is movably arranged on each temporary storage pallet. The first adjustment mechanism includes a first adjustment member and a second adjustment member symmetrically arranged with respect to the direction of the goods entering and exiting the temporary storage pallet. The first adjustment member and the second adjustment member can move towards or away from each other to adjust the distance between the first adjustment member and the second adjustment member.

[0026] In a possible implementation, two observation windows, an operation panel and a first emergency stop button are arranged on the protective cover; the two observation windows and the operation panel are arranged at intervals along the extending direction of the rack, and the two observation windows are located on both sides of the operation panel;

[0027] The first emergency stop button is arranged on one side of the operation panel.

[0028] In a possible implementation, a battery compartment for accommodating a battery is arranged below the second top surface, and a closable compartment door is arranged at the rear side of the battery compartment; and / or, buffer touch strips are arranged on the outer peripheral surface of the base.

[0029] In a possible implementation, two second lidars are further included. The two second lidars are respectively arranged on both sides of the top of the rack. The second lidars are used to detect obstacles on the side of the rack.

[0030] A second aspect of the embodiments of the present disclosure provides a warehousing system, including the handling robot described in the first aspect.

[0031] In the handling robot and the warehousing system provided by the embodiments of the present disclosure, the picking and placing component is connected to the first mounting seat through two connecting pieces, and the other ends of the two connecting pieces extend towards the base, so that the picking and placing component is located between the first mounting seat and the base, thereby shortening the distance between the picking and placing component and the base. During the process of the picking and placing component moving downward along the rack, the picking and placing component can move to a lower position, thereby facilitating the picking and placing of lower goods, and thus increasing the applicable range of the handling robot.

[0032] In addition to the technical problems solved by the embodiments of the present disclosure described above, the technical features constituting the technical solutions, and the beneficial effects brought by these technical features of the technical solutions, the other technical problems that can be solved by the handling robot and the warehousing system provided by the embodiments of the present disclosure, the other technical features included in the technical solutions, and the beneficial effects brought by these technical features will be further described in detail in the specific implementation manners. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0034] Figure 1 is a three-dimensional view of the handling robot provided by the embodiment of the present disclosure Figure 1 ;

[0035] Figure 2 is a three-dimensional view of the handling robot provided by the embodiment of the present disclosure Figure 2 ;

[0036] Figure 3 is a side view of the handling robot provided by the embodiment of the present disclosure;

[0037] Figure 4 is a rear view of the handling robot provided by the embodiment of the present disclosure;

[0038] Figure 5 is a schematic diagram of the base of the handling robot provided by the embodiment of the present disclosure;

[0039] Figure 6 is a three-dimensional view of the fork component of the handling robot provided by the embodiment of the present disclosure Figure 1 ;

[0040] Figure 7 is a three-dimensional view of the fork component of the handling robot provided by the embodiment of the present disclosure Figure 2 ;

[0041] Figure 8 Stereogram of the fork assembly of the handling robot provided by the embodiment of the present disclosure Figure 3 ;

[0042] Figure 9 is Figure 8 an enlarged schematic view of area A in

[0043] Figure 10 Schematic diagram of the tray of the fork assembly of the handling robot provided by the embodiment of the present disclosure

[0044] Figure 11 is Figure 10 the top view of

[0045] Figure 12 Schematic diagram of the trigger of the fork assembly of the handling robot provided by the embodiment of the present disclosure

[0046] Figure 13 Front view of the trigger of the fork assembly of the handling robot provided by the embodiment of the present disclosure

[0047] Figure 14 Rear view of the trigger of the fork assembly of the handling robot provided by the embodiment of the present disclosure

[0048] Figure 15 Stereogram of the handling robot provided by the embodiment of the present disclosure Figure 3 ;

[0049] Figure 16 is Figure 15 an enlarged schematic view of area B in

[0050] Figure 17 is Figure 16 an enlarged schematic view of area C in

[0051] Explanation of reference numerals:

[0052] 100: Base; 110: First top surface; 120: Second top surface; 130: Connection surface; 140: Second emergency stop button; 150: First lidar; 160: Battery compartment; 161: Compartment door; 170: Buffer strip; 180: Charging port; 190: Indicator light;

