Carrying robot

Abstract

The utility model discloses a carrying robot which comprises a pallet fork, the pallet fork comprises a fork arm assembly, a bearing wheel assembly arranged on the fork arm assembly and a bearing wheel driving assembly arranged corresponding to the bearing wheel assembly, and the bearing wheel assembly is hinged to the fork arm assembly. The bearing wheel driving assembly comprises a first driving assembly and an elastic driving assembly, and the first driving assembly can drive the bearing wheel assembly to rotate around the hinge center of the bearing wheel assembly on the fork arm assembly, so that the bearing wheel assembly swings to an extending state that a bearing wheel of the bearing wheel assembly extends out of the fork arm assembly; the elastic driving assembly is driven to rotate, the elastic driving assembly accumulates force, the elastic driving assembly releases the accumulated force and can drive the bearing wheel assembly to reset from the extending state to the contraction state that a bearing wheel body of the bearing wheel assembly retracts to the fork arm assembly, and the bearing wheel assembly is maintained in the contraction state. According to the utility model, automatic contraction of the bearing wheel can be realized.

Description

Technical Field

[0001] The utility model relates to the technical field of transport robots, in particular to a transport robot used for transporting a square-shaped pallet. Background Art

[0002] In industrial production, there are many types of handling robots. When handling standardized pallets (such as a square pallet), the fork arm of the handling robot needs to be inserted into the hole of the square pallet due to the special structure of the pallet.

[0003] The handling robot used for handling the cross-shaped pallet in the prior art generally has a retractable load-bearing wheel assembly on the fork arm assembly. When in use, the load-bearing wheel assembly extends or retracts the fork arm as needed to adapt to the handling of the cross-shaped pallet. However, the retractable structure of the load-bearing wheel in the prior art is relatively complex, which increases the production and use costs. Utility Model Content

[0004] The present invention aims to solve one of the technical problems in the related art to a certain extent. To this end, the present invention provides a transport robot, which optimizes the structure of the transport robot and reduces the production and use costs.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A handling robot comprises a fork, wherein the fork comprises a fork arm assembly, a load-bearing wheel assembly arranged on the fork arm assembly, and a load-bearing wheel drive assembly arranged corresponding to the load-bearing wheel assembly, the load-bearing wheel assembly is hinged on the fork arm assembly, and the load-bearing wheel drive assembly comprises a first drive assembly and an elastic drive assembly, the first drive assembly can drive the load-bearing wheel assembly to rotate around the hinge center of the load-bearing wheel assembly on the fork arm assembly, so that the load-bearing wheel assembly swings to an extended state in which the load-bearing wheel of the load-bearing wheel assembly extends out of the fork arm assembly, and the elastic drive assembly accumulates force, and the elastic drive assembly releases the accumulated force to drive the load-bearing wheel assembly to reset from the extended state to a retracted state in which the load-bearing wheel of the load-bearing wheel assembly is retracted into the fork arm assembly, and maintain the load-bearing wheel assembly in the retracted state.

[0007] In the present technical solution, a load-bearing wheel drive assembly is designed to drive the load-bearing wheel assembly to extend / retract into the fork arm assembly, which can adapt to the transportation needs of the cross-shaped pallet. The load-bearing wheel drive assembly in the present technical solution includes a first drive assembly that drives the load-bearing wheel to extend and an elastic drive assembly that cooperates with the first drive assembly. The elastic drive assembly can drive the load-bearing wheel to retract and reset. In this way, the extension and retraction processes of the load-bearing wheel are driven by two different structures during the design, which optimizes the drive structure of the load-bearing wheel. In actual settings, each structure can be designed separately, which can greatly reduce the complexity of a single mechanism and reduce design and production costs. Moreover, through the setting of the elastic drive assembly, when resetting, the load-bearing wheel can be automatically reset under the action of the stored force release of the elastic drive assembly, which improves the convenience of use and can make the structural layout of each component more concise.

[0008] Furthermore, the handling robot includes a vehicle body, the fork is arranged on the vehicle body, and the fork can be raised and lowered along the vehicle body, the first driving assembly includes a driving member and a transmission member, the transmission member is arranged on the fork arm assembly, the first end of the driving member is hinged to the fork, the second end of the driving member is in contact with the vehicle body, one end of the transmission member is hinged to the driving member, and the other end of the transmission member is hinged to the load-bearing wheel assembly; the elastic driving assembly is connected between the fork arm assembly and the first driving assembly; during the rising process of the fork arm assembly, the driving member drives the transmission member to move toward the end of the fork arm assembly under the drive of the fork arm assembly and the limiting action of the vehicle body, and allows the elastic driving assembly to accumulate force.

[0009] The fork's lifting and lowering motion is linked to the extension and retraction of the load-bearing wheel assembly via a drive and transmission element, enhancing the overall compactness of the handling robot. The drive's rotating connection allows for the extension and retraction of the load-bearing wheel assembly to be driven by forces applied in different directions, while also reducing component size and facilitating layout.

[0010] Furthermore, the vehicle body includes a frame, a push slider disposed on the bottom surface of the frame, and a fork mounting bracket disposed on the load-bearing surface of the frame, the bottom surface being opposite to the load-bearing surface, the fork arm assembly being slidably disposed on the fork mounting bracket, and the push slider being slidably disposed at the bottom of the frame; during the ascent of the fork arm assembly, the second end of the driving member can contact and be limited by the bottom surface of the push slider, so that the second end of the driving member can slide along the bottom surface of the push slider; the side of the push slider facing the fork arm assembly is an inclined surface, and the second end of the driving member can slide along the inclined surface to the bottom surface of the push slider when the push slider moves toward the fork arm assembly, and the driving member can drive the transmission member to move toward the end of the fork arm assembly, thereby causing the elastic driving assembly to accumulate force. The push slider not only serves as a limiter for the rotation of the driving member during the fork lifting process, but can also drive the driving member to rotate by its own sliding, providing another power source for the driving member, thereby meeting the telescopic requirements of the load-bearing wheel assembly under more working conditions.

[0011] Furthermore, the driving member includes a swing hinge, a limiting guide, and a guide roller. The first end of the swing hinge forms the first end of the driving member. The first end of the limiting guide is fixedly connected to the second end of the swing hinge. The guide roller is provided at the second end of the limiting guide. The guide roller forms the second end of the driving member. The limiting guide extends in a direction away from the fork arm assembly so that the guide roller contacts the push slider. The second end of the swing hinge is hinged to the transmission member. The structural arrangement of the driving member improves the structural strength of the driving member and enables rolling contact between the driving member and the vehicle body, thereby reducing the risk of damage caused by frequent operation of the driving member during use and increasing the service life of the driving member.

