Loading and unloading robot

Abstract

The utility model provides a loading and unloading robot. The loading and unloading robot comprises a lifting chassis, a conveying assembly and a hand grabbing assembly. Wherein the conveying assembly is used for conveying goods, the conveying assembly is arranged on the lifting chassis, and the lifting chassis can adjust the height of the lifting chassis, so that the height of the conveying assembly arranged on the lifting chassis can be adjusted to be matched with the height of a goods stack. The hand grabbing assembly is used for taking and placing the goods, is arranged at the end of the conveying assembly and can grab the designated goods or place the goods at the designated position. When cargoes are stacked, the conveying assembly and the hand grabbing assembly can stretch into the stacking device, the cargoes can reach the hand grabbing assembly through the conveying assembly, and the hand grabbing assembly places the cargoes at the designated position for stacking. Or the hand grabbing assembly grabs the specified goods and moves the goods to the conveying assembly to be conveyed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of logistics equipment, and particularly relates to a loading and unloading robot. BACKGROUND

[0002] In the logistics industry, goods need to be transported between warehouses and transport vehicles. In the traditional way, the transportation of goods is completed by manual labor, but manual labor has high cost and low efficiency. With the continuous development of automatic equipment, some automatic loading and unloading equipment is gradually applied to the loading and unloading of goods in the logistics industry, which reduces the labor cost.

[0003] In the related art, the automatic loading and unloading equipment includes a mechanical hand for loading and unloading goods and a conveying line for conveying goods, the mechanical hand grasps the goods from a stacked goods stack and places the goods on the conveying line, and the conveying line conveys the goods to a designated position.

[0004] However, the mechanical hand is small in size and inconvenient to move, and cannot be extended into the transport vehicle compartment for transportation, resulting in low efficiency of loading and unloading goods. Utility model content

[0005] The present application provides a loading and unloading robot for loading and unloading goods, and improves the efficiency of loading and unloading goods.

[0006] The present application provides a loading and unloading robot, comprising:

[0007] A lifting chassis is used to straddle a goods conveying line;

[0008] A conveying assembly for conveying goods is arranged on the lifting chassis, and the lifting chassis can adjust the height of the conveying assembly;

[0009] A hand grasping assembly for taking and placing goods is arranged at the end of the conveying assembly, the goods reach the hand grasping assembly through the conveying assembly, and the hand grasping assembly loads the goods;

[0010] Alternatively, the hand grasping assembly grasps the goods and moves to the conveying assembly for unloading.

[0011] In a feasible implementation, the conveying assembly includes a fixed conveying section and a movable conveying section, the fixed conveying section is arranged on the lifting chassis, a first end of the movable conveying section is in sliding connection with the lifting chassis, and a first end of the fixed conveying section is spliced with one end of the movable conveying section, a second end of the movable conveying section is connected with the hand grasping assembly, and the other end of the fixed conveying section is used to be connected with the conveying line.

[0012] In an embodiment, the active conveying section comprises a first conveying assembly, a second conveying assembly, a first pitching assembly and a first yawing assembly.

[0013] The first conveying assembly is slidingly arranged on a lifting chassis, one end of the first conveying assembly is connected with the second conveying assembly, the other end of the second conveying assembly is connected with the hand grasping assembly, the first pitching assembly is used to drive the second conveying assembly to swing up and down, and the first yawing assembly is used to drive the second conveying assembly to swing left and right.

[0014] In an embodiment, the hand grasping assembly is connected with the second conveying assembly through a second pitching assembly and a second yawing assembly, the second pitching assembly is used to drive the hand grasping assembly to swing up and down, and the second yawing assembly is used to drive the hand grasping assembly to swing left and right.

[0015] In an embodiment, the lifting chassis comprises:

[0016] a chassis frame body;

[0017] a first moving assembly arranged below the chassis frame body and hinged with the chassis frame body;

[0018] a second moving assembly arranged below the chassis frame body and hinged with the chassis frame body, and the first moving assembly and the second moving assembly are respectively located at two ends of the chassis frame body;

[0019] The first moving assembly and the second moving assembly respectively control the height of the chassis frame body by changing their own heights.

[0020] In an embodiment, the walking driving structures of the first moving assembly and the second moving assembly are driven by a shared single motor, or are respectively driven by one motor, or are driven by a wheel edge driving mode.

[0021] In an embodiment, the first moving assembly comprises a first lifting assembly and a first moving wheel set.

[0022] The first lifting assembly comprises a first connecting rod, a first linear driving assembly and a second connecting rod, the first linear driving assembly is arranged on the chassis frame body, one end of the first connecting rod is hinged with the chassis frame body, and the other end of the first connecting rod is hinged with the first moving wheel set.

[0023] One end of the second connecting rod is hinged with the first moving wheel set, the other end of the second connecting rod is connected with the first linear driving assembly, and the first linear driving assembly is used to change the support angle of the first connecting rod and the second connecting rod.

[0024] The first linear drive assembly is one of a screw structure, an electric cylinder, a pneumatic cylinder, or a hydraulic cylinder.

[0025] In an embodiment, the second moving assembly comprises a second lifting assembly and a second moving wheel set.

[0026] The second lifting assembly comprises a hinged rod and a second linear drive assembly, one end of the hinged rod is hinged to the chassis frame body, the other end of the hinged rod is hinged to the second moving wheel set, one end of the second linear drive assembly is hinged to the chassis frame body, the other end of the second linear drive assembly is hinged to the hinged rod, the second linear drive assembly adjusts the height of the chassis frame body by changing the support angle of the hinged rod, and the second linear drive assembly is configured as one of an electric cylinder, a pneumatic cylinder, or a hydraulic cylinder.

[0027] In an embodiment, the first moving wheel set and the second moving wheel set each comprise a mounting seat and a wheel, the wheel is provided with one or more, when the wheel is provided with multiple, the multiple wheels are arranged in front and back along the driving direction or arranged coaxially side by side, and the wheel is connected with a corresponding driving structure.

[0028] In an embodiment, the hand grasping assembly comprises:

[0029] a hand frame body;

[0030] a cargo conveying assembly arranged on the hand frame body, the cargo conveying assembly is used for conveying cargo, and the cargo conveying assembly comprises a plurality of spaced conveying parts.

[0031] a cargo pushing and pulling assembly arranged on the hand frame body, the cargo pushing and pulling assembly comprises a plurality of suction assemblies, the plurality of suction assemblies are respectively arranged in the intervals of the plurality of conveying parts, and at least one group of the plurality of suction assemblies selectively extends to pull the cargo to the conveying part and convey the cargo to the rear or push the cargo conveyed from the rear away from the conveying part.