[0053] 200: Frame; 210: Temporary storage pallet; 220: Protective cover; 221: Observation window; 222: Operation panel; 223: First emergency stop button; 230: Second lidar;

[0054] 300: Fork assembly; 310: Tray; 320: Rotating assembly; 330: First mounting seat; 340: Connector; 350: Pick-and-place component; 351: Fork arm; 352: Telescopic assembly;

[0055] 410: First guiding bar; 420: Second guiding bar; 411: Guiding surface; 412: First bending section; 421: Second bending section; 430: Second mounting seat;

[0056] 500: First detection component; 510: Triggering part; 515: Telescopic part; 5151: Connecting column; 5152: Elastic part;

[0057] 520: Detection part;

[0058] 530: Third mounting seat;

[0059] 600: Second detection component; 610: Photoelectric receiving component; 620: Photoelectric emitting component;

[0060] 700: First adjusting mechanism; 710: First adjusting part; 720: Second adjusting part; 711: Guide rail; 712: Adjusting plate. Detailed implementation manners

[0061] As described in the background art, there is a problem that the fork assembly of the handling robot in the related art cannot pick up and place lower goods.

[0062] In view of the above technical problems, the embodiments of the present disclosure provide a handling robot and a warehousing system. The picking and placing component is connected to the first mounting seat through two connecting pieces, and the other ends of the two connecting pieces extend towards the base, so that the picking and placing component is located between the first mounting seat and the base, thereby shortening the distance between the picking and placing component and the base. During the downward movement of the picking and placing component along the rack, the picking and placing component can move to a lower position, thereby facilitating the picking and placing of lower goods, and thus increasing the applicable range of the handling robot.

[0063] In order to make the above objects, features, and advantages of the embodiments of the present disclosure more obvious and understandable, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present disclosure without creative efforts shall fall within the protection scope of the present disclosure.

[0064] Please refer to Att Figure 1 to Att Figure 17 , the embodiments of the present disclosure provide a handling robot, including a base 100 and a rack 200. The rack 200 is disposed on the base 100. For example, the bottom end of the rack 200 can be welded or detachably connected to the upper surface of the base 100. Among them, the rack 200 can include two spaced columns, and the bottom ends of the columns are fixed on the base 100.

[0065] Among them, the base 100 may include a bottom plate and a traveling mechanism (not shown in the figure) provided on the side of the bottom plate facing the ground. The traveling mechanism may include a plurality of traveling wheels and a driving mechanism. The plurality of traveling wheels include a driving wheel and driven wheels. The driving wheel is connected to the driving mechanism and can move or turn the base 100 under the drive of the driving mechanism, so that the handling robot can move to the working position. It should be noted that in this embodiment, the number of driving wheels may be one, the driving wheel is provided at the center position of the bottom plate, and the driving wheel is connected to the bottom plate through a hinge suspension. The number of driven wheels is four, and the four driven wheels are non-powered universal wheels and can be provided at the four top corner positions of the bottom plate.

[0066] The handling robot further includes a forklift assembly 300. The forklift assembly 300 is connected to the frame 200 through a first mounting seat 330. For example, the first mounting seat 330 is connected to the frame 200 in a liftable manner, that is, the first mounting seat 330 can move up and down relative to the frame 200 to adjust the distance between the forklift assembly 300 and the base 100.

[0067] The forklift assembly 300 is located between the first mounting seat 330 and the base 100. Among them, the forklift assembly 300 includes a tray 310, two connecting members 340, and a picking and placing component 350. In order to facilitate the definition of each orientation of the handling robot, in this embodiment, the horizontal direction in which the picking and placing component 350 extends and retracts relative to the tray 310 is the first direction Y; the horizontal direction perpendicular to the horizontal direction in which the picking and placing component 350 extends and retracts relative to the tray 310 is the second direction X; the direction perpendicular to the horizontal plane is the third direction Z.

[0068] One end of the two connecting members 340 is connected to the first mounting seat 330, and the other ends of the two connecting members 340 extend toward the base 100. The tray 310 is arranged between the two connecting members 340; the two connecting members 340 can be arranged at intervals along the direction perpendicular to the horizontal direction in which the picking and placing component 350 extends and retracts relative to the tray 310, that is, the second direction X.

