Carrying robot for carrying disc-shaped goods and logistics system

Abstract

The utility model provides a carrying robot for carrying disc-shaped goods and a logistics system. The carrying robot comprises a vehicle body, a fork arm, a lifting assembly, a first bearing assembly and a second bearing assembly. Wherein the carrying robot is provided with two fork arms, the two fork arms are oppositely arranged and are both connected with the vehicle body in a sliding mode, and the two fork arms can move face to face or back to back so as to clamp disc-shaped goods of various specifications. The first bearing assembly and the second bearing assembly are arranged on each fork arm in a spaced mode in the first direction and can bear the bottom of the disc-shaped goods. The two fork arms clamp the disc-shaped goods, and the first bearing assembly and the second bearing assembly are supported at the bottom of the disc-shaped goods, so that the disc-shaped goods can be completely fixed, and the safety accident that the disc-shaped goods slip off due to infirm fixation in the carrying process can be avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of logistics equipment, and in particular to a carrying robot for carrying disc-shaped goods and a logistics system. BACKGROUND

[0002] In industrial production, disc-shaped goods such as cable reels, steel wire rope reels, or disc-shaped flanges are often used. These disc-shaped goods are heavy and difficult to carry due to their poor stability and tendency to roll or slide during carrying.

[0003] For example, in the related art, a worker inserts the carrying fork of a carrying vehicle into the carrying hole of a disc-shaped good, and then lifts and carries the disc-shaped good. However, since the carrying vehicle cannot fix the disc-shaped good, the disc-shaped good is prone to sliding off the carrying fork during carrying, causing damage to the goods. CONTENT OF THE UTILITY MODEL

[0004] The present application provides a carrying robot for carrying disc-shaped goods and a logistics system to carry disc-shaped goods.

[0005] The present application provides a carrying robot for carrying disc-shaped goods, comprising:

[0006] a vehicle body;

[0007] a fork arm driving assembly connected to the vehicle body;

[0008] two oppositely arranged fork arms, each in sliding connection with the vehicle body, both of the fork arms being connected to the fork arm driving assembly, the fork arm driving assembly driving both of the fork arms to move towards or away from each other to clamp the disc-shaped goods;

[0009] a first supporting assembly and a second supporting assembly, the first supporting assembly and the second supporting assembly being arranged on each of the fork arms in a first direction to support the disc-shaped goods;

[0010] a lifting assembly connected to the fork arms to control the lifting of the fork arms.

[0011] In a feasible implementation, there are two lifting assemblies, each of the lifting assemblies being arranged in one-to-one correspondence with the fork arms, and each of the lifting assemblies being arranged at the end of the fork arm away from the vehicle body.

[0012] In a feasible implementation, the lifting assembly is arranged on the vehicle body, and the lifting assembly is connected to all of the fork arms, and the lifting assembly simultaneously lifts the height of all of the fork arms.

[0013] In an implementation, the lifting assembly comprises a fixing frame, a first linear driving assembly, a mounting seat and a bearing wheel, the fixing frame is connected with the fork arm, the first linear driving assembly is connected with the fixing frame, the mounting seat is in sliding connection with the fixing frame, and the fixing frame is connected with the first linear driving assembly, and the bearing wheel is arranged in the mounting seat.

[0014] In an implementation, the carrying robot further comprises a moving wheel, the moving wheel is arranged at an end of the fork arm away from the vehicle body, and the moving wheel is used to assist the fork arm to move in a second direction.

[0015] In an implementation, the first supporting assembly and / or the second supporting assembly are movably connected with the fork arm, and the first supporting assembly and / or the second supporting assembly move in the first direction to change the distance between the first supporting assembly and the second supporting assembly.

[0016] In an implementation, the first supporting assembly comprises a second linear driving assembly, a first supporting member, a guide assembly and a base;

[0017] The base is connected with the fork arm, the second linear driving assembly is connected with the fork arm, the guide assembly is connected with the base, the first supporting member is arranged at an end of the fork arm close to the vehicle body and extends from the fork arm, the first supporting member is in sliding connection with the guide assembly, the second linear driving assembly is connected with the first supporting member, and the second linear driving assembly drives the first supporting member to move in a first direction.

[0018] In an implementation, the second supporting assembly is arranged at an end of the fork arm away from the vehicle body, and the second supporting assembly selectively extends from the fork arm.

[0019] In an implementation, the second supporting assembly comprises a fixing part, a driving part and a second supporting member, the fixing part is fixedly connected with the fork arm, the driving part is fixedly connected with the fixing part, the second supporting member is in sliding connection with the fixing part, and the driving part drives the second supporting member to move in a second direction.

[0020] In a second aspect, the embodiments of the present application provide a logistics system comprising the carrying robot for carrying disc-shaped goods as described in the first aspect.