[0012] Furthermore, the frame also includes a linear drive unit, which is arranged on the back of the frame body, and the output end of the linear drive unit is connected to the push slider to drive the push slider to perform linear reciprocating movement on the back of the frame body; the push slider is close to the first position of the fork arm assembly, and is away from the second position of the fork arm assembly. When the push slider is in the first position, the drive member abuts against the bottom surface of the push slider and forms the limiting effect; when the push slider is in the second position, the drive member abuts against the inclined surface of the push slider. During the sliding process of the push slider from the second position to the first position, the push slider pushes the drive member to rotate through the inclined surface, and the rotation of the drive member can drive the transmission member to move toward the end of the fork arm assembly and enable the elastic drive assembly to accumulate force. By setting the first position and the second position of the push slider, switching between different working states can be achieved.

[0013] Furthermore, the frame also includes a first sensor and a second sensor disposed on the frame body. The first sensor corresponds to the first position of the push slider, and the second sensor corresponds to the second position of the push slider. The first sensor and the second sensor are configured to emit corresponding arrival signals when the push slider reaches the corresponding position. This allows accurate understanding of the actual position of the push slider, facilitating control of the transport robot's movements by the main control system.

[0014] Furthermore, the fork arm assembly includes an adapter plate and a fork arm body, the adapter plate is arranged at one end of the fork arm body, and a receiving groove is formed at the bottom of the fork arm body, the hinge center of the load-bearing wheel assembly and the fork arm assembly is located in the receiving groove, and the swing of the load-bearing wheel assembly around the hinge center of the load-bearing wheel assembly and the fork arm assembly can make the load-bearing wheel of the load-bearing wheel assembly extend or retract into the receiving groove, the first driving assembly includes a driving member and a transmission member, the transmission member includes a first end arranged in the receiving groove and hinged to the load-bearing wheel assembly, and a second end extending along the receiving groove toward the body direction of the transport robot, the second end of the transmission member is hinged to the driving member, and the elastic driving assembly is arranged in the receiving groove and can complete the force storage or release the force storage in the receiving groove.

[0015] Furthermore, the fork arm body includes a top plate and protruding side plates arranged at the two side edges of the bottom of the top plate. The top plate and the side plates jointly define the accommodating groove. The elastic drive component is arranged in the accommodating groove and connected between the outer side wall of the transmission member and the inner side wall of the accommodating groove.

[0016] Furthermore, the elastic drive component includes a first connecting end, a second connecting end, and an elastic force storage portion connecting the first connecting end and the second connecting end. The elastic force storage portion can store force when the load-bearing wheel of the load-bearing wheel assembly extends out of the fork arm assembly, and can release the stored force when the load-bearing wheel of the load-bearing wheel assembly retracts into the fork arm assembly. A plurality of protruding first connecting columns are provided on the inner side wall of the side plate, and a plurality of protruding second connecting columns corresponding to the first connecting columns are respectively provided on the two opposite side walls of the transmission member. The first connecting end of the elastic drive component is connected to the first connecting column, and the second connecting end of the elastic drive component is connected to the second connecting column.

[0017] Furthermore, the load-bearing wheel assembly includes a load-bearing wheel bracket and a load-bearing wheel disposed on the load-bearing wheel bracket. The load-bearing wheel bracket includes a third pivot connection portion pivotally connected to the inner wall of the receiving groove and a fourth pivot connection portion pivotally connected to the transmission member. The third pivot connection portion and the fourth pivot connection portion form a spacing. Under the push-pull action of the transmission member, the load-bearing wheel bracket rotates about the third pivot connection portion to extend or retract the load-bearing wheel into or out of the receiving groove. The design of concealing the components within the receiving groove improves the overall appearance and can also increase the stability of the installation, making the process of storing and releasing stored power of the elastic drive assembly smoother.

[0018] Furthermore, the fork includes a connecting frame, a caster assembly, and two fork arm assemblies arranged on the connecting frame and spaced apart. The connecting frame extends along the height direction of the transport robot, and the fork arm assembly is fixed to the bottom of the connecting frame through the adapter plate and extends in front of the transport robot in the horizontal direction of the transport robot. The caster assembly is arranged at the bottom of the connecting frame, and the bottom of the caster assembly protrudes from the bottom surface of the fork arm assembly. The fork is mounted on the fork mounting frame in a liftable manner through the connecting frame.

[0019] Furthermore, the vehicle body includes a double-acting drive cylinder and a plurality of second guide rails arranged on the frame. The plurality of second guide rails are arranged on the fork mounting frame along the height direction of the vehicle body. Pulleys are provided on both sides of the connecting frame. The connecting frame is slidably arranged on the second guide rails through the pulleys. The output end of the double-acting drive cylinder is connected to the connecting frame and can drive the vehicle body to rise and fall along the second guide rails in the height direction.

[0020] Furthermore, the elastic driving component is configured as a spring.

[0021] These features and advantages of the present invention will be detailed in the following detailed description and accompanying drawings. The preferred embodiments or means of the present invention will be fully illustrated in conjunction with the accompanying drawings, but are not intended to limit the technical solutions of the present invention. Furthermore, although multiple features, elements, and components may be present and are labeled with different symbols or numbers for convenience, they all represent components with the same or similar structure or function. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The present invention will be further described below with reference to the accompanying drawings:

[0023] Figure 1 This is a bottom structural diagram of a transport robot according to one embodiment of the present invention;

[0024] Figure 2 for Figure 1 A partial enlarged view of point D in the middle;

[0025] Figure 3 This is a structural diagram of one embodiment of the present invention in which the load-bearing wheel assembly is retracted inside the fork arm assembly;

[0026] Figure 4 for Figure 3 A partial enlarged view of point B in the middle;

[0027] Figure 5 This is a diagram of the load-bearing wheel assembly of one embodiment of the present invention being extended (the fork is in the low position);

[0028] Figure 6 This is a diagram showing a state where the load-bearing wheel assembly of one embodiment of the present invention extends outward from the fork arm assembly (the fork is in the high position);

[0029] Figure 7 This is a structural diagram of a fork in one embodiment of the present utility model;

[0030] Figure 8 for Figure 7 Enlarged view of point C in the middle;

[0031] Figure 9 This is a schematic diagram of the docking of a transport robot and a square pallet according to one embodiment of the present invention;

[0032] Figure 10 for Figure 9 Enlarged view of point A in the middle;

[0033] Figure 11 This is a front structural diagram of a transport robot according to one embodiment of the present invention;

[0034] Figure 12This is a diagram showing the internal structure of the rear body of a transport robot according to one embodiment of the present invention;

[0035] Figure 13 This is a structural diagram of a driving member in one embodiment of the present utility model;

[0036] Figure 14 This is a positional relationship diagram of the second power unit, transmission member, and load-bearing wheel assembly of one embodiment of the present invention;

[0037] Figure 15 This is a partial structural diagram of a push slider in one embodiment of the present utility model.