[0032] In an embodiment, all the conveying parts in the cargo conveying assembly are driven by a single driving element.

[0033] Or, each conveying part is independently driven by a separate driving element.

[0034] Or, all the conveying parts are driven by a plurality of driving elements, and a plurality of the conveying parts share one driving element.

[0035] In an embodiment, each of the suction assemblies is independently driven by a separate power element.

[0036] Or, a plurality of said suction components share a power element.

[0037] In a feasible implementation, the suction component comprises a third linear drive assembly, a second connecting rod assembly and a suction part, one end of the third linear drive assembly is hinged to the third mounting seat of the hand bracket body, the other end is hinged to the second connecting rod assembly, one end of the second connecting rod assembly is connected to the third mounting seat, and the other end is connected to the suction part, and the third linear drive assembly drives the suction part to move through the second connecting rod assembly to pull the goods to the goods conveying assembly.

[0038] In a feasible implementation, the suction part comprises a fixing seat and at least one suction disc, the fixing seat is connected to the second connecting rod assembly, and at least two suction discs are arranged side by side on the fixing seat.

[0039] The embodiment of the application provides a loading and unloading robot, which comprises a lifting chassis, a conveying assembly and a hand grabbing assembly. The conveying assembly is used for conveying goods, and the conveying assembly is arranged on the lifting chassis. The lifting chassis can adjust the height thereof, thereby adjusting the height of the conveying assembly arranged thereon, so that the height of the goods stack is matched. The hand grabbing assembly is used for taking and placing goods, and is arranged at the end of the conveying assembly to grab the specified goods or place the goods at the specified position. When the goods are stacked, the conveying assembly and the hand grabbing assembly can extend into the interior, the goods can reach the hand grabbing assembly through the conveying assembly, and the hand grabbing assembly places the goods at the specified position to be stacked. Or, the hand grabbing assembly grabs the specified goods and moves the goods to the conveying assembly for conveying. Since the conveying assembly and the hand grabbing assembly can extend into the interior of the goods storage site (for example, the interior of the carriage) to directly convey the goods, the goods do not need to be transferred by intermediate equipment, thereby greatly improving the loading and unloading efficiency of the goods. BRIEF DESCRIPTION OF DRAWINGS

[0040] The accompanying drawings, which are included to provide a further understanding of the application and constitute a part of this application, illustrate certain illustrative embodiments of the application and together with the description serve to explain the application. The illustrative embodiments of the application do not limit the application.

[0041] In the drawings:

[0042] Figure 1 is a first structural schematic diagram of the loading and unloading robot provided by an embodiment of the application;

[0043] Figure 2 is Figure 1 a side structural schematic diagram of the loading and unloading robot in

[0044] Figure 3 is a schematic view of the overall structure of the lifting chassis of the loading and unloading robot in Figure 1

[0045] Figure 4 is a schematic view of the structure of the first moving assembly in Figure 3

[0046] Figure 5 is a schematic view of the structure of the second moving assembly in Figure 3

[0047] Figure 6 is a schematic view of the structure of the second moving assembly according to another embodiment of the present application;

[0048] Figure 7 is a schematic view of the overall structure of the hand gripping assembly of the loading and unloading robot in Figure 1

[0049] Figure 8 is a schematic view of the structure of the hand gripping assembly after removing the hand frame in Figure 7

[0050] Figure 9 is a schematic view of the first state of the goods pushing and pulling assembly in Figure 7

[0051] Figure 10 is a schematic view of the second state of the goods pushing and pulling assembly in Figure 7

[0052] Figure 11 is a schematic view of the hand gripping assembly taking and placing goods in Figure 7

[0053] Figure 12 is a schematic view of the hand gripping assembly taking and placing goods in Figure 7

[0054] Figure 13 is a schematic view of the hand gripping assembly taking and placing goods in Figure 7

[0055] Explanation of reference signs:

[0056] 100 - lifting chassis; 200 - conveying assembly; 300 - hand gripping assembly; 400 - goods

[0057] 110 - chassis frame; 120 - first moving assembly; 130 - second moving assembly; 210 - fixed conveying section; 220 - movable conveying section; 310 - hand frame; 320 - goods conveying assembly; 330 - goods pushing and pulling assembly; 340 - baffle

[0058] ​​​​​​​​​​121 - first lifting assembly; 122 - first moving wheel set; 131 - second lifting assembly; 132 - second moving wheel set; 221 - first conveying assembly; 222 - second conveying assembly; 223 - first pitching assembly; 224 - first yawing assembly; 321 - fourth driving motor; 322 - transmission part; 323 - conveying part; 331 - driving member; 332 - third mounting seat; 333 - suction assembly;

[0059] 1211 - first linkage assembly; 1212 - first linear driving assembly; 1221 - first mounting seat; 1222 - first driving motor; 1223 - first wheel; 1311 - hinged rod; 1312 - second linear driving assembly; 1321 - second mounting seat; 1322 - second wheel; 1323 - second driving motor; 1324 - second transmission assembly; 3331 - third linear driving assembly; 3332 - second linkage assembly; 3333 - suction part;

[0060] 1212a - support; 1212b - first transmission assembly; 1212c - third driving motor; 33321 - first rod member; 33322 - second rod member; 33323 - third rod member; 33324 - fourth rod member; 333a - fixed seat; 333b - suction disc. DETAILED DESCRIPTION

[0061] In order to make the technical personnel in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be described clearly and completely in the following description of the embodiments of the present application, obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by the person skilled in the art without creative labor should be within the scope of protection of the present application.

[0062] In the description of the embodiments of the present application, the terms "first" and "second" are only used for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first" and "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0063] In this application, unless specifically defined otherwise, the terms "mount", "connected", "connection", "fixed", and the like should be construed broadly and can be either fixed connections or detachable connections, or integrally formed; can be mechanical connections; can be direct connections or indirect connections through intermediaries; can be the internal communication of two elements or the interaction relationship between two elements, unless specifically defined otherwise. The specific meaning of the above terms in this application can be understood according to the specific circumstances by those of ordinary skill in the art.

[0064] In this application, unless specifically defined otherwise, the first feature is "on" or "under" the second feature. The first and second features can be in direct contact or indirectly contact through intermediaries. Moreover, the first feature "above", "over" and "on" the second feature can be directly above or obliquely above the second feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "under" and "under" the second feature can be directly below or obliquely below the second feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0065] In the logistics industry, goods need to be transported between warehouses and transport vehicles. In the traditional way, the transportation of goods is completed by manual labor, but manual transportation is high in cost and low in efficiency. With the continuous development of automatic equipment, some automatic loading and unloading equipment has been gradually applied to the loading and unloading of goods in the logistics industry, which reduces the labor cost.

