Transfer robot and production system

Abstract

The embodiment of the utility model provides a transfer robot and a production system, the transfer robot comprises a chassis mechanism, the chassis mechanism comprises a chassis assembly and a moving assembly, and the moving assembly is connected with the chassis assembly; the carrying mechanism comprises a fixed door frame and a carrying assembly, the fixed door frame is connected with the chassis assembly, the carrying assembly is connected with the fixed door frame and used for moving in the first direction and / or the second direction relative to the fixed door frame, the first direction is perpendicular to the second direction, and when the carrying assembly moves in the first direction, the carrying assembly is used for stretching out and drawing back relative to the chassis assembly. When the carrying assembly needs to carry goods, firstly, the carrying robot is moved to a designated position through the moving assembly, then the carrying assembly moves to the designated goods position relative to the fixed portal frame in the first direction and / or the second direction, goods carrying can be achieved, and only the carrying assembly needs to move in the whole process; and the fixed door frame does not need to be driven, so that the goods taking action is reduced, and the working efficiency and the reliability are improved.

Description

Technical Field

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

[0002] AGVs (Automated Guided Vehicles), also known as unmanned guided vehicles, automated guided vehicles, and laser-guided vehicles, are characterized by their unmanned operation. AGVs are equipped with an automatic guidance system that ensures they can autonomously travel along a predetermined route without the need for human piloting, transporting goods or materials from their starting point to their destination.

[0003] The AGVs used for transportation are mostly in the form of forklifts, so how to quickly pick up goods is a technical problem that AGVs urgently need to solve. Utility Model Content

[0004] The purpose of the embodiments of the present application is to provide a handling robot and a production system, which have fewer picking actions and improve work efficiency.

[0005] In the first aspect, an embodiment of the present application provides a transport robot, comprising: a chassis mechanism, comprising a chassis assembly and a moving assembly, the moving assembly being connected to the chassis assembly to drive the chassis assembly to move along a preset direction; a transport mechanism, comprising a fixed gantry and a transport assembly, the fixed gantry being connected to the chassis assembly, the transport assembly being connected to the fixed gantry for moving relative to the fixed gantry along a first direction and / or a second direction, the first direction being perpendicular to the second direction, wherein when the transport assembly moves along the first direction, it is used to extend and retract relative to the chassis assembly.

[0006] In the above implementation process, the transport component is connected to the fixed gantry, the fixed gantry is connected to the chassis component, and the chassis component is connected to the mobile component. When the transport component needs to transport the goods, the transport robot is first moved to the designated position by the mobile component, and then the transport component moves to the designated goods along the first direction and / or the second direction relative to the fixed gantry to realize the transportation of the goods. The entire process only requires the movement of the transport component, and does not require the driving of the fixed gantry, thereby reducing the picking action and improving work efficiency and reliability.

[0007] In some embodiments, the transport assembly includes a first drive structure, a second drive structure and a transport structure, wherein the first drive structure is connected to the transport structure to drive the transport structure and the second drive structure to move along the second direction, and the second drive structure is connected to the transport structure to drive the transport structure to move along the first direction.

[0008] In the above implementation process, the first driving structure is used to drive the transport structure to move along the second direction to adjust the height position of the transport structure, and the second driving structure is used to drive the transport structure to move along the first direction. The entire process can realize the function of picking up and placing goods at any position of the transport structure through the cooperation of the first driving structure and the second driving structure, with high work efficiency, good reliability and strong adaptability.

[0009] In some embodiments, the transport structure includes a transport frame and a transport fork, wherein the transport fork is connected to the transport frame and is used to transport goods when extended out of the chassis assembly.

[0010] In the above implementation process, the transport fork is connected to the second drive structure through the transport frame, which not only realizes the function of picking up and placing goods, reduces the picking action, improves work efficiency and reliability, but also improves the stability of the transport fork during the transport process.