[0038] in,

[0039] 10. Vehicle body; 11. Vehicle frame; 12. First sensor; 13. Second sensor; 14. Drive wheel; 15. Linear drive unit; 16. First guide rail; 17. Push slider; 171. Inclined surface; 172. Bottom surface of push slider; 173. Baffle; 18. Fork mounting bracket;

[0040] 20. Fork; 21. Connecting frame; 22. Fork arm assembly; 221. Top plate; 222. Side plate; 2221. First connecting column; 223. Receiving slot; 225. Adapter plate; 23. Loading wheel assembly; 231. Loading wheel bracket; 232. Loading wheel; 24. Caster assembly;

[0041] 30. Driving member; 301. Support plate; 302. Rib plate; 303. First pivot connection portion; 304. Second pivot connection portion; 305. Guide roller; 31. Transmission member; 311. Second connecting column;

[0042] 50. Elastic drive assembly;

[0043] 60. Double-acting driving cylinder; 61. Second guide rail;

[0044] 70. Field-shaped pallet; 71. Fork hole. DETAILED DESCRIPTION

[0045] The following describes in detail embodiments of the present invention, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described in the embodiments are intended to explain the present invention and are not to be construed as limiting the present invention.

[0046] References in this specification to "one embodiment," "an example," or "an example" mean that a particular feature, structure, or characteristic described in connection with the embodiment itself can be included in at least one embodiment disclosed herein. The appearance of the phrase "in one embodiment" in various places in the specification does not necessarily refer to the same embodiment.

[0047] See attached Figure 1-8 One embodiment of the present invention discloses a handling robot, including a fork 20, wherein the fork 20 includes a fork arm assembly 22, a load-bearing wheel assembly 23 provided on the fork arm assembly 22, and a load-bearing wheel drive assembly provided corresponding to the load-bearing wheel assembly 23. When working, the fork arm assembly 22 generally supports the bottom of the material to be handled by inserting into the bottom of the material, and then the handling robot can lift the material and carry the material through the fork 20. The load-bearing wheel assembly 23 is provided, and during the handling and transportation process, the load-bearing wheel assembly 23 can assist in supporting the material on the ground, which can improve the stability of material transportation and reduce the torque on the fork arm assembly 22, thereby increasing the service life of the fork arm. When carrying a Tian-shaped pallet (of course, a Sichuan-shaped pallet or other pallets with a similar structure can also be carried), due to the particularity of the structure of the Tian-shaped pallet 70 (see attached Figure 9 ), when the fork arm assembly 22 wants to be inserted into the fork hole 71 of the field pallet 70, it is first necessary to retract the load-bearing wheel assembly 23 on the fork arm assembly 22, so as to ensure that the fork arm assembly 22 can pass through the fork hole 71 smoothly. After the fork arm assembly 22 passes through the fork hole 71, the load-bearing wheel assembly 23 needs to be extended to play a role in auxiliary support and transportation.

[0048] In order to realize the movement of the above-mentioned load-bearing wheel assembly 23, the load-bearing wheel assembly 23 in this embodiment is hinged on the fork arm assembly 22, and the load-bearing wheel driving assembly includes a first driving assembly and an elastic driving assembly 50. The first driving assembly can drive the load-bearing wheel assembly 23 to rotate around the hinge center of the load-bearing wheel assembly 23 on the fork arm assembly 22, so that the load-bearing wheel assembly 23 swings to the extended state of the load-bearing wheel 232 of the load-bearing wheel assembly 23 extending from the fork arm assembly 22, and the elastic driving assembly 50 accumulates force. The elastic driving assembly 50 releases the accumulated force to drive the load-bearing wheel assembly 23 from the extended state to the retracted state of the load-bearing wheel 232 of the load-bearing wheel assembly 23 retracting from the fork arm assembly 22, and maintain the load-bearing wheel assembly 23 in the retracted state.

[0049] The extended state in this embodiment means that the load-bearing wheel 232 on the load-bearing wheel assembly 23 can protrude from the bottom of the fork arm assembly 22 and contact the ground (see the attached FIG. Figure 5 、 6), to facilitate the formation of auxiliary support and transportation effects; the retracted state refers to the load-bearing wheel assembly 23 being completely retracted into the fork arm assembly 22 (see attached Figure 3 ), ensuring that there is no protruding part at the bottom of the fork arm assembly 22, ensuring that the fork arm assembly 22 can smoothly enter the fork entry hole 71 of the pallet.

[0050] The load-bearing wheel drive assembly in this embodiment includes a first drive assembly that drives the load-bearing wheel 232 to extend and an elastic drive assembly 50 that cooperates with the first drive assembly. The elastic drive assembly 50 can drive the load-bearing wheel 232 to retract and reset. In this way, the extension and retraction processes of the load-bearing wheel 232 are driven by two different structures during design, thereby optimizing the drive structure of the load-bearing wheel 232. In actual settings, each structure can be designed separately, which can greatly reduce the complexity of a single mechanism and reduce design and production costs. Moreover, through the setting of the elastic drive assembly 50, when resetting, the load-bearing wheel 232 can be automatically reset under the action of the stored force released by the elastic drive assembly 50, which improves the convenience of use and can make the structural layout of each component more concise.

[0051] It should be noted that this embodiment does not impose any specific restrictions on the specific structure of the load-bearing wheel drive assembly. In actual design, the first drive assembly in the load-bearing wheel drive assembly that drives the load-bearing wheel 232 to extend out of the fork arm assembly 22 may have only one power source, or may be driven by different power sources in different usage scenarios. There is also no specific restriction on the specific location of the first drive assembly. It can be set on the frame 11 and / or the fork 20 of the handling robot, and it only needs to ensure that it can drive the load-bearing wheel 232 to extend out of the fork arm assembly 22.

[0052] In addition, this embodiment does not impose any specific restrictions on the specific setting position, setting form, specific structure and specific number of the elastic drive component 50. The elastic drive component 50 can be set to act on the load-bearing wheel component 23, or can be set to act on the first drive component. The number of elastic drive components 50 can be set to one or more, and it only needs to ensure that it can store force when the load-bearing wheel 232 is extended, and drive the load-bearing wheel 232 to reset when the stored force is released.

[0053] It should be noted that the force storage of the elastic drive component in this embodiment can be set to: taking a tension spring as an example, it can be set to tensile force storage or compression force storage (if it is a torsion spring, the corresponding is clockwise torsional force storage or counterclockwise torsional force storage); the elastic drive component 50 in this embodiment can not only reset and retract the load-bearing wheel 232, but also keep the load-bearing wheel assembly 23 in a retracted state. This requires that a certain elastic force be preset for the elastic drive component 50 during assembly, and the force storage of the elastic drive component 50 mentioned above refers to further storing force on the basis of the preset elastic force (so that the elastic force stored in the elastic drive component 50 is greater than the preset elastic force).