[0066] In the related art, the automatic loading and unloading equipment includes a mechanical hand for loading and unloading goods and a conveying line for conveying goods, the mechanical hand grasps the goods from the stacked goods stack and places them on the conveying line, and the conveying line conveys the goods to the designated position.

[0067] However, the mechanical hand is small in size and inconvenient to move, and cannot extend into the transport vehicle compartment for transportation, resulting in low efficiency of loading and unloading goods.

[0068] In order to improve the efficiency of loading and unloading goods, the embodiments of the present application provide a loading and unloading vehicle robot and a loading and unloading method, which will be described in detail below in conjunction with the drawings of the specification.

[0069] Figure 1 is a first structural schematic diagram of the loading and unloading vehicle robot provided by an embodiment of the present application; Figure 2 is Figure 1 is a side structural schematic diagram of the loading and unloading vehicle robot in

[0070] In the first aspect, referring to Figure 1 and Figure 2As shown, the embodiment of the present application provides a loading and unloading robot, which comprises a lifting chassis 100, a conveying assembly 200 and a hand grabbing assembly 300. The lifting chassis 100 is used to ride on a goods conveying line, the conveying assembly 200 is used to convey goods, the conveying assembly 200 is arranged on the lifting chassis 100, the lifting chassis 100 can adjust its height, thereby adjusting the height of the conveying assembly 200 arranged thereon, so as to match the height of the goods stack. The hand grabbing assembly 300 is used to take and place goods 400, which is arranged at the end of the conveying assembly 200 and can grab the designated goods 400 or place the goods 400 at the designated position.

[0071] When loading and stacking the goods, the conveying assembly 200 and the hand grabbing assembly 300 can extend into the interior, the goods 400 can reach the hand grabbing assembly 300 through the conveying assembly 200, and the hand grabbing assembly 300 places the goods 400 at the designated position for stacking and loading; or the hand grabbing assembly 300 grabs the designated goods 400 and moves the goods to the conveying assembly 200 for conveying, so as to unload. Since the conveying assembly 200 and the hand grabbing assembly 300 can extend into the interior of the goods storage site (for example, the interior of the carriage), the goods 400 can be directly conveyed without the need for intermediate equipment to transfer the goods 400, thereby greatly improving the loading and unloading efficiency of the goods 400.

[0072] Referring to Figure 1 and Figure 2 As shown, in some examples, the conveying assembly 200 comprises a fixed conveying section 210 and a movable conveying section 220, the fixed conveying section 210 is fixedly arranged on the lifting chassis 100, the first end of the movable conveying section 220 is slidably connected with the lifting chassis 100, and one end of the fixed conveying section 210 is spliced with one end of the movable conveying section 220, the other end of the movable conveying section 220 is connected with the hand grabbing assembly 300, and the other end of the fixed conveying section 210 is used to be connected with other conveying lines. That is to say, the fixed conveying section 210 and the movable conveying section 220 are connected end to end, and the goods can move between them. It should be noted that the first end and the second end of the movable conveying section 220 respectively refer to the two ends of the movable conveying section 220. For example, the fixed conveying section 210 and the movable conveying section 220 can be roller conveying assemblies 200, conveying belt conveying assemblies 200, or other conveying assemblies 200.

[0073] Continuing to refer to Figure 1 and Figure 2As shown, the example active conveying section 220 includes a first conveying assembly 221, a second conveying assembly 222, a first pitch assembly 223, and a first yaw assembly 224. The first conveying assembly 221 is slidingly connected to the lifting chassis 100. Also, the first conveying assembly 221 is overlapped on the fixed conveying section 210. The second conveying assembly 222 is connected to the first conveying assembly 221 at one end, and connected to the hand gripping assembly 300 at the other end. In addition, the end of the second conveying assembly 222 connected to the first conveying assembly 221 is connected to the first pitch assembly 223 and the first yaw assembly 224, and the first yaw assembly 224 is connected to the first conveying assembly 221 and slidingly connected to the lifting chassis 100. That is, the first yaw assembly 224 and the first conveying assembly 221 move together along the lifting chassis 100.

[0074] The first pitch assembly 223 is used to control the up-and-down swing of the second conveying assembly 222, thereby controlling the pitch angle thereof, and the first yaw assembly 224 is used to drive the left-and-right swing of the second conveying assembly 222. As an example, the first pitch assembly 223 includes a rotary motor and a pitch adjusting part, the rotary motor is fixedly installed on the frame of the first yaw assembly 224 through a motor mounting frame, and the pitch adjusting part is fixedly installed on the end of the second conveying assembly 222, the rotary motor is connected to the pitch adjusting part, and the forward and reverse rotation of the rotary motor can control the pitch angle of the second conveying assembly 222. In addition, as an example, the first yaw assembly 224 can be configured as a rotary platform, which is a prior art, and the rotary platform is slidingly connected to the lifting chassis 100 through a guide rail assembly. The first yaw assembly 224 can control the rotation angle of the second conveying assembly 222, thereby enabling the hand gripping assembly 300 at the end of the second conveying assembly 222 to reach a designated position.

[0075] The first conveying assembly 221 and the second conveying assembly 222 can be configured as roller conveying assemblies 200, or can be configured as conveying belt conveying assemblies 200. Since the first conveying assembly 221 and the second conveying assembly 222 need to be inclined at a certain angle, in order to ensure the conveying effect of the goods, they can be preferably configured as conveying belt conveying assemblies 200. It can be understood that the conveying belt conveying assembly 200 has a larger contact area with the goods, which can as far as possible avoid the goods from slipping during the conveying process. It should be noted that the roller conveying assembly 200 and the conveying belt conveying assembly 200 are both prior arts, and the specific structures thereof will not be described here.

[0076] In addition, it can be understood that since the first conveying assembly 221 and the first yaw assembly 224 are slidingly arranged on the lifting chassis 100, without moving the lifting chassis 100, the position of the hand gripping assembly 300 at the end of the second conveying assembly 222 can be fine-tuned by moving the first conveying assembly 221 and the first yaw assembly 224.

[0077] In other examples, the hand grabbing assembly 300 is connected with the second tilt assembly, the second yaw assembly and the second conveying assembly 222. The second tilt assembly is used to drive the hand grabbing assembly 300 to swing up and down, and the second yaw assembly is used to drive the hand grabbing assembly 300 to swing left and right. It should be noted that the second tilt assembly and the second yaw assembly are prior art, which can be set according to the patent scheme disclosed in the publication US10815075B2, and will not be described here.