[0069] The tray 310 is connected to the ends of the two connecting members 340 facing away from the first mounting seat 330, so that the tray 310 is located between the first mounting seat 330 and the base 100; the picking and placing component 350 is arranged on the tray 310 and can extend and retract relative to the tray 310 to pick and place goods.

[0070] In this embodiment, compared with the prior art, the forklift component 300 provided in this embodiment is in an inverted state, and the first mounting seat 330 is located above rather than below the picking and placing component 350. Therefore, when the picking and placing component 350 descends to the lowest point, it can descend to a lower height because there is no obstruction from the first mounting seat 330. Therefore, during the downward movement of the picking and placing component 350 along the rack 200, the picking and placing component 350 can move to a lower position, thereby facilitating the picking and placing of lower goods, and thus increasing the applicable range of the handling robot.

[0071] In a possible implementation manner, please refer to the attached Figure 1 to the attached Figure 3 , the picking and placing component 350 includes a forklift arm 351 and a telescopic component 352 connected to the forklift arm 351. The telescopic component 352 is used to drive the forklift arm 351 to extend and retract relative to the pallet 310; it should be noted that the structure of the telescopic component 352 can refer to the description in the related art, as long as it can drive the forklift arm 351 to extend and retract relative to the pallet 310. The structure of the telescopic component 352 will not be elaborated in this embodiment.

[0072] Among them, the forklift arm 351 is used to lift the goods from the bottom to pick up the goods, or to lower the goods after placing them on the shelf to separate from the goods. Exemplarily, the forklift arm 351 has a picking operation. Specifically, the forklift arm 351 can first move up and down along the rack 200 with the first mounting seat 330; then, when moving to the position opposite to the goods, the telescopic component 352 drives the forklift arm 351 to move towards the goods so that the forklift arm 351 moves to the bottom of the goods to support the goods; then, the forklift arm 351 moves along the rack 200 away from the base 100 with the first mounting seat 330 to lift the goods off the shelf; then, the telescopic component 352 drives the forklift arm 351 to move towards the pallet 310 to drive the goods to move to the pallet 310.

[0073] In addition, the forklift arm 351 has a placing operation. Specifically, when the handling robot moves to the position opposite to the placing area of the shelf, the telescopic component 352 drives the forklift arm 351 to move towards the shelf so that the forklift arm 351 is directly above the placing area of the shelf; then, the forklift arm 351 can descend along the rack 200 towards the base 100 with the first mounting seat 330 to shorten the distance between the forklift arm 351 and the placing area of the shelf; then, the telescopic component 352 drives the forklift arm 351 to move towards the pallet 310 to realize the separation of the forklift arm 351 from the goods.

[0074] In this embodiment, the fork arm 351 is used to lift the goods from the bottom of the goods to pick up the goods, or to lower the goods after placing them on the shelf to disengage from the goods. Such a setting can facilitate the handling robot to pick up and place goods of different sizes, and improve the applicable range of the handling robot.

[0075] In a possible implementation manner, please refer to the attached Figure 6 to the attached Figure 8 , the fork assembly 300 further includes a rotating assembly 320, and the rotating assembly 320 is rotatably connected to the first mounting seat 330; the rotating assembly 320 is also connected to the tray 310 through two connecting members 340, so that the rotating assembly 320 is located between the first mounting seat 330 and the tray 310.

[0076] The tray 310 is rotatably connected to the first mounting seat 330 through the rotating assembly 320. When the rotating assembly 320 works, it can drive the tray 310 to rotate at any angle, so that the tray 310 rotates in different directions to facilitate picking up and placing goods at different positions. In addition, the tray 310 also moves up and down along the frame 200 with the first mounting seat 330 to adjust the distance between the tray 310 and the base 100.

[0077] In this embodiment, the rotating assembly 320 is located above the picking and placing component 350, which can be more conducive to reducing the height of the picking and placing component 350, so that the picking and placing component 350 can move to a lower position, and then facilitate picking up and placing lower goods, thereby increasing the applicable range of the handling robot. It should be noted that the structure of the rotating assembly 320 can be referred to in the related art, and this embodiment will not be elaborated here.