[0054] As one of the embodiments of the present invention, the handling robot includes a vehicle body 10, the fork 20 is arranged on the vehicle body 10, and the fork 20 can be raised and lowered along the vehicle body 10, the first driving assembly includes a driving member 30 and a transmission member 31, the transmission member 31 is arranged on the fork arm assembly 22, the first end of the driving member 30 is hinged on the fork 20, the second end of the driving member 30 is in contact with the vehicle body 10, one end of the transmission member 31 is hinged to the driving member 30, and the other end of the transmission member 31 is hinged to the load-bearing wheel assembly 23; the elastic driving assembly 50 is connected between the fork arm assembly 22 and the first driving assembly; during the rising process of the fork arm assembly 22, the driving member 30 drives the transmission member 31 to move toward the end of the fork arm assembly 22 under the drive of the fork arm assembly 22 and the limiting action of the vehicle body 10, and enables the elastic driving assembly 50 to accumulate force.

[0055] See attached Figure 3-6, 11, 12, the driving member 30 in this embodiment is hinged on the fork 20, and there is a matching portion between the driving member 30 and the vehicle body 10, so that the lifting movement of the fork 20 in this embodiment can be used as the power source for the driving member 30 to drive the load-bearing wheel assembly 23 to swing to the extended state through the transmission member 31. The specific working principle is as follows: the fork 20 is lifted and lowered along the height direction of the vehicle body 10 under the action of the power source, and drives the first end of the driving member 30 provided on the fork 20 to move upward. Since the second end of the driving member 30 is in contact with the vehicle body 10 (specifically, it is in contact with the bottom surface of the pushing slider 17 on the vehicle body 10, see below), it should be noted that the vehicle body 10 will exert pressure on the driving member 30. The second end of the driving member 30 forms a limiting effect (this limiting effect allows the second end of the driving member 30 to slide in the horizontal direction, but does not slide in the height direction with the fork 20), and then the first end and the second end of the driving member 30 slide in the vertical and horizontal directions respectively, which will generate a torque on the driving member 30, and then the driving member 30 will rotate around the hinge center between it and the fork 20. The rotation of the driving member 30 will push the transmission member 31 toward the end of the fork arm assembly 22 (it should be noted that the end of the fork arm assembly 22 mentioned here refers to the end of the fork arm assembly 22 away from the vehicle body 10), and then the transmission member 31 will drive the load-bearing wheel assembly 23 to swing to the extended state, see the attached Figure 6 At the same time, it should be noted that the elastic driving component 50 will generate accumulated force at this time.

[0056] When the fork 20 moves downward, the driving member 30 and the transmission member 31 move in the opposite direction to the above-mentioned process (no further details will be given here). As the transmission member 31 moves toward the front end of the fork arm assembly 22 (the front end of the fork arm assembly 22 here refers to the end of the fork arm assembly 22 opposite to the end of the fork arm assembly 22), the stored force of the elastic driving assembly 50 will be released, and the released stored force will drive the load-bearing wheel assembly 23 to swing in the opposite direction and retract toward the fork arm assembly 22. See the attached figure for details. Figure 4 The figure shows the state of the load-bearing wheel assembly 23 when the fork 20 drops to the lowest point. It can be seen that at this time, although the load-bearing wheel assembly 23 will swing closer to the fork arm assembly 22, it will not be completely retracted into the fork arm assembly 22, and the load-bearing wheel 232 will still remain extended from the bottom of the fork arm assembly 22.

[0057] It can be seen that during the swinging process of the load-bearing wheel assembly 23 , the second end of the driving member 30 is always in contact with the bottom surface of the pushing slider 17 .

[0058] In this embodiment, the lifting and lowering of the forks 20 are linked to the extension and retraction of the load-bearing wheel assembly 23 via the drive member 30 and transmission member 31, enhancing the overall compactness of the handling robot. The rotational connection of the drive member 30 accommodates the need to extend or retract the load-bearing wheel assembly 23 in response to forces applied in different directions, while also reducing component size and facilitating layout.

[0059] As one of the embodiments of the present invention, the vehicle body 10 includes a frame 11, a push slider 17 arranged on the bottom surface of the frame 11, and a fork mounting frame 18 arranged on the load-bearing surface of the frame 11, the bottom surface is opposite to the load-bearing surface, the fork arm assembly 22 is slidably arranged on the fork mounting frame 18, and the push slider 17 is slidably arranged at the bottom of the frame 11; during the rising process of the fork arm assembly 22, the second end of the driving member 30 can be in contact with the bottom surface of the push slider 17 The bottom surface of the push slider 17 contacts and is restrained by the bottom surface, allowing the second end of the driving member 30 to slide along the bottom surface of the push slider 17. The side of the push slider 17 facing the fork arm assembly 22 is an inclined surface 171. When the push slider 17 moves toward the fork arm assembly 22, the second end of the driving member 30 can slide along the inclined surface 171 to the bottom surface of the push slider 17. The driving member 30 can then drive the transmission member 31 toward the end of the fork arm assembly 22, thereby causing the elastic driving assembly 50 to accumulate force.

[0060] The driving member 30 includes a swing hinge, a limiting guide and a guide roller 305. The first end of the swing hinge forms the first end of the driving member 30. The first end of the limiting guide is fixedly connected to the second end of the swing hinge. The guide roller 305 is arranged at the second end of the limiting guide. The guide roller 305 forms the second end of the driving member 30. The limiting guide extends in a direction away from the fork arm assembly 22 so that the guide roller 305 contacts the pushing slider 17. The second end of the swing hinge is hinged to the transmission member 31.

[0061] The frame 11 also includes a linear drive unit 15, which is arranged on the back of the frame 11 body. The output end of the linear drive unit 15 is connected to the pushing slider to drive the pushing slider to perform linear reciprocating movement on the back of the frame 11 body; the pushing slider 17 is close to the first position of the fork arm assembly 22, and is away from the second position of the fork arm assembly 22. When the pushing slider 17 is in the first position, the driving member 30 abuts against the bottom surface of the pushing slider 17 and forms the limiting effect; when the pushing slider 17 is in the second position, the driving member 30 abuts against the inclined surface 171 of the pushing slider 17. During the sliding process of the pushing slider 17 from the second position to the first position, the pushing slider 17 pushes the driving member 30 to rotate through the inclined surface 171, and the rotation of the driving member 30 can drive the transmission member 31 to move toward the end of the fork arm assembly 22, and enable the elastic driving assembly 50 to accumulate force.