[0078] Figure 3 is a schematic view of the overall structure of the lifting chassis 100 of the loading and unloading robot in Figure 1 Figure 4 is a schematic view of the structure of the first moving assembly 120 in Figure 3 Figure 5 is a schematic view of the structure of the second moving assembly 130 in Figure 3

[0079] Referring to Figure 3 , in some examples, the lifting chassis 100 includes a chassis frame body 110, a first moving assembly 120 and a second moving assembly 130, wherein the first moving assembly 120 is arranged below the chassis frame body 110, and the first moving assembly 120 is hinged to the chassis frame body 110; the second moving assembly 130 is arranged below the chassis frame body 110, and the second moving assembly 130 is hinged to the chassis frame body 110, the first moving assembly 120 and the second moving assembly 130 are respectively located at both ends of the chassis frame body 110; the first moving assembly 120 and the second moving assembly 130 are used to drive the chassis frame body 110 to move. In addition, the first moving assembly 120 and the second moving assembly 130 can respectively control the height of the chassis frame body 110 by changing their own height, so as to expand the range of taking and placing goods of the goods taking and placing mechanism arranged on the chassis frame body 110, and facilitate the goods taking and placing mechanism to take and place goods.

[0080] In some examples, the first moving assembly 120 and the second moving assembly 130 are completely the same in structure, can be lifted separately, and are used to drive the chassis frame body 110 to move at the same time. In order to facilitate the description, the moving direction of the chassis frame body 110 is taken as the front, and the corresponding direction is taken as the rear, which can be shown in the x direction of Figure 3 . For example, the second moving assembly 130 is arranged at the front end of the chassis frame body 110, and the first moving assembly 120 is arranged at the rear end of the chassis frame body 110. The number of the first moving assembly 120 and the second moving assembly 130 can be set according to actual needs.

[0081] For example, the chassis frame body 110 can be a truss structure welded by section bars, or a plane structure welded by section bars, which is prior art and will not be described here. ​​​

[0082] With reference to the drawings Figure 3 As shown, the first moving assembly 120 is exemplarily provided with at least two groups, and all the first moving assemblies 120 are coaxially arranged along the width direction of the chassis frame body 110; and / or, the second moving assembly 130 is provided with at least two groups, and all the second moving assemblies 130 are coaxially arranged along the width direction of the chassis frame body 110. It should be noted that the width direction of the chassis frame body 110 refers to the direction perpendicular to the moving direction of the chassis frame body 110.

[0083] In order to keep the chassis frame body 110 stable, two groups of second moving assemblies 130 can be arranged in front of the chassis frame body 110, and two groups of first moving assemblies 120 can be arranged at the rear of the chassis frame body 110 to support the chassis frame body 110; or one second moving assembly 130 can be arranged in front of the chassis frame body 110, and two groups of first moving assemblies 120 can be arranged at the rear of the chassis frame body 110; or one second moving assembly 130 can be arranged in front of the chassis frame body 110, and two groups of first moving assemblies 120 can be arranged at the rear of the chassis frame body 110.

[0084] In some examples, the walking driving structures of the first moving assembly 120 and the second moving assembly 130 are respectively driven by a single motor; or are respectively driven by one motor, or are driven by a wheel-side driving mode.

[0085] In some other examples, the first moving assembly 120 comprises a first lifting assembly 121 and a first moving wheel group 122. The first lifting assembly 121 comprises a first connecting rod, a first linear driving assembly 1212 and a second connecting rod. The first linear driving assembly 1212 is arranged on the chassis frame body 110. One end of the first connecting rod is hingedly connected to the chassis frame body 110, and the other end of the first connecting rod is hingedly connected to the first moving wheel group 122. One end of the second connecting rod is hingedly connected to the first moving wheel group 122, and the other end of the second connecting rod is connected to the first linear driving assembly 1212. The first linear driving assembly 1212 is used to change the support angle of the first connecting rod and the second connecting rod.

[0086] Exemplarily, the first lifting assembly 121 comprises a first connecting rod, a first linear driving assembly 1212 and a second connecting rod. The first linear driving assembly 1212 is arranged on the lower surface of the chassis frame body 110 along the front-rear direction. One end of the first connecting rod is hingedly connected to the chassis frame body 110 through a pin shaft, and the other end of the first connecting rod is hingedly connected to the first moving wheel group 122 through a pin shaft. One end of the second connecting rod is hingedly connected to the first moving wheel group 122, and the other end of the second connecting rod is hingedly connected to a movable piece on the first linear driving assembly 1212 through a pin shaft. The first linear driving assembly 1212 drives the movable piece to move, so as to drive the end of the second connecting rod to move, change the support angle of the first connecting rod and the second connecting rod, and further change the height of the rear end of the chassis frame body 110.

[0087] With reference to the drawings Figure 3and Figure 4 As shown in FIG. 1, in some examples, the first lifting assembly 121 includes one first linkage assembly 1211 and one first linear drive assembly 1212, one end of the first linkage assembly 1211 is connected with the chassis frame body 110, and the other end is connected with the first moving wheel set 122; the other end of the first linear drive assembly 1212 is connected with the first linkage assembly 1211, and the other end is connected with the first moving wheel set 122. It can be understood that the first linkage assembly 1211 has greater strength, which can more stably connect the first moving wheel set 122 and the chassis frame body 110, so that the chassis frame body 110 can bear greater weight.

[0088] As shown in FIG. 1, in some examples, the first lifting assembly 121 includes one first linkage assembly 1211 and one first linear drive assembly 1212, one end of the first linkage assembly 1211 is connected with the chassis frame body 110, and the other end is connected with the first moving wheel set 122; the other end of the first linear drive assembly 1212 is connected with the first linkage assembly 1211, and the other end is connected with the first moving wheel set 122. It can be understood that the first linkage assembly 1211 has greater strength, which can more stably connect the first moving wheel set 122 and the chassis frame body 110, so that the chassis frame body 110 can bear greater weight. Figure 3 As shown in FIG. 1, in some examples, the first lifting assembly 121 includes one first linkage assembly 1211 and one first linear drive assembly 1212, one end of the first linkage assembly 1211 is connected with the chassis frame body 110, and the other end is connected with the first moving wheel set 122; the other end of the first linear drive assembly 1212 is connected with the first linkage assembly 1211, and the other end is connected with the first moving wheel set 122. It can be understood that the first linkage assembly 1211 has greater strength, which can more stably connect the first moving wheel set 122 and the chassis frame body 110, so that the chassis frame body 110 can bear greater weight.

[0089] In addition, it can be understood that the first linear drive assembly 1212 can also be an electric cylinder, a gas cylinder, a hydraulic cylinder or other linear drive assembly, as long as it can drive the end of the first linkage assembly 1211 to move, which will not be enumerated here.