[0078] Please refer to the attached Figure 5 , the top surface of the base 100 in this embodiment includes a first top surface 110, a second top surface 120, and a connecting surface 130 connecting the first top surface 110 and the second top surface 120; the first top surface 110 is lower than the second top surface 120, and a step surface is formed between the first top surface 110 and the second top surface 120. In this embodiment, the first top surface 110, the second top surface 120, and the connecting surface 130 enclose a receiving area. That is, the top surface of the base 100 is arranged in layers, which can ensure a better layout of other structures of the handling robot in the height direction, and at the same time realize a great reduction in the size of the handling robot.

[0079] The frame 200 is arranged on the second top surface 120; compared with the technical solution that is basically flush with the first top surface 110 and the second top surface 120, when the fork assembly 300 moves towards the base 100, the fork assembly 300 can move into the receiving area and can move to a lower position to facilitate picking up and placing goods at a lower position.

[0080] Please refer to the attached Figure 7and appendix Figure 10 The handling robot further includes a first guide bar 410 and a second guide bar 420. The first guide bar 410 and the second guide bar 420 are respectively arranged on both sides of the picking and placing component 350, and are symmetrically arranged with respect to the telescopic direction of the picking and placing component 350. Among them, the first guide bar 410 and the second guide bar 420 can be connected to the tray 310 or the connecting piece 340 on the same side. With such an arrangement, when the goods enter or exit the tray 310, the first guide bar 410 and the second guide bar 420 can not only guide the goods, facilitating the entry and exit of the goods; at the same time, the first guide bar 410 and the second guide bar 420 also have a limiting function, facilitating the clamping and blocking of the goods to prevent the goods from tilting.

[0081] It should be noted that when the first guide bar 410 and the second guide bar 420 are connected to the connecting piece 340 on the same side, the first guide bar 410 and the second guide bar 420 can be directly connected to the connecting piece 340 on the same side or indirectly connected. Exemplarily, please refer to appendix Figure 6 and appendix Figure 7 The handling robot further includes two second mounting seats 430; one end of one second mounting seat 430 is connected to one connecting piece 340, and the other end is connected to the first guide bar 410; one end of the other second mounting seat 430 is connected to the other connecting piece 340, and the other end is connected to the second guide bar 420; among them, the size of the second mounting seat 430 in the direction perpendicular to the telescopic direction of the picking and placing component 350 is adjustable to change the distance between the first guide bar 410 and the second guide bar 420, which is beneficial to clamping goods of different sizes. That is to say, the specification of the second mounting seat 430 can be adjusted according to the specification of the goods to be picked and placed, and then goods of different specifications can be picked and placed.

[0082] Please refer to appendix Figure 7 and appendix Figure 10 Please refer to appendix

[0083] The other ends of the first guide bar 410 and the second guide bar 420 are both bent in the direction towards the center of the tray 310 to respectively form a first bent section 412 and a second bent section 421, so that one of the first bent section 412 and the second bent section 421 extends towards the other, and a notch is formed between the opposite ends of the first bent section 412 and the second bent section 421; the width of the notch is greater than the width of the forklift arm 351. In this embodiment, by blocking one end of the tray 310 with the first bent section 412 and the second bent section 421, the goods located on the tray 310 can be limited, so as to improve the stability of the goods on the tray 310.

[0084] In a possible implementation manner, please refer to the attached Figure 8 , the attached Figure 12 to the attached Figure 14 , the handling robot further includes a first detection component 500; wherein, the first detection component 500 includes a trigger 510, a detector 520 and a third mounting seat 530, and the third mounting seat 530 is arranged on the picking and placing component 350. For example, the third mounting seat 530 is connected to the end of the forklift arm 351 by bolts.

[0085] Both the trigger 510 and the detector 520 are arranged on the third mounting seat 530 and are arranged opposite to each other. For example, the trigger 510 can be located above the detector 520 or below the detector 520. In this embodiment, the surface of the third mounting seat 530 opposite to the trigger 510 has a receiving groove, and the detector 520 can be arranged in the receiving groove.

[0086] Wherein, the trigger 510 can also be movably connected to the third mounting seat 530 and can move relative to the detector 520 to change the distance between the trigger 510 and the detector 520.