[0062] See attached Figure 5 、 10 , 14, the top of the pushing slider 17 in this embodiment is slidably arranged on the vehicle body 10 and is arranged opposite to the driving member 30. Specifically, a horizontally arranged first guide rail 16 can be provided on the vehicle body 10 of this embodiment, and the pushing slider 17 is slidably arranged on the first guide rail 16. The sliding of the pushing slider 17 can interact with the driving member 30, wherein the second power unit in this embodiment is used to drive the pushing slider 17 to slide back and forth along the vehicle body 10. The second power unit can be set as a linear driving member 30 such as an electric push rod, a cylinder or an oil cylinder, and of course it can also be set as a motor, which converts the rotational motion of the motor shaft into linear motion through a transmission mechanism; the pushing slider 17 in this embodiment includes a first Position, when the pushing slider 17 is in the first position, the driving member 30 abuts against the bottom surface of the pushing slider 17 and forms the limiting effect. As recorded above, when the lifting and lowering of the fork 20 drives the driving member 30 to rotate, the second end of the driving member 30 cooperates and abuts against the bottom surface of the pushing slider 17 (the elastic driving component 50 uses the elastic force preset during installation mentioned above to keep the guide roller 305 at the second end of the driving member 30 in rolling contact with the bottom surface of the pushing slider 17 at all times). That is, during the lifting and lowering process of the fork 20, the pushing slider 17 is always in the first position. In the utility model, the first position of the pushing slider 17 is set to be the far end of the pushing slider 17 away from the first power unit.

[0063] As one of the embodiments of the present invention, see the attached Figure 15The pushing slider 17 forms an inclined surface 171 on the side facing the fork arm assembly, and the inclined surface 171 intersects with the bottom surface of the pushing slider 17 (in actual setting, a smooth transition is formed at the intersection of the inclined surface 171 and the bottom surface of the pushing slider 17, so that the switching of the driving member between the two is smoother). The pushing slider 17 also includes a second position (the second position mentioned here and the first position are two different positions, and the second position can be set to be close to the end of the first power unit). In the second position, the driving member 30 abuts against the inclined surface 171 of the pushing slider 17 (similarly, the guide roller 305 at the second end of the driving member 30 always maintains contact with the inclined surface 171 under the action of the preset elastic force of the elastic driving assembly 50. This can avoid the presence of a gap between the pushing slider 17 and the driving member 30, avoid the idle sliding of the pushing slider 17, and improve the stability of the transportation of each component).

[0064] In this embodiment, when the pushing slider 17 slides from the second position to the first position, the pushing slider 17 drives the driving member 30 to rotate through the inclined surface 171, and the rotation of the driving member 30 can drive the transmission member 31 to move toward the end of the fork arm assembly 22, and enable the elastic driving assembly 50 to accumulate force. The horizontal sliding of the pushing slider 17 in this embodiment can push the second end of the driving member 30 through the inclined surface 171 (the guide roller 305 is in direct contact with the inclined surface 171, forming rolling friction, the effect is the same as the rolling contact of the bottom surface of the guide roller 305 pushing the slider 17 above) to produce vertical movement, and can drive the driving member 30 to rotate around the first end, and then drive the load-bearing wheel assembly 23 to swing until the guide roller 305 at the second end of the driving member 30 moves to the bottom surface of the pushing slider 17 and abuts against the bottom surface of the pushing slider 17. When the guide roller 305 at the second end of the driving member 30 abuts against the bottom surface of the pushing slider 17, the pushing slider 17 continues to slide and cannot cause the driving member 30 to rotate (when the fork 20 remains fixed).

[0065] As can be seen from the above, the swing-extending fork arm assembly 22 of the load-bearing wheel assembly 23 in the present invention can be driven by two power sources, specifically:

[0066] First, the lifting and lowering of the fork 20 drives the load-bearing wheel assembly 23 to swing. At this time, the push slider 17 is in the first position. As shown above, the second end of the driving member 30 is in contact with the bottom surface of the push slider 17. When the fork 20 is raised or lowered, the driving member 30 rotates and drives the load-bearing wheel assembly 23 to swing out through the transmission member 31. It should be noted that in this case, when the fork 20 rises to a certain height, the length of the load-bearing wheel assembly 23 extended is the longest. See the attached figure. Figure 6 When the fork 20 is lowered to the lowest position, the load-bearing wheel assembly 23 is still in the extended state, but the extended length is short, see the attached Figure 5 .

[0067] Second, the sliding of the push slider 17 drives the bearing wheel assembly 23 to swing. When the push slider 17 extends to the first position, as shown in the attached Figure 5 As shown, at this time, the fork 20 is in the lowest position, the extension and sliding of the push slider 17 can push the driving member 30 to rotate through the inclined surface 171, and when the push slider 17 is retracted and slides to the second position, the load-bearing wheel assembly 23 can be completely retracted into the fork arm assembly 22 under the action of the elastic drive assembly 50, see the attached Figure 3 In this state, the fork arm assembly 22 can be inserted into the field pallet 70 through the fork hole 71 for transportation.

[0068] The push slider 17 in this embodiment can realize switching between different driving states, and the sliding of the push slider 17 itself can drive the load-bearing wheel assembly 23 to extend in a unidirectional manner, reducing the structural complexity of the push slider 17 when setting it, facilitating design and process control during use. The load-bearing wheel assembly 23 automatically retracts when it moves closer to the fork arm assembly 22 through the elastic drive assembly 50, which can greatly simplify the structure of the power source for extending the load-bearing wheel assembly 23, facilitate design and layout, and reduce production costs.

[0069] See attached Figure 10 In one embodiment of the present invention, the vehicle body 10 is provided with a first sensor 12 corresponding to the first position of the push slider 17, and a second sensor 13 corresponding to the second position of the push slider 17. The first sensor 12 and the second sensor 13 are configured to emit corresponding arrival signals when the push slider 17 reaches the corresponding position. This allows accurate understanding of the actual position of the push slider 17, facilitating the main control system's control of the transport robot's movements.

[0070] The first sensor 12 and the second sensor 13 may include a light emitting surface and a light output surface arranged opposite to each other, and a baffle 173 may be fixedly provided on the pushing slider 17, and the baffle 173 may pass through the gap between the light emitting surface and the light output surface. When the pushing slider 17 slides to the first position, the baffle 173 on the pushing slider 17 is located in the gap between the emitting surface and the light output surface corresponding to the first sensor 12. At this time, the first sensor 12 may be triggered to send a first in-position signal indicating that the pushing slider 17 has reached the first position; when the pushing slider 17 slides to the second position, the baffle 173 on the pushing slider 17 is located in the gap between the emitting surface and the light output surface corresponding to the second sensor 13. At this time, the second sensor 13 may be triggered to send a second in-position signal indicating that the pushing slider 17 has reached the second position.