[0090] Continuing to refer to FIG. 1, Figure 3 and Figure 4As shown, the first moving wheel set 122 and the second moving wheel set 132 each include a mounting seat and wheels, the wheels are provided with one or more, when the wheels are provided with multiple, the multiple wheels are arranged front and back along the driving direction or coaxially side by side, and the wheels are connected with the corresponding driving structure. Exemplarily, the first moving wheel set 122 includes a first mounting seat 1221, a first driving motor 1222 and a first wheel 1223, the first connecting rod and the second connecting rod are respectively hinged with the first mounting seat 1221, the first driving motor 1222 is arranged on the first mounting seat 1221, the first wheel 1223 is rotationally arranged on the first mounting seat 1221, the first driving motor 1222 is connected with the first wheel 1223, and the first driving motor 1222 drives the first wheel 1223 to rotate. In other examples, the first moving wheel set 122 is configured to drive an integrated wheel, and the first connecting rod and the second connecting rod are respectively hinged together with the integrated wheel. In addition, the first wheel 1223 can be provided with one or more, when the first wheel 1223 is provided with multiple, the multiple first wheels 1223 are arranged front and back along the driving direction, and all the first wheels 1223 are respectively connected with the first driving motor 1222.

[0091] With reference to the drawings again, Figure 3 and Figure 5 As shown, exemplarily, the second moving assembly 130 includes a second lifting assembly 131 and a second moving wheel set 132. The second lifting assembly 131 includes a hinged rod 1311 and a second linear driving assembly 1312. Wherein, one end of the hinged rod 1311 is hinged with the chassis frame body 110, the other end of the hinged rod 1311 is hinged with the second moving wheel set 132, one end of the second linear driving assembly 1312 is hinged with the chassis frame body 110, the other end of the second linear driving assembly 1312 is hinged with the hinged rod 1311, the second linear driving assembly 1312 changes the support angle of the hinged rod 1311 by elongation or shortening, thereby adjusting the height of the chassis frame body 110. Exemplarily, the second linear driving assembly 1312 is configured as one of an electric cylinder, a pneumatic cylinder or a hydraulic cylinder.

[0092] As Figure 3 and Figure 5As shown, the second moving wheel set 132 includes a second mounting seat 1321 and at least two second wheels 1322, the second mounting seat 1321 is hinged with the hinge rod 1311, the at least two second wheels 1322 are respectively connected with the second mounting seat 1321, and the at least two second wheels 1322 are respectively arranged at two ends of the second mounting seat 1321, and the at least two second wheels 1322 are connected with the walking driving structure. For example, the second moving wheel set 132 further includes a second driving motor 1323 and a second transmission assembly 1324, wherein the second driving motor 1323 is arranged on the second mounting seat 1321, the second transmission assembly 1324 is arranged on the second mounting seat 1321, and the second driving motor 1323 drives all the second wheels 1322 to rotate through the second transmission assembly 1324. Since the second mounting seat 1321 is provided with the second wheels 1322 at the front and rear ends, when passing through the obstacle, one of the two second wheels 1322 is always in contact with the ground, so as to ensure that the chassis frame body 110 always maintains a horizontal state, and ensures that the whole device moves stably.

[0093] Figure 6 FIG. 13 is a structural schematic diagram of the second moving assembly 132 provided by another embodiment of the present application.

[0094] Referring to Figure 6 As shown, in some examples, the second moving wheel set 132 includes a second mounting seat 1321, a second driving motor 1323 and a second wheel 1322. Wherein, the second mounting seat 1321 is fixedly connected with one end of the hinge rod 1311, the second driving motor 1323 is fixed on the second mounting seat 1321, the second wheel 1322 is installed on the second mounting seat 1321, and the second wheel 1322 is fixedly connected with the output end of the second driving motor 1323. The second moving wheel set 1320 is single-motor and single-wheel driving, and the second mounting seat 1321 in the second moving wheel set 1320 is smaller in size than the second mounting seat 321 in the second moving wheel set 1320 with multiple-wheel driving.

[0095] Figure 7 FIG. 14 is a whole structural schematic diagram of the hand grabbing assembly 300 of the loading and unloading robot in Figure 1 FIG. 15 is a structural schematic diagram of the hand grabbing assembly 300 after removing the hand frame body 310 in Figure 8 FIG. 16 is a structural schematic diagram of the hand grabbing assembly 300 after removing the hand frame body 310 in Figure 7 FIG. 17 is a structural schematic diagram of the hand grabbing assembly 300 after removing the hand frame body 310 in

[0096] Referring to Figure 7 and Figure 8As shown, in some examples, the hand gripping assembly 300 comprises a hand frame 310, a goods conveying assembly 320 and a goods pushing and pulling assembly 330. The goods conveying assembly 320 is arranged on the hand frame 310, and comprises a plurality of conveying sections 323 arranged at intervals for conveying goods. The goods pushing and pulling assembly 330 is arranged on the hand frame 310, and comprises a plurality of suction assemblies 333 arranged at intervals in the plurality of conveying sections 323. At least one group of the plurality of suction assemblies 333 is selectively extended to pull the goods to the conveying sections 323 and convey the goods to the rear, or push the goods conveyed from the rear away from the conveying sections 323. For example, the plurality of conveying sections 323 are arranged at intervals along the width direction of the hand frame 310, and a gap is left between two adjacent conveying sections 323. The distance of the gap can be set according to actual needs.

[0097] It can be understood that when goods need to be taken, the conveying sections 323 of the goods conveying assembly 320 can rotate counterclockwise and convey the goods, and the suction assemblies 333 of the goods pushing and pulling assembly 330 pull the goods to the conveying sections 323, thereby completing the taking process. When goods need to be loaded, the conveying sections 323 of the goods conveying assembly 320 can rotate clockwise and convey the goods, and the suction assemblies 333 can push the goods to move, so that the goods are separated from the conveying sections 323. It should be noted that the rear refers to the place where the goods are stored.

[0098] In some examples, the suction assemblies 333 can control their movement through a telescopic assembly. The conveying sections 323 can be driven by a driving component.

[0099] In some examples, each suction assembly 333 is independently driven by a separate power element; or, a plurality of suction assemblies 333 share a power element.

[0100] All the conveying sections 323 in the goods conveying assembly 320 are driven by a single driving element; or, each conveying section 323 is independently driven by a separate driving element; or, all the conveying sections 323 are driven by a plurality of driving elements, and the conveying sections share a driving element.