[0087] The detector 520 is used to detect the position information of the trigger 510 and judge whether the forklift arm 351 hits an obstacle according to the position information.

[0088] Exemplarily, when the forklift arm 351 hits an obstacle, the obstacle will touch the trigger 510, causing the trigger 510 to move towards the detector 520 and shortening the distance between the trigger 510 and the detector 520; the detector 520 issues a corresponding action instruction according to the change of the distance. For example, an alarm is arranged on the handling robot and is data-connected to the detector 520. After the forklift arm 351 hits an obstacle, the alarm emits an alarm signal to prompt relevant personnel to handle it, improving the safety of the goods.

[0089] It should be noted that the signal transmission between the detection component 520 and the alarm, and the alarm sending an alarm signal can be controlled by the control unit of the detection component 520 itself or by the controller of the handling robot.

[0090] Please continue to refer to Appendix Figure 12 to Appendix Figure 14 In a possible example, the trigger 510 can be connected by two telescopic members 515; or rather, along the direction perpendicular to the telescopic movement of the picking and placing component 350, the two telescopic members 515 are arranged at intervals and are used to connect the two triggers 510 and the third mounting seat 530; that is, one end of the two telescopic members 515 is connected to the trigger 510 located on the upper side, and the other end of the two telescopic members 515 is connected to the trigger 510 located on the lower side. When the forklift arm 351 encounters an obstacle, the obstacle will touch the trigger 510, and then the trigger 510 and the telescopic member 515 will move in the direction towards the detection component 520, so that the detection component can detect the position change of the trigger 510. It should be noted that the position change of the trigger 510 can be understood as the shortening of the distance between the trigger 510 and the detection component 520, or that the trigger 510 directly touches the detection component 520.

[0091] In this embodiment, the detection component 520 can be a proximity sensor. With such a setting, it is convenient for the detection component 520 to better detect the position of the first trigger 510, improving the safety of the working process of the handling robot.

[0092] It should be noted that the number of triggers 510 can be one or two. Along the direction perpendicular to the base 100, the two triggers 510 are respectively located on both sides of the third mounting seat 530 and are connected to the telescopic members 515. That is to say, one trigger 510 is located above the third mounting seat 530, and the other trigger 510 is located below the third mounting seat 530; in this way, no matter whether an obstacle is encountered above or below the forklift arm 351, the detection component 520 can detect it, and then it is convenient for the controller to accurately issue an action instruction, improving the safety of the working process of the handling robot.

[0093] As a possible implementation manner of the telescopic member 515, please refer to Appendix Figure 13 and Appendix Figure 14, the telescopic member 515 includes a connecting column 5151 and an elastic member 5152 sleeved on the connecting column 5151. The third mounting seat 530 is provided with a connecting through hole, and the connecting column 5151 and the elastic member 5152 are inserted into the connecting through hole. One end of the connecting column 5151 is connected to one of the trigger members 510, and the other end of the connecting column 5151 is connected to the other trigger member 510. Or rather, one of the trigger members 510 is sleeved on one end of the connecting column 5151, and the other trigger member 510 is sleeved on the other end of the connecting column 5151, and both ends of the elastic member 5152 are respectively abutted against the two trigger members 510. When the forklift arm 351 encounters an obstacle, the forklift arm 351 will squeeze the trigger member 510, and the trigger member 510 will slide along the connecting column 5151; afterwards, when the forklift arm 351 is separated from the obstacle, the trigger member 510 will return to the original position under the action of the elastic restoring force of the elastic member 5152. In this embodiment, the two elastic members 5152 respectively drive the trigger member 510 to return to the original position, which has the advantages of simple structure and low manufacturing cost.

[0094] It should be noted that the elastic member 5152 may include, but is not limited to, a spring, etc.