[0011] In some embodiments, the moving assembly includes a power structure and a driving wheel, the power structure is connected to the driving wheel, and a portion of the driving wheel structure is exposed at the bottom of the chassis assembly for moving the chassis assembly.

[0012] In some embodiments, the mobile assembly further includes an auxiliary structure, the auxiliary structure is connected to the chassis assembly, and a portion of the auxiliary structure is exposed at the bottom of the chassis assembly, so that the chassis assembly operates in a differential movement mode or an omnidirectional movement mode.

[0013] In the above implementation process, the auxiliary structure is connected to the chassis assembly, so that the chassis assembly can be moved through the auxiliary structure and the driving wheel, which is conducive to controlling the moving direction of the chassis assembly. At the same time, the auxiliary structure can also play a certain supporting role, which can avoid the phenomenon of side tilting when the transport assembly transports goods, thereby improving the safety of the transport process.

[0014] In some embodiments, the auxiliary structure includes an auxiliary wheel, a rocker arm, a fixing seat and a connecting seat. The auxiliary wheel is connected to the rocker arm and is exposed at the bottom of the chassis assembly. The rocker arm is connected to the fixing seat or the connecting seat so that the rocker arm swings relative to the fixing seat. The fixing seat is fixed to the chassis assembly, and the connecting seat is connected to the fixing seat.

[0015] In the above implementation process, the auxiliary wheel is connected to the fixed seat or the connecting seat through a rocker arm, and an elastic member is provided between the connecting seat and the fixed seat, so that the auxiliary wheel can swing according to different road conditions to adapt to different road conditions, thereby improving the passability of the transport robot. At the same time, the auxiliary structure can also play a certain supporting role, which can avoid the occurrence of side tilting and other phenomena when the transport component transports goods, thereby improving the safety of the transport process.

[0016] In some embodiments, the auxiliary structure further includes an elastic member, and the elastic member is located between the fixing seat and the connecting seat. The provision of the elastic member facilitates the swing of the rocker arm, thereby achieving passability in different road conditions.

[0017] In some embodiments, the transport robot further includes a first detection component, which is connected to the end of the transport fork. When the first detection component is exposed on the chassis component, it is used to detect the position of the cargo and / or avoid obstacles.

[0018] During the above implementation process, the first detection component can simultaneously detect pallets and cargo at different heights, that is, complete the detection of ground pallets, and can also complete the detection of pallets and cargo at different heights as the transport component moves along the second direction, thereby improving detection efficiency and reducing costs.

[0019] In some embodiments, the transport robot also includes a second detection component, which is connected to the chassis component for avoiding obstacles along the preset direction. At the same time, the first detection component can also serve as a supplement to the viewing angle range of the second detection component, thereby realizing 360° obstacle avoidance of the transport robot, improving intelligence and reducing costs.

[0020] In some embodiments, the transport robot also includes a navigation component, which is connected to the fixed gantry to control the operation of the mobile component, thereby ensuring that the transport robot can automatically travel along a predetermined route without the need for manual navigation and automatically transport the goods from the starting point to the destination.

[0021] In some embodiments, the chassis assembly includes a chassis body and a support structure, wherein the support structure is connected to the bottom of the chassis body to support the chassis body.

[0022] In the above implementation process, a support structure is provided at the bottom of the chassis body, so that when the transport component transports the goods, the support structure can contact the ground to support the chassis body, ensuring that the overall center is within the support point range when picking up the goods, which is more conducive to preventing the pick-up from being unstable and causing overturning.

[0023] In some embodiments, the chassis body is configured with a mounting slot, the mounting slot is configured for mounting the fixed gantry, and the transport fork is configured above the chassis body;

[0024] Or the chassis body is provided with a mounting groove, the mounting groove is configured for installing the fixed gantry, and the chassis body is provided with an avoidance groove, the avoidance groove is configured for accommodating the transport fork.

[0025] In the above implementation process, the fixed mast is fixed to the mounting groove, and the transport fork is arranged above the chassis body or the transport fork is arranged in the avoidance groove of the chassis body, so that the overall structure is more compact, reducing the space occupied by the transport robot, and at the same time, the avoidance groove can form protection for the transport fork, reducing the risk of damage to the transport fork.