[0101] Specifically, the goods conveying assembly 320 comprises a fourth driving motor 321, a transmission part 322 and a plurality of conveying parts 323. The transmission part 322 is arranged on the hand frame body 310 along the width direction of the hand frame body 310, the plurality of conveying parts 323 are arranged at intervals along the width direction of the hand frame body 310, and at least two conveying parts 323 are connected with the transmission part 322. The fourth driving motor 321 is arranged on the hand frame body 310 and connected with the transmission part 322. The fourth driving motor 321 drives all the conveying parts 323 to move through the transmission part 322. At least part of the goods pushing and pulling assembly 330 selectively extends from beside the conveying part 323 to pull the goods to the conveying part 323.

[0102] In some other examples, the goods conveying assembly 320 further comprises a plurality of fourth driving motors 321 and a plurality of transmission parts 322. The plurality of fourth driving motors 321 and the plurality of transmission parts 322 are respectively arranged on the hand frame body 310. At least one conveying part 323 in the plurality of conveying parts 323 is connected with the corresponding transmission part 322. The plurality of fourth driving motors 321 respectively drive the corresponding conveying parts 323 to move through the corresponding transmission parts 322. For example, a group of fourth driving motors 321 are connected with a group of conveying parts 323 through a group of transmission parts 322. The fourth driving motor 321 drives the conveying part 323 to move through the transmission part 322 to convey the goods.

[0103] For example, the conveying part 323 can be a narrow belt conveying assembly 200, and the transmission part 322 can be a transmission shaft. The transmission shaft can be installed on the hand frame body 310 by arranging bearings at both ends of the transmission shaft. The transmission shaft can be connected with the output shaft of the fourth driving motor 321 through a synchronous belt. The fourth driving motor 321 drives the transmission shaft to rotate, and the transmission shaft drives all the narrow belts of the narrow belt conveying assembly 200 to rotate synchronously. It should be noted that the width direction of the hand frame body 310 can be indicated by the y direction in FIG. 1, and the length direction can be indicated by the x direction in FIG. 1. Figure 7 Figure 7

[0104] For example, in the present application, the conveying part 323 has a plurality of conveying parts 323 arranged at intervals along the width direction of the hand frame body 310. At least part of the goods pushing and pulling assembly 330 extends from the gap between the two groups of conveying parts 323. One end of all the conveying parts 323 is connected with the transmission shaft. The transmission shaft drives all the conveying parts 323 to rotate, thereby conveying the goods. For example, the conveying part 323 can be configured as a conveying belt assembly or a conveying chain assembly. The hand frame body 310 provides mounting positions for various components and is connected by using profiles. The size and structure can be adjusted according to the mounting requirements of other components.

[0105] ​​In some examples, the hand rack body 310 is provided with a baffle 340 on both sides of the outermost conveying part 323 to block the conveyed goods from falling.

[0106] With continued reference to Figure 7 and Figure 8 shown, the goods pulling and pushing assembly 330 includes a driving member 331, a guide assembly (not shown), a third mounting base 332, and a suction assembly 333. The driving member 331 is arranged on the hand rack body 310, the guide assembly is arranged along the length direction of the hand rack body 310, the third mounting base 332 is arranged on the guide assembly, the suction assembly 333 is arranged on the third mounting base 332, the driving member 331 is connected with the third mounting base 332, the suction assembly 333 is selectively extended from the conveying part 323, the driving member 331 drives the third mounting base 332 to move along the guide assembly, and then the suction assembly moves inward.

[0107] When the suction assembly 333 is adsorbed to the goods, the driving member 331 drives the suction assembly to pull the goods to move inward along the length direction of the hand rack body 310 through the third mounting base 332, and then the goods are pulled and pushed to the goods conveying assembly 320. Then, the suction assembly is separated from the goods, the driving member 331 continues to drive the suction assembly to move inward quickly through the third mounting base 332, and at the same time, the suction assembly is lowered below the upper surface of the goods conveying assembly 320 to avoid interfering with the movement of the goods on the goods conveying assembly 320.

[0108] For example, the driving member 331 can be a motor and a transmission belt assembly, the motor is connected with the third mounting base 332 through the transmission belt assembly, the motor drives the transmission belt to rotate, and then the third mounting base 332 is driven to move, which is a prior art and will not be described in detail.

[0109] The guide assembly can be a chute and pulley assembly, or a guide rail and sliding block assembly. If the guide assembly is configured as a guide rail and sliding block assembly, the guide rail in the guide rail and sliding block assembly is arranged along the length direction of the hand rack body 310, the sliding block in the guide rail and sliding block assembly is fixedly connected with the third mounting base 332, and the sliding block is connected with the guide rail, so that the third mounting base 332 can move along the guide rail smoothly.

[0110] With reference to Figure 7 shown, in some examples, the goods pulling and pushing assembly 330 includes a plurality of suction assemblies 333, the plurality of suction assemblies 333 are arranged along the width direction of the hand rack body 310, and each suction assembly 333 is independently extended from the conveying part 323. For example, the interval distance between two adjacent suction assemblies 333 can be the same as the interval distance between two adjacent conveying parts 323, so that the suction assemblies 333 and the conveying parts 323 are staggered, and each suction assembly can be independently extended to adsorb goods according to requirements.

[0111] In some other examples, all the suction assemblies 333 can be simultaneously extended from the conveying part 323, and after pulling the goods onto the conveying part 323, all the suction assemblies 333 can be simultaneously lowered below the conveying part 323 to avoid interfering with the transportation of the goods.

[0112] In some examples, the goods pushing and pulling assembly 330 further comprises a plurality of driving members 331, a plurality of guide assemblies, a plurality of third mounting bases 332 and a plurality of suction assemblies 333. Each suction assembly 333 is separately arranged on a third mounting base 332, each third mounting base 332 is cooperatively arranged on a corresponding guide assembly, and each driving member 331 drives a corresponding third mounting base 332 to move along the guide assembly. In addition, in some other examples, the goods pushing and pulling assembly 330 comprises two driving members 331, two guide assemblies, two third mounting bases 332 and a plurality of suction assemblies 333. The plurality of suction assemblies 333 are divided into two groups and are fixedly arranged on the two third mounting bases 332, and one driving member 331 drives one third mounting base 332 to move along a corresponding guide assembly.

[0113] In some other examples, the goods pushing and pulling assembly 330 comprises one guide assembly, one driving member 331, one third mounting base 332 and a plurality of suction assemblies 333. The plurality of suction assemblies 333 are all arranged on the third mounting base 332, and the driving member 331 drives the third mounting base 332 to move along the guide assembly, i.e. the plurality of suction assemblies 333 move simultaneously.

[0114] It can be understood that the plurality of conveying parts 323 are arranged at intervals, and there is a gap with a certain distance between adjacent conveying parts 323. The suction assemblies 333 can be extended or lowered from the gap.