[0095] Please refer to the appendix Figure 1 , the appendix Figure 2 and the appendix Figure 15 , the handling robot provided in this embodiment includes a plurality of temporary storage pallets 210 and a protective cover 220; the plurality of temporary storage pallets 210 are arranged at intervals on the rack 200, and the distance between adjacent temporary storage pallets 210 is equal. Among them, the forklift assembly 300 and the plurality of temporary storage pallets 210 are respectively arranged on both sides of the rack 200. The protective cover 220 is arranged on one side of the rack 200 and sleeved on one end of the plurality of temporary storage pallets 210, which can make the goods open at one end of the temporary storage pallet 210, and use the protective cover 220 to protect the goods, improving the safety of the materials.

[0096] Please continue to refer to the appendix Figure 15 , a first adjusting mechanism 700 is movably arranged on each temporary storage pallet 210. The first adjusting mechanism 700 includes a first adjusting member 710 and a second adjusting member 720. The first adjusting member 710 and the second adjusting member 720 are symmetrically arranged with respect to the direction in which the goods enter and exit the temporary storage pallet 210; the first adjusting member 710 and the second adjusting member 720 can move towards or away from each other to adjust the distance between the first adjusting member 710 and the second adjusting member 720, and use the first adjusting member 710 and the second adjusting member 720 to limit the goods located on the temporary storage pallet 210, improving the safety of the goods and the applicability of the handling robot.

[0097] It should be noted that the moving modes of the first adjusting member 710 and the second adjusting member 720 may be the same as or different from those of the first guiding bar and the second guiding bar. Exemplarily, the first adjusting member 710 includes a guide rail 711 and an adjusting plate 712 slidably disposed on the guide rail 711; the guide rail 711 extends in a direction perpendicular to the direction in which the goods enter and exit the temporary storage pallet 210. By such an arrangement, the stability of the adjusting plate 712 during movement can be improved.

[0098] In a possible implementation manner, please refer to the attached Figure 15 and the attached Figure 17 , the handling robot includes a temporary storage pallet 210, and the temporary storage pallet 210 and the fork assembly 300 are respectively disposed on two sides of the rack 200. Among them, the handling robot further includes a second detection assembly 600, and the second detection assembly 600 is disposed on the side of the temporary storage pallet 210 close to the rack 200. Taking the orientation shown in the attached Figure 15 as an example, for example, the number of the second detection assemblies 600 is one, and it can be located on the right side or the left side of the temporary storage pallet 210. Another example is that the number of the second detection assemblies 600 is two, one of the second detection assemblies 600 is disposed on the right side of the temporary storage pallet 210, and the other second detection assembly 600 is disposed on the left side of the temporary storage pallet 210, which can further improve the installation performance of the handling robot.

[0099] The second detection assembly 600 includes an optical receiving component 610 and an optical transmitting component 620 which are oppositely disposed. One of the optical receiving component 610 and the optical transmitting component 620 is disposed on the base 100, and the other is disposed on the rack 200 and located above the temporary storage pallet 210. Among them, the optical receiving component 610 and the optical transmitting component 620 are correspondingly disposed in the vertical direction. For example, the optical receiving component 610 is disposed on the base 100, and correspondingly, the optical transmitting component 620 is disposed on the rack 200; another example is that the optical receiving component 610 is disposed on the base 100, and correspondingly, the optical transmitting component 620 is disposed on the rack 200. It should be noted that the dashed lines in the attached Figure 2 and the attached Figure 15 are used to represent the transmission path of the signal emitted by the optical transmitting component 620.

[0100] The second detection assembly 600 is used to detect whether the goods located on the temporary storage pallet 210 protrude from the temporary storage pallet 210.

[0101] For example, when the goods located on the temporary storage pallet 210 shift, the goods can block the optical signal emitted by the optical emission component 620 to the optical reception component 610. According to whether the optical reception component 610 receives the corresponding signal, it is determined whether the goods protrude from the temporary storage pallet 210. At the same time, the alarm set in the handling robot can also send an alarm signal according to the above judgment result, thereby reducing the risk of the goods falling and improving the safety of the handling robot.

[0102] In a possible implementation manner, please refer to the attached Figure 1 , there are two observation windows 221, an operation panel 222 and a first emergency stop button 223 provided on the protective cover 220; the two observation windows 221 and the operation panel 222 are arranged at intervals along the extension direction of the rack 200, and the two observation windows 221 are located on both sides of the operation panel 222; taking the orientation shown in the attached Figure 1 as an example, the two observation windows 221 are respectively located on the upper side and the lower side of the operation panel 222. Among them, the two observation windows 221 can be made of transparent materials, and the situation of the goods located on the temporary storage pallet 210 can be observed through the observation windows 221, and with the manual support of the operator, it is convenient to correct the position of the goods in time.