[0026] In some embodiments, the number of the avoidance grooves is consistent with the number of the transport forks.

[0027] In a second aspect, the present application also provides a production system, comprising a handling robot as described in any one of the above items.

[0028] Since the production system provided in the second aspect includes a handling robot, the production system has all the technical effects of the handling robot and will not be elaborated here.

[0029] Other features and advantages of the present disclosure will be set forth in the following description, or some features and advantages may be inferred or unambiguously determined from the description, or may be learned by practicing the above-mentioned technology of the present disclosure.

[0030] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0032] Figure 1 A schematic diagram of the structure of the transport robot provided in an embodiment of the present application;

[0033] Figure 2 A structural diagram of the transport robot provided in an embodiment of the present application from another perspective;

[0034] Figure 3 A schematic diagram of the state of the transport robot provided in an embodiment of the present application during transport;

[0035] Figure 4 A schematic structural diagram of a chassis assembly of a transport robot provided in an embodiment of the present application;

[0036] Figure 5 A schematic structural diagram of the auxiliary structure of the transport robot provided in an embodiment of the present application;

[0037] Figure 6 An exploded schematic diagram of the auxiliary structure of the handling robot provided in an embodiment of the present application;

[0038] Figure 7 A schematic structural diagram of a differential movement mode of a mobile component of a transport robot provided in an embodiment of the present application;

[0039] Figure 8 An exploded schematic diagram of a differential movement mode of a moving component of a transport robot provided in an embodiment of the present application;

[0040] Figure 9 A schematic diagram of the structure of the omnidirectional movement of the mobile component of the transport robot provided in an embodiment of the present application;

[0041] Figure 10 An exploded schematic diagram of the omnidirectional movement of the mobile components of the transport robot provided in an embodiment of the present application.

[0042] Reference numerals

[0043] 100. Chassis mechanism; 101. Chassis body; 1011. Mounting slot; 1012. Avoidance slot; 102. Support structure; 103. Power structure; 104. Driving wheel; 105. Auxiliary structure; 1051. Auxiliary wheel; 1052. Rocker arm; 1053. Fixed seat; 1054. Elastic member; 1055. Connecting seat; 1056. Connecting column; 1057. Locking nut; 1058. Connecting shaft; 106. Rocker arm structure; 107. Mounting member; 108. Rolling bearing; 109. Hinge seat; 200. Transport mechanism; 201. Fixed door frame; 202. First drive structure; 203. Second drive structure; 2031. Second drive member; 2032. Second connecting member; 204. Transport frame; 205. Transport fork; 300. Second detection component; 400. First detection component; 500. Navigation component. DETAILED DESCRIPTION

[0044] 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 a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of this application.

[0045] In this application, terms such as "upper," "lower," "left," "right," "front," "back," "top," "bottom," "inner," "outer," "center," "vertical," "horizontal," "transverse," and "longitudinal" indicate positions or locations based on the positions or locations shown in the accompanying drawings. These terms are primarily intended to better describe this application and its embodiments and are not intended to limit the devices, elements, or components indicated to having a specific orientation, or to being constructed or operated in a specific orientation.

[0046] Furthermore, some of the above terms may be used to express other meanings besides indicating a position or location. For example, the term "on" may also be used to indicate a dependency or connection in certain circumstances. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0047] Furthermore, the terms "installed," "disposed," "provided with," "connected," and "connected" should be interpreted broadly. For example, they can refer to fixed connections, removable connections, or integral structures; mechanical connections or point connections; direct connections, indirect connections through an intermediary, or internal communication between two devices, elements, or components. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0048] Furthermore, the terms "first," "second," etc., are primarily used to distinguish between different devices, elements, or components (which may or may not be of the same type and configuration), and are not intended to indicate or imply the relative importance or quantity of the devices, elements, or components indicated. Unless otherwise specified, "plurality" means two or more.