[0071] As attached Figure 13As shown in , the driving member 30 in this embodiment can be set to an arc-shaped structure. The arc-shaped structure of the driving member 30 in this embodiment, as well as the support plate 301 and the rib 302 connecting the two support plates 301, can improve the structural strength of the driving member 30, and can change the orientation of the second end of the driving member 30 so that the second end of the driving member 30 can contact the bottom surface of the pushing slider 17 on the vehicle body 10 and can slide horizontally along the bottom surface of the pushing slider 17; in addition, in this embodiment, the second end of the driving member 30 is provided with a guide roller 305. When in use, the guide roller 305 can form rolling friction with the bottom surface of the pushing slider 17, thereby reducing the resistance of the driving member 30 during the activity, reducing energy loss, and making the movement of each component smoother.

[0072] As one of the embodiments of the present invention, the fork arm assembly 22 includes an adapter plate 225 and a fork arm body, the adapter plate 225 is arranged at one end of the fork arm body, and a receiving groove 223 is formed at the bottom of the fork arm body, the hinge center of the load-bearing wheel assembly 23 and the fork arm assembly 22 is located in the receiving groove 223, and the swing of the load-bearing wheel assembly 23 around the hinge center of the load-bearing wheel assembly 23 and the fork arm assembly 22 can make the load-bearing wheel 232 of the load-bearing wheel assembly 23 extend or retract into the receiving groove 223, the first driving assembly includes a driving member 30 and a transmission member 31, the transmission member 31 includes a first end arranged in the receiving groove 223 and hinged to the load-bearing wheel assembly 23, and a second end extending along the receiving groove 223 toward the body 10 of the transport robot, the second end of the transmission member 31 is hinged to the driving member 30, and the elastic driving assembly 50 is arranged in the receiving groove 223 and can complete the storage or release of the storage in the receiving groove 223.

[0073] In this embodiment, it is defined that a receiving groove 223 for installation is formed on the fork arm assembly 22, wherein the transmission member 31, the load-bearing wheel assembly 23, and the elastic drive assembly 50 can all be arranged in the receiving groove 223, which can improve the overall appearance of the fork arm assembly 22. This embodiment does not specifically limit how the receiving groove 223 is formed. It can be formed by splicing multiple parts, or by opening a slot hole on a certain component, as long as it can meet the installation requirements of the above-mentioned parts.

[0074] As one of the embodiments of the present invention, the fork arm body includes a top plate 221 and protruding side plates 222 arranged at the two side edges of the bottom of the top plate 221. The top plate 221 and the side plates 222 jointly define the accommodating groove 223. The elastic drive component 50 is arranged in the accommodating groove 223 and is connected between the outer wall of the transmission member 31 and the inner wall of the accommodating groove 223.

[0075] See attached Figure 1 、 7 8. The fork arm assembly 22 in this embodiment is configured to be composed of the top plate 221 and the side plates 222. The top plate 221 and the side plates 222 jointly define the accommodating groove 223. The transmission member 31 in the present invention can be configured as a connecting rod structure as shown in the figure. The connecting rod has a certain length and can extend from the front end of the fork arm assembly 22 to the middle and rear position of the fork arm assembly 22. In this way, the driving force of the first power unit and the fork 20 on the vehicle body 10 for lifting and lowering can be transmitted to the load-bearing wheel drive assembly. In addition, the structure of the connecting rod can also improve the structural strength of the transmission member 31, which is suitable for use under larger load conditions and ensures sufficient strength.

[0076] In order to ensure the working stability of the transmission member 31 and the elastic driving member 30, the elastic driving component 50 of one embodiment of the present invention includes a first connecting end, a second connecting end and an elastic force storage part connecting the first connecting end and the second connecting end, and the elastic force storage part can store force when the load-bearing wheel 232 of the load-bearing wheel assembly 23 extends out of the fork arm assembly 22, and can release the stored force when the load-bearing wheel 232 of the load-bearing wheel assembly 23 retracts into the fork arm assembly 22. A plurality of protruding first connecting columns 2221 are provided on the inner side wall of the side plate 222, and a plurality of protruding second connecting columns 311 corresponding to the first connecting columns 2221 are respectively provided on the two opposite side walls of the transmission member 31. The first connecting end of the elastic driving component 50 is connected to the first connecting column 2221, and the second connecting end of the elastic driving component 50 is connected to the second connecting column 311.

[0077] In one embodiment of the present invention, a load-bearing wheel assembly 23 includes a load-bearing wheel bracket 231 and a load-bearing wheel 232 disposed on the load-bearing wheel bracket 231. The load-bearing wheel bracket 231 includes a third pivot connection portion pivotally connected to the inner wall of the receiving groove 223 and a fourth pivot connection portion pivotally connected to the transmission member 31. The third pivot connection portion and the fourth pivot connection portion form a gap. Under the push and pull action of the transmission member 31, the load-bearing wheel bracket 231 rotates about the third pivot connection portion to extend or retract the load-bearing wheel 232 into or out of the receiving groove 223. The first pivot connection portion 303, the second pivot connection portion 304, the third pivot connection portion, and the fourth pivot connection portion mentioned above in the present invention can be arranged in various forms, such as a pin or a pin hole structure. In actual arrangement, a pin hole or a connecting pin can be directly opened on the corresponding component, or a sleeve can be provided with a pin hole formed on the sleeve for pivotal connection, etc., which is not specifically limited by the present invention.

[0078] As mentioned above, the elastic drive assembly 50 in various embodiments of the transport robot can include a first connection end, a second connection end, and an elastic force storage portion connecting the first connection end and the second connection end, the first connection end and the second connection end being used to connect other components, the elastic force storage portion can store force when the load-bearing wheel 232 of the load-bearing wheel assembly 23 extends out of the fork arm assembly 22, and can release the stored force when the load-bearing wheel 232 of the load-bearing wheel assembly 23 retracts into the fork arm assembly 22. As mentioned above, the elastic force storage portion can be set to tensile force storage or compression force storage (if it is a torsion spring, it corresponds to clockwise torsion force storage or counterclockwise torsion force storage). Specifically, when the elastic drive assembly 50 is set to a torsion spring, the torsion spring can be set at the hinge portion of the load-bearing wheel assembly 23 and the fork arm assembly 22, at this time, the first connection end of the torsion spring can be connected to the side plate 222, and the second connection end can be connected to the load-bearing wheel bracket 231, so that when the load-bearing wheel assembly 23 swings, it can drive the torsion spring to twist and store force or release stored force.

[0079] The elastic drive assembly 50 of the present invention is connected to the side plate 222 and the transmission member 31 respectively through the first connecting column 2221 and the second connecting column 311, which can improve the stability of the installation of the elastic drive assembly 50; in the specific setting, the number of the elastic drive assembly 50 can be set to multiple, and the multiple elastic drive assemblies 50 can be as shown in the attached figure. Figure 1 、 2 As shown in the figure, it is arranged on both sides of the transmission member 31, which can improve the stability of the force on both sides of the transmission member 31 during movement, ensuring that the transmission member 31 moves and the load-bearing wheel assembly 23 swings smoothly; in addition, multiple groups of elastic drive components 50 can be set along the length direction of the transmission member 31, so that the multiple elastic drive components 50 can respectively store and release the stored force during use, which can avoid the problem of the load-bearing wheel assembly 23 being unable to reset due to the failure of a certain elastic drive component 50, and can improve the driving force for resetting the elastic drive component 50, thereby improving the reliability of the extension and retraction of the load-bearing wheel 232.