[0103] The first emergency stop button 223 is provided on one side of the operation panel 222. In case of an emergency, it can make the handling robot stop urgently to avoid other potential safety hazards.

[0104] A second emergency stop button 140 and a first lidar 150 are provided on the first top surface 110. The second emergency stop button 140 and the first lidar 150 are respectively located on the left and right sides of the fork assembly 300. The second emergency stop button 140 and the first emergency stop button 223 can complement each other to improve the safety of the handling robot. The first lidar 150 can improve the obstacle perception ability at the bottom, thereby enhancing the safety protection level of the handling robot. At the same time, the handling robot also includes two second lidars 230, and the two second lidars 230 are respectively provided on both sides of the top of the rack 200. The second lidar 230 is used to detect obstacles on the side of the rack 200, and can provide the handling robot with the obstacle perception ability at the top and the side, complementing the first lidar 150, thereby further enhancing the safety protection level of the handling robot.

[0105] An indicator light 190 is provided on the base 100. Among them, the indicator light 190 can be a laser profile indicator light, which can project the profile width of the handling robot on the ground when the handling robot is running for the staff to identify and avoid.

[0106] Please continue to refer to the attached Figure 1, the base 100 is disposed below the second top surface 120 and is used for accommodating a battery compartment 160 for accommodating a battery. A door 161 that can be opened is provided at the rear side of the battery compartment 160, which can facilitate timely maintenance and replacement of the battery and fire extinguishing in the event of a battery fire or the like; a charging port 180 is also provided on the base 100. By connecting the charging port to a charger, it is convenient to charge the battery.

[0107] Please continue to refer to the appendix Figure 1 , a buffer contact strip 170 is provided on the outer peripheral surface of the base 100, which can detect the occurrence of a collision in time when the handling robot collides with other components. The buffer contact strip 170 can be a rubber strip made of rubber material.

[0108] The embodiment of the present disclosure also provides a warehousing system, including the handling robot described in any of the above embodiments. Therefore, the warehousing system has the beneficial effects of the handling robot, and the details are not repeated herein.

[0109] In the present specification, the embodiments or implementation manners are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts among the embodiments can be referred to each other.

[0110] It should be noted that the phrases such as "one embodiment", "embodiment", "exemplary embodiment", "some embodiments", etc. mentioned in the specification indicate that the described embodiments may include specific features, structures or characteristics, but not necessarily each embodiment includes the specific feature, structure or characteristic. In addition, such phrases do not necessarily refer to the same embodiment. In addition, when combining an embodiment to describe a specific feature, structure or characteristic, it is within the knowledge scope of those skilled in the art to implement such a feature, structure or characteristic in combination with other embodiments, whether explicitly or implicitly described.

[0111] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A transport robot, characterized in that: include: Base; A frame, wherein the frame is arranged on the base; A fork assembly, wherein the fork assembly is liftably connected to the frame via a first mounting seat, and the fork assembly is located between the first mounting seat and the base; wherein the fork assembly comprises a pallet, two connecting members, and a cargo pick-up and placement assembly, wherein one end of the two connecting members is connected to the first mounting seat, and the other ends of the two connecting members extend toward the base, and the pallet is arranged between the connecting members; the cargo pick-up and placement assembly is arranged on the pallet, and can be extended and retracted relative to the pallet to pick up and place cargo.

2. The handling robot according to claim 1, characterized in that: The cargo pick-up and placement assembly includes a cargo fork arm and a telescopic assembly connected to the cargo fork arm, wherein the telescopic assembly is used to drive the cargo fork arm to extend and retract relative to the pallet; The fork arm is used to lift the goods so as to pick them up, or to place the goods on the shelf and then lower them so as to be separated from the goods.

3. The handling robot according to claim 1, characterized in that: The fork assembly further comprises a rotating assembly, and the rotating assembly is rotatably connected to the first mounting seat; The rotating assembly is also connected to the tray via the two connecting members, so that the rotating assembly is located between the first mounting seat and the tray.