[0049] Example

[0050] Pallets transform static goods into dynamic goods, making cargo handling more flexible and convenient. Existing production systems are usually equipped with AGV carts to lift and transport pallets. AGV carts perform "goods-to-person" picking operations, effectively improving warehouse operating efficiency, reducing labor costs, and lowering operational errors and accident rates. On the production line, AGV carts provide a fast and efficient way for flexible operation and accurate control of the production system, and are becoming more and more widely used in flexible production systems.

[0051] like Figures 1-10As shown, in the first aspect, an embodiment of the present application provides a transport robot, comprising: a chassis mechanism 100, comprising a chassis assembly and a moving assembly, the moving assembly being connected to the chassis assembly to drive the chassis assembly to move along a preset direction; a transport mechanism 200, comprising a fixed gantry 201 and a transport assembly, the fixed gantry 201 being connected to the chassis assembly, the transport assembly being connected to the fixed gantry 201, for moving relative to the fixed gantry 201 along a first direction and / or a second direction, the first direction being perpendicular to the second direction, wherein when the transport assembly moves along the first direction, it is used to extend and retract relative to the chassis assembly.

[0052] Exemplarily, the direction in which the moving component drives the chassis component to move can be left and right, front and back, or a combination of left and right and front and back directions, etc. Of course, it is not ruled out that the chassis component can be driven to move in any direction or to rotate in place.

[0053] It can be understood that the fixed gantry 201 is distributed along the up and down directions, and the fixed gantry 201 is fixed to the chassis assembly. The transport mechanism 200 is configured with a transport part, and the transport part is configured to move along the first direction and / or the second direction relative to the fixed gantry 201. The transport part is used to take and place goods, wherein the first direction includes but is not limited to the front and back direction, and the second direction includes but is not limited to the up and down direction.

[0054] In the above implementation process, the transport component is connected to the fixed gantry 201, the fixed gantry 201 is connected to the chassis component, and the chassis component is connected to the mobile component. When the transport component needs to transport the goods, the transport robot is first moved to the designated position by the mobile component, and then the transport component moves to the designated goods along the first direction and / or the second direction relative to the fixed gantry 201 to realize the transportation of the goods. The entire process only requires the movement of the transport component, and does not require the driving of the fixed gantry 201, thereby reducing the picking action and improving work efficiency and reliability.

[0055] like Figure 1 As shown, the conveying assembly includes a first driving structure 202, a second driving structure 203 and a conveying structure, the first driving structure 202 is connected to the conveying structure to drive the conveying structure and the second driving structure 203 to move along the second direction, and the second driving structure 203 is connected to the conveying structure to drive the conveying structure to move along the first direction.

[0056] Exemplarily, the first driving structure 202 includes a first driving member and a first connecting member, the first driving member is connected to the first connecting member, the first connecting member is connected to the transport structure, the first driving member includes a hydraulic cylinder, a pneumatic cylinder, an oil cylinder or a motor, etc., the first connecting member includes but is not limited to a chain, of course, the first connecting member can also be in the form of gear rack engagement, etc., as long as the first driving member can drive the transport structure to move along the second direction.

[0057] The second driving structure 203 includes a second driving member 2031 and a second connecting member 2032. The second driving member 2031 includes a hydraulic cylinder, a pneumatic cylinder, an oil cylinder or a motor, etc. The second connecting member 2032 can be in the form of scissors, or in the form of telescopic, and of course can also be in the form of two-way telescopic, etc. The second connecting member 2032 can not only bear a higher load, but also has a simpler structure and is easier to maintain and repair.

[0058] It can be understood that in the actual working process, the first driving structure 202 and the second driving structure 203 can work simultaneously, or one of the first driving structure 202 and the second driving structure 203 can work first, and after reaching the specified position, the other can perform the corresponding work.