[0080] As one of the embodiments of the present invention, see the attached Figure 9 、 11, 12, the fork 20 includes a connecting frame 21, a caster assembly 24 and two fork arm assemblies 22 arranged on the connecting frame 21 and spaced apart, the connecting frame 21 extends along the height direction of the transport robot, the fork arm assembly 22 is fixed to the bottom of the connecting frame 21 through the adapter plate 225 and extends in front of the transport robot in the horizontal direction of the transport robot, the caster assembly 24 is provided at the bottom of the connecting frame 21, the bottom of the caster assembly 24 protrudes from the bottom surface of the fork arm assembly 22, and the fork 20 is mounted on the fork mounting frame 18 in a liftable manner through the connecting frame 21.

[0081] The overall shape of the fork 20 in the present invention is L-shaped, and the number of fork arm assemblies 22 is not limited to two, and can also be set to one or more. In the specific setting, a load-bearing wheel assembly 23 and a corresponding load-bearing wheel drive assembly can be set on at least one fork arm assembly 22. Of course, each fork arm assembly 22 can also be equipped with a load-bearing wheel assembly 23 and a corresponding load-bearing wheel drive assembly.

[0082] See attached Figure 3 In the present invention, when the fork 20 is at its lowest position, the caster assembly 24 on the fork 20 contacts the bottom surface. At this time, the load-bearing wheel 232 mentioned above can extend out of the fork arm assembly 22 to contact the ground, providing stable support for the fork 20. In actual arrangement, one or more caster assemblies 24 can be provided. The present invention does not specifically limit the specific number and location of the caster assemblies 24. In one preferred embodiment of the present invention, the number of caster assemblies 24 is set to two, and the two caster assemblies 24 are respectively provided on the connecting frame 21 at the outer side of the fork arm assembly 22.

[0083] The vehicle body 10 of one embodiment of the present invention includes a double-acting drive cylinder and a plurality of second guide rails 61 arranged on the vehicle frame 11. The plurality of second guide rails 61 are arranged on the fork mounting frame 18 along the height direction of the vehicle body 10. Pulleys are provided on both sides of the connecting frame 21. The connecting frame 21 is slidably arranged on the second guide rails 61 through the pulleys. The output end of the double-acting drive cylinder is connected to the connecting frame 21 and can drive the second guide rails 61 to rise and fall in the height direction of the vehicle body 10.

[0084] See attached Figure 9In actual configuration, the base of the double-acting drive cylinder can be fixed to the vehicle frame 11, and the output end of the double-acting drive cylinder is connected to the middle portion of the width direction of the connecting frame (the connection described here can be configured as a fixed connection or a rotating connection). In this way, when the telescopic rod of the double-acting drive cylinder is extended or retracted, it can apply a driving force to the middle portion of the fork 20, thereby driving the fork 20 to smoothly rise and slide along the second guide rail 61. The configuration of the double-acting drive cylinder can provide driving force during the lifting process of the fork 20, ensuring sufficient driving force for the lifting of the fork 20, and more accurately controlling the lifting and retraction of the load-bearing wheel assembly 23. Of course, in order to more accurately control the height of the fork, a position sensor corresponding to the fork can be provided on the vehicle frame to detect the height position of the fork relative to the vehicle body during the lifting process.

[0085] The above are only specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Those skilled in the art should understand that the present invention includes but is not limited to the contents described in the drawings and the above specific embodiments. Any modifications that do not deviate from the functional and structural principles of the present invention are included within the scope of the claims.

Claims

1. A transport robot, comprising a fork (20), wherein the fork (20) comprises a fork arm assembly (22), a load-bearing wheel assembly (23) provided on the fork arm assembly (22), and a load-bearing wheel drive assembly provided corresponding to the load-bearing wheel assembly (23), wherein the load-bearing wheel assembly (23) is hinged to the fork arm assembly (22), and is characterized in that: The load-bearing wheel drive assembly comprises a first drive assembly and an elastic drive assembly (50). The first drive assembly is capable of driving the load-bearing wheel assembly (23) to rotate around the hinge center of the load-bearing wheel assembly (23) on the fork arm assembly (22), so that the load-bearing wheel assembly (23) swings to an extended state in which the load-bearing wheel (232) of the load-bearing wheel assembly (23) extends out of the fork arm assembly (22), and the elastic drive assembly (50) accumulates force. The elastic drive assembly (50) releases the accumulated force and is capable of driving the load-bearing wheel assembly (23) to return from the extended state to a retracted state in which the load-bearing wheel (232) of the load-bearing wheel assembly (23) is retracted into the fork arm assembly (22), and the load-bearing wheel assembly (23) is maintained in the retracted state.

2. The transport robot according to claim 1, characterized in that: The transport robot comprises a vehicle body (10), the fork (20) is arranged on the vehicle body (10), and the fork (20) can be raised and lowered along the vehicle body (10), the first driving assembly comprises a driving member (30) and a transmission member (31), the transmission member (31) is arranged on the fork arm assembly (22), a first end of the driving member (30) is hinged to the fork (20), a second end of the driving member (30) is in contact with the vehicle body (10), and one end of the transmission member (31) is in contact with the driving member The fork arm assembly (22) is hinged to the transmission member (31), and the other end of the transmission member (31) is hinged to the load-bearing wheel assembly (23); the elastic drive assembly (50) is connected between the fork arm assembly (22) and the first drive assembly; during the ascending process of the fork arm assembly (22), the drive member (30) is driven by the fork arm assembly (22) and the limiting action of the vehicle body (10) to drive the transmission member (31) to move toward the end of the fork arm assembly (22), and the elastic drive assembly (50) accumulates force.

3. The transport robot according to claim 2, characterized in that: The vehicle body comprises a vehicle frame (11), a push slider (17) arranged on the bottom surface of the vehicle frame (11), and a fork mounting frame arranged on the bearing surface of the vehicle frame, wherein the bottom surface is opposite to the bearing surface, the fork arm assembly is slidably arranged on the fork mounting frame, and the push slider (17) is slidably arranged at the bottom of the vehicle frame (11); during the rising process of the fork arm assembly (22), the second end of the driving member (30) can contact the bottom surface of the push slider (17) and be limited by the bottom surface. The push slider (17) is positioned so that the second end of the driving member (30) can slide along the bottom surface of the pushing slider (17); the side surface of the pushing slider (17) facing the fork arm assembly is an inclined surface, and the second end of the driving member (30) can slide along the inclined surface to the bottom surface of the pushing slider (17) when the pushing slider moves toward the fork arm assembly, and the driving member (30) can drive the transmission member (31) to move toward the end of the fork arm assembly (22), and enable the elastic driving assembly (50) to accumulate force.