[0115] Figure 9 is a first state schematic view of the goods pushing and pulling assembly 330 in Figure 7 Figure 10 is a second state schematic view of the goods pushing and pulling assembly 330 in Figure 7

[0116] Referring to Figure 9 and Figure 10 , the suction assembly 333 comprises a third linear driving assembly 3331, a second connecting rod assembly 3332 and a suction part 3333. One end of the third linear driving assembly 3331 is hingedly connected to the third mounting base 332, and the other end is hingedly connected to the second connecting rod assembly 3332. One end of the second connecting rod assembly 3332 is connected to the third mounting base 332, and the other end is connected to the suction part 3333. When the third linear driving assembly 3331 is extended, the second connecting rod assembly 3332 is pushed to move, and the position of the suction part 3333 is raised to adsorb the goods, as shown in Figure 4 ​​When the goods are pulled to the goods conveying assembly 320, the third linear driving assembly 3331 is retracted, pulling the second connecting rod assembly 3332 to reverse action, and the suction part 3333 is lowered and hidden below the conveying part 323. It can be understood that the third linear driving assembly 3331 can drive the suction part 3333 to move through the second connecting rod assembly 3332 to pull the goods to the goods conveying assembly 320. For example, the third linear driving assembly 3331 can be a pneumatic cylinder, an electric cylinder or a hydraulic cylinder, or a lead screw nut assembly. Preferably, it is an electric cylinder, which is simple in structure and setting and does not need to be connected to a gas source or a hydraulic oil circuit.

[0117] As shown in Figure 9 For example, the second connecting rod assembly 3332 is configured as a four-bar linkage. The four-bar linkage includes a first rod 33321, a second rod 33322, a third rod 33323 and a fourth rod 33324, wherein the first rod 33321 and the third rod 33323 are small in size, and the second rod 33322 and the fourth rod 33324 are long in size. The first rod 33321 is fixedly connected with the third mounting seat 332, and is vertically arranged, one end of which is hingedly connected with one end of the second rod 33322, and the other end of which is hingedly connected with one end of the fourth rod 33324. The other end of the second rod 33322 is hingedly connected with one end of the third rod 33323, and the other end of the fourth rod 33324 is hingedly connected with the other end of the third rod 33323. The third linear driving assembly 3331 is hingedly connected with the other hinged point of the fourth rod 33324. The suction part 3333 is fixedly connected with the third rod 33323.

[0118] As shown in Figure 9 When the third linear driving assembly 3331 is in the retracted state, the second rod 33322 and the fourth rod 33324 are in a horizontal state, and the third rod 33323 is in a vertical state.

[0119] In order to ensure the suction effect of the suction part 3333 on the goods and avoid the goods from falling, the suction part 3333 includes a fixed seat 333a and at least two suction cups 333b, the fixed seat 333a being connected with the second connecting rod assembly 3332, and the at least two suction cups 333b being arranged in an up-down manner on the fixed seat 333a. It can be understood that the more the number of the suction cups 333b, the greater the suction force of the suction part 3333 on the goods, and the more stable the goods can be, avoiding falling. The number of the suction cups 333b can be adjusted according to the volume and weight of the goods. The suction cup 333b is a conventional suction cup 333b, which needs to be communicated with a gas source to generate a suction force, and the gas source pipeline is not shown in the figure.

[0120] In order to improve the range of picking up goods, the hand grabbing assembly 300 further comprises a second rotary assembly and a lifting assembly. The second rotary assembly is connected with the hand frame body 310, and the lifting assembly is connected with the second rotary assembly. The lifting assembly is used to swing the hand frame body 310 up and down, and the second rotary assembly is used to swing the hand frame body 310 left and right. The lifting assembly can be a pitch lifting assembly, for example, comprising a pitch motor and a driving gear, which cooperate to drive the end of the hand frame body 310 to pitch and move, thereby improving the range of picking up goods. The second rotary assembly can be a rotary support platform, which is used to improve the activity degree of the hand frame body 310 in the circumferential direction.

[0121] Figure 11 is a first schematic view of the hand grabbing assembly 300 in the process of picking up and placing goods in Figure 7 . Figure 12 is a second schematic view of the hand grabbing assembly 300 in the process of picking up and placing goods in Figure 7 . Figure 13 is a third schematic view of the hand grabbing assembly 300 in the process of picking up and placing goods in Figure 7 .

[0122] As shown in Figure 11 , when transporting goods, the driving member 331 drives the goods pushing and pulling assembly 330 to move to the front end of the goods conveying assembly 320. Then, the movable part (for example, the telescopic rod in the electric cylinder) of the third linear driving assembly 3331 in the goods pushing and pulling assembly 330 gradually extends, drives the second connecting rod assembly 3332 to act, and then makes the suction part 3333 at the end of the second connecting rod assembly 3332 gradually rise and adsorb and pull the goods. Then, the driving member 331 drives the goods pushing and pulling assembly 330 to move in the opposite direction, and pulls the goods pushing and pulling assembly 330 and the goods to move to the goods conveying assembly 320.

[0123] Referring to Figure 12 , after the goods are pulled to the goods conveying device, the suction disc 333b in the goods pushing and pulling assembly 330 is separated from the goods. Then, the driving member 331 drives the goods pushing and pulling assembly 330 to move away from the goods at a speed greater than the moving speed of the goods. At the same time, the movable part (for example, the telescopic rod in the electric cylinder) of the linear driving assembly in the goods pushing and pulling assembly 330 is retracted, and the height of the suction part 3333 is lowered to below the upper surface of the goods conveying assembly 320 through the second connecting rod assembly 3332, so as to avoid affecting the movement of the goods. The state that the second connecting rod assembly 3332 makes the height of the suction part 3333 lower to below the upper surface of the goods conveying assembly 320 can be referred to Figure 13 .

[0124] The second aspect also provides a loading and unloading method applied to the loading and unloading robot of any one of the first aspect.

[0125] It is easy to understand that the skilled in the art can combine, split, recombine, etc. the embodiments of the present application on the basis of the several embodiments provided in the present application to obtain other embodiments, and these embodiments do not exceed the protection scope of the present application.

[0126] The above detailed description of the embodiments of the present application has further detailed the purposes, technical solutions and beneficial effects of the embodiments of the present application. It should be understood that the above is only a specific implementation of the embodiments of the present application and is not used to limit the protection scope of the embodiments of the present application. Any modification, equivalent replacement, improvement, etc. made on the basis of the technical solutions of the embodiments of the present application should be included in the protection scope of the embodiments of the present application.