[0059] In the above implementation process, the first driving structure 202 is used to drive the transport structure to move along the second direction to adjust the height position of the transport structure, and the second driving structure 203 is used to drive the transport structure to move along the first direction. The entire process can realize the function of picking up and placing goods at any position of the transport structure through the cooperation of the first driving structure 202 and the second driving structure 203, with high work efficiency, good reliability and strong adaptability.

[0060] like Figure 1 and Figure 3 As shown, the transport structure includes a transport frame 204 and a transport fork 205. The transport fork 205 is connected to the transport frame 204 and is used to transport goods when extended out of the chassis assembly.

[0061] Exemplarily, the transport rack 204 is connected to the second connecting member 2032, and the transport rack 204 includes but is not limited to a frame type, the transport fork 205 is connected to the transport rack 204, and the transport fork 205 can be located on the side of the transport rack 204 away from the fixed door frame 201, and the transport fork 205 can be set to two or one, etc., and no specific limitation is made here.

[0062] It can be understood that when the transport fork 205 is in a non-working state, the end of the transport fork 205 can be set so as not to protrude from the chassis assembly, which can reduce the space occupied by the transport robot and make the structure more compact. When the transport fork 205 is in a working state, at least part of the structure of the transport fork 205 protrudes from the chassis assembly to facilitate the picking and placing of goods.

[0063] In the above implementation process, the transport fork 205 is connected to the second drive structure 203 through the transport frame 204, which not only realizes the function of picking up and placing goods, reduces the picking action, improves work efficiency and reliability, but also improves the stability of the transport fork 205 during the transport process.

[0064] like Figure 1-Figure 4 As shown, the moving component includes a power structure 103 and a driving wheel 104. The power structure 103 is connected to the driving wheel 104. Part of the structure of the driving wheel 104 is exposed at the bottom of the chassis component and is used to move the chassis component. For example, through the driving wheel 104, the chassis component moves along a first direction and rotates in place.

[0065] Exemplarily, the power structure 103 includes but is not limited to a drive motor, and the driving wheel 104 can be a fixed driving wheel or a floating driving wheel; it can be understood that the chassis assembly is provided with a first fixed groove corresponding to the position of the driving wheel 104, and the first fixed groove is used to expose the driving wheel 104, and there can be two first fixed grooves, and the two first fixed grooves are spaced apart along the front-to-back direction or the left-to-right direction, and each first fixed groove is provided with a driving wheel 104.

[0066] In some embodiments, the mobile assembly further includes an auxiliary structure 105 , which is connected to the chassis assembly, and a portion of the auxiliary structure 105 is exposed at the bottom of the chassis assembly, so that the chassis assembly operates in a differential movement mode or an omnidirectional movement mode.

[0067] During the above implementation process, the auxiliary structure 105 is connected to the chassis assembly, so that the chassis assembly can be moved through the auxiliary structure 105 and the driving wheel 104, which is conducive to controlling the moving direction of the chassis assembly. At the same time, the auxiliary structure 105 can also play a certain supporting role, which can avoid the phenomenon of tilting when the transport assembly transports goods, thereby improving the safety of the transport process.

[0068] like Figure 5-Figure 6As shown, the auxiliary structure 105 includes an auxiliary wheel 1051, a rocker arm 1052, a fixed seat 1053, an elastic member 1054 and a connecting seat 1055. The auxiliary wheel 1051 is connected to the rocker arm 1052 and is exposed at the bottom of the chassis assembly. The rocker arm 1052 is connected to the fixed seat 1053 or the connecting seat 1055 so that the rocker arm 1052 swings relative to the fixed seat 1053. The fixed seat 1053 is fixed to the chassis assembly. The elastic member 1054 is located between the fixed seat 1053 and the connecting seat 1055. The connecting seat 1055 is connected to the fixed seat 1053.