4. The handling robot according to any one of claims 1 to 3, characterized in that: The top surface of the base includes a first top surface, a second top surface, and a connecting surface connecting the first top surface and the second top surface; the first top surface is lower than the second top surface, so that the first top surface, the second top surface, and the connecting surface form a receiving area; The frame is arranged on the second top surface, and when the fork assembly moves toward the base, the fork assembly can move into the accommodating area.

5. The handling robot according to any one of claims 1 to 3, characterized in that: The transport robot also includes a first guide bar and a second guide bar, wherein the first guide bar and the second guide bar are respectively arranged on both sides of the picking and placing component, and the first guide bar and the second guide bar are connected to the pallet or the connecting piece on the same side.

6. The handling robot according to claim 5, characterized in that: One end of each of the first guide bar and the second guide bar has a guide surface, and the two guide surfaces are inclined in a direction away from the center of the tray; The other ends of the first guide bar and the second guide bar are bent in a direction toward the center of the pallet to form a first bending section and a second bending section respectively, and a gap is formed between the opposite ends of the first bending section and the second bending section; the width of the gap is greater than the width of the fork arm.

7. The handling robot according to any one of claims 1 to 3, characterized in that: It also includes a first detection component; the first detection component includes a third mounting seat and a trigger and a detection component arranged on the third mounting seat, the third mounting seat is arranged at least at one end of the picking and placing assembly, the trigger is movably connected to the third mounting seat and can move relative to the detection component; The detection member is used to detect the position information of the trigger member to determine whether the fork arm hits an obstacle.

8. The handling robot according to any one of claims 1 to 3, characterized in that: The transport robot includes a plurality of temporary storage pallets and a protective cover; the plurality of temporary storage pallets are arranged on the frame at intervals, and the fork assembly and the plurality of temporary storage pallets are respectively arranged on both sides of the frame; the protective cover is arranged on a side of the temporary storage pallet away from the frame.

9. The handling robot according to any one of claims 1 to 3, characterized in that: The handling robot includes a temporary storage pallet, the temporary storage pallet and the fork assembly are respectively arranged on both sides of the frame, the handling robot also includes a second detection assembly located on the side of the temporary storage pallet close to the frame, the second detection assembly includes a photoelectric receiving component and a photoelectric emitting component that are relatively arranged, one of the photoelectric receiving component and the photoelectric emitting component is arranged on the base, and the other is arranged on the frame and located on the upper part of the temporary storage pallet, and the photoelectric receiving component and the photoelectric emitting component are correspondingly arranged in the vertical direction; The second detection component is used to detect whether the goods on the temporary storage pallet protrude from the temporary storage pallet.

10. The handling robot according to any one of claims 1 to 3, characterized in that: The handling robot includes a temporary storage pallet, and the temporary storage pallet and the fork assembly are respectively arranged on both sides of the frame. A first adjustment mechanism is movably arranged on the temporary storage pallet, and the first adjustment mechanism includes a first adjustment member and a second adjustment member that are symmetrically arranged relative to the direction in which the goods enter and exit the temporary storage pallet. The first adjustment member and the second adjustment member can move toward or away from each other to adjust the distance between the first adjustment member and the second adjustment member.

11. The handling robot according to claim 8, characterized in that: The protective cover is provided with two observation windows, an operation panel and a first emergency stop button; the two observation windows and the operation panel are arranged at intervals along the extension direction of the frame, and the two observation windows are located on both sides of the operation panel; The first emergency stop button is arranged on one side of the operation panel.

12. The handling robot according to claim 4, characterized in that: A battery compartment body for accommodating batteries is disposed below the second top surface, and an openable compartment door is disposed on the rear side of the battery compartment body; and / or a buffer contact strip is disposed on the outer peripheral surface of the base.

13. The handling robot according to any one of claims 1 to 3, characterized in that: It also includes two second laser radars, which are respectively arranged on both sides of the top of the rack, and the second laser radars are used to detect obstacles on the sides of the rack.

14. A storage system, characterized in that: A handling robot comprising the handling robot described in any one of claims 1 to 13.

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