4. The transport robot according to claim 3, characterized in that: The driving member (30) includes a swing hinge, a limiting guide and a guide roller (305), wherein the first end of the swing hinge forms the first end of the driving member (30), the first end of the limiting guide is fixedly connected to the second end of the swing hinge, the guide roller (305) is arranged at the second end of the limiting guide, and the guide roller (305) forms the second end of the driving member (30), the limiting guide extends in a direction away from the fork arm assembly so that the guide roller (305) contacts the pushing slider (17), and the second end of the swing hinge is hinged to the transmission member (31).

5. The transport robot according to claim 3, characterized in that: The frame further comprises a linear drive unit (15), the linear drive unit (15) being arranged on the back of the frame body, the output end of the linear drive unit (15) being connected to the push slider (17) to drive the push slider (17) to perform linear reciprocating movement on the back of the frame body; the push slider (17) is in a first position close to the fork arm assembly (22), and in a second position away from the fork arm assembly (22), when the push slider (17) is in the first position, the driving member (30) is in contact with the bottom of the push slider (17). The push slider (17) is in contact with the inclined surface (171) of the push slider (17) and forms the limiting effect; when the push slider (17) is in the second position, the driving member (30) is in contact with the inclined surface (171) of the push slider (17); when the push slider (17) slides from the second position to the first position, the push slider (17) pushes the driving member (30) to rotate through the inclined surface (171), and the rotation of the driving member (30) can drive the transmission member (31) to move toward the end of the fork arm assembly (22), and enable the elastic driving assembly (50) to accumulate force.

6. The transport robot according to claim 5, characterized in that: The frame further comprises a first sensor (12) and a second sensor (13), wherein the first sensor (12) and the second sensor (13) are both arranged on the frame body, the first sensor (12) corresponds to the first position of the pushing slider (17), and the second sensor (13) corresponds to the second position of the pushing slider (17), and the first sensor (12) and the second sensor (13) are used to send corresponding arrival signals when the pushing slider (17) reaches the corresponding position.

7. The transport robot according to any one of claims 1 to 6, characterized in that: The fork arm assembly (22) comprises an adapter plate (225) and a fork arm body, wherein the adapter plate (225) is arranged at one end of the fork arm body, and a receiving groove (223) is formed at the bottom of the fork arm body, and the hinge center of the load-bearing wheel assembly (23) and the fork arm assembly (22) is located in the receiving groove (223), and the swing of the load-bearing wheel assembly (23) around the hinge center of the load-bearing wheel assembly (23) and the fork arm assembly (22) can make the load-bearing wheel (232) of the load-bearing wheel assembly (23) extend or retract into the receiving groove (223). ), the first driving assembly includes a driving member (30) and a transmission member (31), the transmission member (31) includes a first end arranged in the accommodating groove (223) and hinged to the load-bearing wheel assembly (23), and a second end extending along the accommodating groove (223) toward the vehicle body (10) of the transport robot, the second end of the transmission member (31) is hinged to the driving member (30), and the elastic driving assembly (50) is arranged in the accommodating groove (223) and can complete the stored force or release the stored force in the accommodating groove (223).

8. The transport robot according to claim 7, characterized in that: The fork arm body comprises a top plate (221) and protruding side plates (222) arranged at two side edges of the bottom of the top plate (221); the top plate (221) and the side plates (222) jointly define the accommodating groove (223); the elastic driving component (50) is arranged in the accommodating groove (223) and connected between the outer side wall of the transmission member (31) and the inner side wall of the accommodating groove (223).

9. The transport robot according to claim 8, characterized in that: The elastic drive assembly (50) comprises a first connecting end, a second connecting end, and an elastic force storage portion connecting the first connecting end and the second connecting end. The elastic force storage portion is capable of storing force when the load-bearing wheel (232) of the load-bearing wheel assembly (23) extends out of the fork arm assembly (22), and is capable of releasing the stored force when the load-bearing wheel (232) of the load-bearing wheel assembly (23) retracts into the fork arm assembly (22). A plurality of protruding first connecting columns (2221) are provided on the inner side wall of the side plate (222), and a plurality of protruding second connecting columns (311) corresponding to the first connecting columns (2221) are respectively provided on two opposite side walls of the transmission member (31). The first connecting end of the elastic drive assembly (50) is connected to the first connecting column (2221), and the second connecting end of the elastic drive assembly (50) is connected to the second connecting column (311).

10. The transport robot according to claim 7, characterized in that: The load-bearing wheel assembly (23) includes a load-bearing wheel bracket (231) and a load-bearing wheel (232) arranged on the load-bearing wheel bracket (231); the load-bearing wheel bracket (231) includes a third pivot connection portion pivotally connected to the inner wall of the accommodating groove (223) and a fourth pivot connection portion pivotally connected to the transmission member (31); the third pivot connection portion and the fourth pivot connection portion form a spacing; the load-bearing wheel bracket (231) rotates around the third pivot connection portion under the push-pull action of the transmission member (31) to allow the load-bearing wheel (232) to extend or retract into the accommodating groove (223).

11. The transport robot according to any one of claims 3 to 6, characterized in that: The fork (20) includes a connecting frame (21), a caster assembly (24), and two fork arm assemblies (22) arranged on the connecting frame (21) and spaced apart. The connecting frame (21) extends along the height direction of the transport robot. The fork arm assembly (22) is fixed to the bottom of the connecting frame (21) and extends in front of the transport robot in the horizontal direction of the transport robot. The caster assembly (24) is arranged at the bottom of the connecting frame (21). The bottom of the caster assembly (24) protrudes from the bottom surface of the fork arm assembly (22). The fork (20) is mounted on the fork mounting frame (18) in a liftable manner through the connecting frame (21).

12. The transport robot according to claim 11, characterized in that: The vehicle body (10) includes a double-acting drive cylinder (60) and a plurality of second guide rails (61) arranged on the vehicle frame (11). The plurality of second guide rails (61) are arranged on the fork mounting frame (18) along the height direction of the vehicle body (10). Pulleys are provided on both sides of the connecting frame (21). The connecting frame (21) is slidably arranged on the second guide rails (61) through the pulleys. The output end of the double-acting drive cylinder (60) is connected to the connecting frame (21) and can drive the push slider to rise and fall along the second guide rails (61) in the height direction of the vehicle body (10).

13. The transport robot according to any one of claims 1 to 6, characterized in that: The elastic drive component (50) is configured as a spring.

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