[0069] Exemplarily, the chassis assembly can adopt a differential movement mode or an omnidirectional movement mode. When the chassis assembly adopts the differential movement mode, the auxiliary wheel 1051 can be a left or right fixed universal wheel, a floating universal wheel, a fixed universal wheel rocker arm 1052 group, or a floating universal wheel rocker arm 1052 group; when the chassis assembly adopts the omnidirectional movement mode, the driving wheel 104 and the auxiliary wheel 1051 can adopt a differential wheel group or a Mecanum wheel, etc.

[0070] like Figure 7-Figure 8 As shown, more specifically, when the chassis assembly operates in differential movement mode, the movement assembly includes a power structure 103, a driving wheel 104, a rocker arm structure 106, a rolling bearing 108, a hinge seat 109 and an auxiliary wheel 1051, the power structure 103 includes but is not limited to a motor reducer, the power structure 103 is located on one side of the rocker arm structure, the output end of the power structure 103 passes through the rocker arm structure 106, and is connected to the driving wheel 104 through a mounting member 107, the driving wheel 104 is located on the other side of the rocker arm structure, the auxiliary wheel 1051 is fixed to the rocker arm structure 106, the hinge seat 109 is connected to the rocker arm structure 106 through the roller bearing 108, and the hinge seat 109 is located between the driving wheel and the auxiliary wheel.

[0071] like Figure 9-10 As shown, more specifically, when the chassis assembly operates in an omnidirectional mobile mode, the mobile assembly includes an omnidirectional drive structure, a rocker arm structure 106, a hinge seat 109 and an auxiliary wheel 1051, the omnidirectional drive structure includes a power structure 103 and a driving wheel 104, the driving wheel 104 is connected to the power structure 103, the power structure 103 is fixed to one end of the rocker arm structure 106, the auxiliary wheel 1051 is located at the other end of the rocker arm structure 106, the hinge seat 109 is rotatably connected to the rocker arm structure 106, and the hinge seat 109 is located between the driving wheel 104 and the auxiliary wheel 1051.

[0072] In one embodiment of the present application, the auxiliary structure 105 also includes a connecting shaft 1058, which is respectively connected to the connecting seat 1055 and the rocker arm 1052. The upper end of the connecting seat 1055 is provided with a connecting column 1056, and two connecting columns 1056 are arranged at intervals. The connecting column 1056 is connected to the fixed seat 1053 and is locked by a locking nut 1057, and each of the connecting columns 1056 is sleeved with the elastic member 1054 to adjust the pre-compression amount of the elastic member 1054 by adjusting the position of the locking nut 1057, wherein the elastic member 1054 includes but is not limited to a spring.

[0073] It can be understood that there are two auxiliary structures 105, which are located on both sides of the driving wheel 104, and each auxiliary structure 105 is provided with two auxiliary wheels 1051. The chassis assembly is provided with a second fixing groove corresponding to the position of the auxiliary wheel 1051, and the second fixing groove is used to expose the auxiliary wheel 1051.

[0074] In the above implementation process, the auxiliary wheel 1051 is connected to the fixed seat 1053 or the connecting seat 1055 through the rocker arm 1052, and an elastic member 1054 is provided between the connecting seat 1055 and the fixed seat 1053, so that the auxiliary wheel 1051 can swing according to different road conditions to adapt to different road conditions, thereby improving the passability of the transport robot. At the same time, the auxiliary structure 105 can also play a certain supporting role, which can avoid the phenomenon of side tilting when the transport component transports goods, thereby improving the safety of the transport process.

[0075] like Figure 1-Figure 2 As shown, the transport robot also includes a second detection component 300 and a first detection component 400. The second detection component 300 is connected to the chassis component for detection along the preset angle. The first detection component 400 is connected to the transport component, and the first detection component 400 is exposed on the chassis component for detection of pallets and goods (for example, detection of pallets of different heights, etc., to facilitate the picking and placing of goods by the transport fork 205) and / or visual angle detection supplement of the second detection component 300.