Claims

1. A straddle loader robot, characterized by, The utility model relates to a kind of lifting chassis (100) for cross-riding goods conveying line;Conveying assembly (200) for conveying goods (400) is arranged on the lifting chassis (100), and the lifting chassis (100) can adjust the height of the conveying assembly (200);Hand grasping assembly (300) for taking and placing goods is arranged at the end of the conveying assembly (200), and the goods (400) reach the hand grasping assembly (300) via the conveying assembly (200), and the hand grasping assembly (300) is loaded to goods (400);Or, the hand grasping assembly (300) is moved to the conveying assembly (200) to unload goods (400). The conveying assembly (200) includes a fixed conveying section (210) and a movable conveying section (220), the fixed conveying section (210) is arranged on the lifting chassis (100), the first end of the movable conveying section (220) is slidably connected with the lifting chassis (100), and the first end of the fixed conveying section (210) is spliced with one end of the movable conveying section (220), the second end of the movable conveying section (220) is connected with the hand grasping assembly (300), and the other end of the fixed conveying section (210) is used to be connected with the conveying line. The movable conveying section (220) includes a first conveying assembly (221), a second conveying assembly (222), a first pitch assembly (223) and a first yaw assembly (224). The first conveying assembly (221) is slidably arranged on the lifting chassis (100), one end of the first conveying assembly (221) is connected with the second conveying assembly (222), the other end of the second conveying assembly (222) is connected with the hand grasping assembly (300), the first pitch assembly (223) is used to drive the second conveying assembly (222) to swing up and down, and the first yaw assembly (224) is used to drive the second conveying assembly (222) to swing left and right. The hand grasping assembly (300) is connected with the second conveying assembly (222) through a second pitch assembly and a second yaw assembly, the second pitch assembly is used to drive the hand grasping assembly (300) to swing up and down, and the second yaw assembly is used to drive the hand grasping assembly (300) to swing left and right.

2. The depiling robot according to claim 1, characterized in that, The lifting chassis (100) includes:

3. The depiling robot of claim 2, wherein, a chassis frame body (110); a first moving assembly (120) arranged below the chassis frame body (110), and the first moving assembly (120) is hinged with the chassis frame body (110); 4. The depiling robot of claim 3, wherein, a second moving assembly (130) arranged below the chassis frame body (110), and the second moving assembly (130) is hinged with the chassis frame body (110), the first moving assembly (120) and the second moving assembly (130) are respectively located at two ends of the chassis frame body (110); 5. The depiling robot of claim 1, wherein, The first moving assembly (120) and the second moving assembly (130) respectively control the height of the chassis frame body (110) by changing their own height. ​ ​ ​ ​ 6. The depiling robot of claim 5, wherein, The walking driving structures of the first moving assembly (120) and the second moving assembly (130) are driven by a common motor; or are driven by a motor respectively, or are driven by a wheel edge driving mode.

7. The depiling robot of claim 5, wherein, The first moving assembly (120) comprises a first lifting assembly (121) and a first moving wheel set (122). The first lifting assembly (121) comprises a first connecting rod, a first linear driving assembly (1212) and a second connecting rod, the first linear driving assembly (1212) is arranged on the chassis frame body (110), one end of the first connecting rod is hinged to the chassis frame body (110), and the other end of the first connecting rod is hinged to the first moving wheel set (122). One end of the second connecting rod is hinged to the first moving wheel set (122), and the other end of the second connecting rod is connected to the first linear driving assembly (1212), and the first linear driving assembly (1212) is used for changing the support angle of the first connecting rod and the second connecting rod. The first linear driving assembly (1212) is one of a lead screw structure, an electric cylinder, a pneumatic cylinder or a hydraulic cylinder.

8. The depiling robot of claim 5, wherein, The second moving assembly (130) comprises a second lifting assembly (131) and a second moving wheel set (132). The second lifting assembly (131) comprises a hinged rod (1311) and a second linear driving assembly (1312), one end of the hinged rod (1311) is hinged to the chassis frame body (110), the other end of the hinged rod (1311) is hinged to the second moving wheel set (132), one end of the second linear driving assembly (1312) is hinged to the chassis frame body (110), the other end of the second linear driving assembly (1312) is hinged to the hinged rod (1311), the second linear driving assembly (1312) adjusts the height of the chassis frame body (110) by changing the support angle of the hinged rod (1311), and the second linear driving assembly (1312) is configured as one of an electric cylinder, a pneumatic cylinder or a hydraulic cylinder.

9. Depalletizing robot according to claim 7 or 8, characterized in that The first moving wheel set (122) and the second moving wheel set (132) each comprise a mounting seat and a wheel, the wheel is provided with one or more, when the wheel is provided with a plurality of wheels, the plurality of wheels are arranged in front and back along the driving direction or are arranged coaxially side by side, and the wheel is connected with a corresponding driving structure.

10. The depiling robot of claim 1, wherein, The hand gripping assembly (300) comprises: a hand frame body (310); a cargo conveying assembly (320) arranged on the hand frame body (310), the cargo conveying assembly (320) is used for conveying goods, and the cargo conveying assembly (320) comprises a plurality of interval arranged conveying parts (323). A cargo pulling and pushing assembly (330) is arranged on the hand frame body (310), the cargo pulling and pushing assembly (330) comprises a plurality of suction assemblies (333), a plurality of the suction assemblies (333) are arranged in the intervals of a plurality of the conveying parts (323) respectively, at least one group of the suction assemblies (333) in a plurality of the suction assemblies (333) is selectively extended to pull the cargo to the conveying part (323) and convey the cargo to the rear, or push the cargo conveyed from the rear away from the conveying part (323).

11. The depiling robot of claim 9, wherein, All the conveying parts (323) in the cargo conveying assembly (320) are driven by a single driving element; Or, each conveying part (323) is independently driven by a separate driving element; Or, all the conveying parts (323) are driven by a plurality of driving elements, and a plurality of the conveying parts (323) share one driving element.

12. The depiling robot of claim 10, wherein, Each of the suction assemblies (333) is independently driven by a separate power element; Or, a plurality of the suction assemblies (333) share one power element.

13. The depiling robot of claim 10, wherein, The suction assembly (333) comprises a third linear driving assembly (3331), a second connecting rod assembly (3332) and a suction part (3333), one end of the third linear driving assembly (3331) is hinged with the third mounting seat (332), the other end is hinged with the second connecting rod assembly (3332), one end of the second connecting rod assembly (3332) is connected with the third mounting seat (332) slidingly arranged on the hand frame body (310), the other end is connected with the suction part (3333), the third linear driving assembly (3331) drives the suction part (3333) to move through the second connecting rod assembly (3332) to pull the cargo to the cargo conveying assembly (320).

14. The depiling robot of claim 13, wherein, The suction part (3333) comprises a fixing seat (333a) and at least one suction disc (333b), the fixing seat (333a) is connected with the second connecting rod assembly (3332), and at least two suction discs (333b) are arranged side by side on the fixing seat (333a).

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