[0076] Exemplarily, when the chassis assembly moves along the left and right directions and the transport forks 205 are distributed along the front and rear directions, the second detection assembly 300 includes a laser radar, a binocular camera or other equivalent obstacle avoidance detection device, and two second detection assemblies 300 are provided, and the two second detection assemblies 300 are located on the left and right sides of the chassis assembly; and the first detection assembly 400 can also be a laser radar, a binocular camera or other equivalent detection device, and the first detection assembly 400 is connected to the end of the transport fork 205, and its number can be set according to the number of the transport forks 205. For example, when there are two transport forks 205, two first detection assemblies 400 can be correspondingly provided. When the transport fork 205 is set to one, one first detection assembly 400 is correspondingly provided.

[0077] It is understandable that due to the limited number of second detection components 300 installed, the handling robot may have certain blind spots during operation. At this time, the first detection component 400 can be used to supplement the detection field of view of the second detection component 300.

[0078] In the above-mentioned implementation process, a second detection component 300 is provided on one side of the chassis component, which can be used for obstacle avoidance, and the first detection component 400 can simultaneously detect pallets and cargo at different heights, that is, complete the detection of ground pallets, and can also complete the detection of pallets and cargo at different heights as the transport component moves along the second direction, thereby improving the detection efficiency and reducing the cost. At the same time, the first detection component 400 can also serve as a supplement to the viewing angle range of the second detection component 300, which can realize 360° obstacle avoidance of the transport robot, improve intelligence and reduce costs.

[0079] In some embodiments, the transport robot further includes a navigation component 500, which includes but is not limited to a navigation laser. The navigation component 500 is connected to the upper end of the fixed gantry 201 to control the operation of the mobile component.

[0080] like Figure 1-Figure 2 As shown, the chassis assembly includes a chassis body 101 and a support structure 102 . The support structure 102 is connected to the bottom of the chassis body 101 to support the chassis body 101 .

[0081] Exemplarily, the support structure 102 includes but is not limited to a support rod, which may be hydraulic or electric, and the number of the support rods may be two or more, so that when the transport fork 205 picks up goods, the support structure 102 moves downward and supports the ground, thereby ensuring stability.

[0082] In the above implementation process, a support structure 102 is provided at the bottom of the chassis body 101, so that when the transport component transports the goods, the support structure 102 can contact the ground to support the chassis body 101, ensuring that the overall center is within the support point range when picking up the goods, which is more conducive to preventing the pick-up from being unstable and causing overturning.

[0083] like Figure 4 As shown, the chassis body 101 is provided with a mounting groove 1011 , and the mounting groove 1011 is configured for mounting the fixed mast 201 , and the transport fork 205 is provided above the chassis body 101 ;

[0084] Or the chassis body 101 is configured with a mounting groove 1011 , the mounting groove 1011 is configured for mounting the fixed gantry 201 , and the chassis body 101 is configured with an avoidance groove 1012 , the avoidance groove 1012 is configured for accommodating the transport fork 205 .

[0085] In the above implementation process, the fixed gantry 201 is fixed to the mounting groove 1011, and the transport fork 205 is arranged above the chassis body 101 or the transport fork 205 is arranged in the avoidance groove 1012 of the chassis body 101, so that the overall structure is more compact, reducing the space occupied by the transport robot, and at the same time, the avoidance groove 1012 can form protection for the transport fork 205, reducing the risk of damage to the transport fork 205.

[0086] In some embodiments, the number of the avoidance grooves 1012 is consistent with the number of the transport forks 205. For example, when there are two transport forks 205, there are two avoidance grooves 1012, each of which is used to accommodate one transport fork 205; when there is only one transport fork 205, there is only one avoidance groove 1012.

[0087] In a second aspect, the present application also provides a production system, comprising the handling robot as described above.

[0088] Since the production system provided in the second aspect includes a handling robot, the production system has all the technical effects of the handling robot and will not be elaborated here.

[0089] In all embodiments of the present application, "big" and "small" are relative, "more" and "less" are relative, and "up" and "down" are relative. The expressions of such relative terms will not be elaborated in the embodiments of the present application.

[0090] It should be understood that the phrases “in this embodiment,” “in an embodiment of the present application,” or “as an optional implementation” mentioned throughout the specification mean that specific features, structures, or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, “in this embodiment,” “in an embodiment of the present application,” or “as an optional implementation” appearing throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures, or characteristics may be combined in one or more embodiments in any suitable manner. Those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required for the present application.

[0091] In the various embodiments of the present application, it should be understood that the size of the serial numbers of the above-mentioned processes does not necessarily mean the order of execution. The order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0092] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present application should be included within the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A transport robot, characterized in that: include: A chassis mechanism, comprising a chassis assembly and a moving assembly, wherein the moving assembly is connected to the chassis assembly to drive the chassis assembly to move along a preset direction; The transport mechanism includes a fixed gantry and a transport assembly, wherein the fixed gantry is connected to the chassis assembly, and the transport assembly is connected to the fixed gantry, and is used to move relative to the fixed gantry along a first direction and / or a second direction, wherein the first direction is perpendicular to the second direction, wherein when the transport assembly moves along the first direction, it is used to extend and retract relative to the chassis assembly.

2. The transport robot according to claim 1, characterized in that: The transport assembly includes a first driving structure, a second driving structure and a transport structure. The first driving structure is connected to the transport structure to drive the transport structure and the second driving structure to move along the second direction. The second driving structure is connected to the transport structure to drive the transport structure to move along the first direction.

3. The transport robot according to claim 2, characterized in that: The transport structure includes a transport frame and a transport fork. The transport fork is connected to the transport frame and is used to transport goods when extended out of the chassis assembly.

4. The transport robot according to claim 1, wherein: The moving assembly includes a power structure and a driving wheel. The power structure is connected to the driving wheel. Part of the structure of the driving wheel is exposed at the bottom of the chassis assembly for moving the chassis assembly.

5. The transport robot according to claim 4, characterized in that: The mobile assembly further includes an auxiliary structure connected to the chassis assembly, and a portion of the auxiliary structure is exposed at the bottom of the chassis assembly, so that the chassis assembly operates in a differential movement mode or an omnidirectional movement mode.

6. The transport robot according to claim 5, characterized in that: The auxiliary structure includes an auxiliary wheel, a rocker arm, a fixing seat and a connecting seat. The auxiliary wheel is connected to the rocker arm and exposed at the bottom of the chassis assembly. The rocker arm is connected to the fixing seat or the connecting seat so that the rocker arm swings relative to the fixing seat. The fixing seat is fixed to the chassis assembly, and the connecting seat is connected to the fixing seat.

7. The transport robot according to claim 6, characterized in that: The auxiliary structure further includes an elastic member, and the elastic member is located between the fixing seat and the connecting seat.

8. The transport robot according to claim 3, characterized in that: The transport robot further includes a first detection component, which is connected to the end of the transport fork. When the first detection component is exposed on the chassis component, it is used to detect the position of the cargo and / or avoid obstacles.

9. The transport robot according to claim 8, characterized in that: The transport robot further includes a second detection component connected to the chassis component for avoiding obstacles along the preset direction.

10. The transport robot according to claim 1 or 9, characterized in that: The transport robot further includes a navigation component, which is connected to the fixed gantry to control the operation of the moving component.

11. The transport robot according to claim 3, characterized in that: The chassis assembly includes a chassis body and a supporting structure. The supporting structure is connected to the bottom of the chassis body to support the chassis body.

12. The transport robot according to claim 11, characterized in that: The chassis body is provided with a mounting groove, the mounting groove being configured for mounting the fixed gantry, and the transport fork is provided above the chassis body; Or the chassis body is provided with a mounting groove, the mounting groove is configured for installing the fixed gantry, and the chassis body is provided with an avoidance groove, the avoidance groove is configured for accommodating the transport fork.

13. The transport robot according to claim 12, characterized in that: The number of the avoidance grooves is consistent with the number of the transport forks.

14. A production system, characterized in that: Comprising the handling robot according to any one of claims 1-13.

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