[0021] The embodiment of the present application provides a carrying robot for carrying disc-shaped goods and a logistics system, which comprises a vehicle body, a fork arm, a fork arm driving assembly, a lifting assembly, a first supporting assembly and a second supporting assembly. Wherein, the carrying robot has two fork arms, the two fork arms are oppositely arranged, and are slidably connected with the vehicle body, and the two fork arms are connected with the fork arm driving assembly, the fork arm driving assembly drives the two fork arms to move towards or away from each other to clamp the disc-shaped goods. The first supporting assembly and the second supporting assembly are arranged on each fork arm along a first direction, and can support the bottom of the disc-shaped goods. The lifting assembly is connected with the fork arm to control the lifting of the fork arm.

[0022] When the two fork arms clamp the disc-shaped goods, and the first supporting assembly and the second supporting assembly move to the bottom of the disc-shaped goods, the lifting assembly controls the two fork arms to be lifted, the first supporting assembly and the second supporting assembly lift the disc-shaped goods to leave the ground, and the vehicle body drives the two fork arms to move, thereby moving the disc-shaped goods to a designated position. The two fork arms can clamp disc-shaped goods of various specifications, and the first supporting assembly and the second supporting assembly support the bottom of the disc-shaped goods, so that the disc-shaped goods can be completely fixed, thereby avoiding the safety accidents of the disc-shaped goods falling due to insecure fixing during the carrying process. BRIEF DESCRIPTION OF DRAWINGS

[0023] The accompanying drawings, which are included to provide a further understanding of the present application, constitute a part of this application, and the illustrative embodiments of the present application and their description serve to explain the present application, and do not constitute improper limitations on the present application.

[0024] In the drawings:

[0025] Figure 1 is a structural schematic view of the carrying robot for carrying disc-shaped goods provided by the embodiment of the present application;

[0026] Figure 2 is Figure 1 the bottom view of the carrying robot in

[0027] Figure 3 is Figure 1 the schematic view of the lifting assembly in the carrying robot in

[0028] Figure 4 is Figure 1 the first supporting assembly schematic view of the carrying robot in

[0029] Figure 5 is Figure 1 the second supporting assembly schematic view of the carrying robot in

[0030] Figure 6 is Figure 1is a first state diagram of the handling robot when holding the disc-shaped goods in the first state;

[0031] Figure 7 is Figure 6 is a top view of the handling robot in the first state;

[0032] Figure 8 is Figure 1 is a second state diagram of the handling robot when holding the disc-shaped goods in the second state;

[0033] Figure 9 is Figure 8 is a top view of the handling robot in the second state.

[0034] Explanation of reference signs:

[0035] 100 - vehicle body; 200 - fork arm; 300 - lifting assembly; 400 - first supporting assembly; 500 - second supporting assembly; 600 - moving wheel; 700 - fork arm driving assembly; 800 - disc-shaped goods;

[0036] 110 - steering wheel; 120 - auxiliary wheel; 130 - chassis; 310 - fixed frame; 320 - first linear driving assembly; 330 - mounting seat; 340 - bearing wheel; 410 - second linear driving assembly; 420 - first supporting member; 430 - guiding assembly; 440 - base; 510 - fixed part; 520 - driving part; 530 - second supporting member;

[0037] 521 - supporting driving motor; 522 - driving gear. DETAILED DESCRIPTION

[0038] 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 clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor should be within the scope of protection of the present application.

[0039] In the description of the embodiments of the present application, the terms "first" and "second" are only used for description purposes, 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, such as two, three, etc., unless otherwise specifically limited.

[0040] In this application, unless otherwise expressly specified and limited, the terms "mount", "connect", "connection", "fixed", "unite", "join" or other similar terms are to be construed in a broad sense, for example, they can be fixed connection, or detachable connection, or integral; can be mechanical connection; can be direct connection, or indirect connection through an intermediate medium; can be internal communication of two elements, or interaction relationship between two elements, unless otherwise expressly limited. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0041] In this application, unless otherwise expressly specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through an intermediate medium. Moreover, the first feature "above", "over" and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates 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 that the first feature is directly below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0042] In industrial production, disc-shaped goods are often used, such as cable reels, steel wire rope reels, or disc-shaped flanges. The disc-shaped goods are heavy and difficult to carry because they are prone to rolling or sliding and have poor stability.

[0043] For example, in the related art, the worker inserts the carrying fork of the carrying vehicle into the carrying hole of the disc-shaped goods, and then lifts and carries the disc-shaped goods. However, since the carrying vehicle cannot fix the disc-shaped goods, the disc-shaped goods are prone to sliding off the carrying fork during the carrying process, causing damage to the goods.

[0044] In order to safely carry disc-shaped goods, an embodiment of the present application provides a carrying robot for carrying disc-shaped goods and a logistics system. The scheme provided by the embodiment of the present application will be described in detail below in conjunction with the drawings of the specification.

[0045] Figure 1 is a structural schematic diagram of a carrying robot for carrying disc-shaped goods provided by an embodiment of the present application; Figure 2 is Figure 1 is a top view of the carrying robot in

[0046] Referring to Figure 1 and Figure 2As shown, a handling robot for transporting palletized goods includes a body 100, forks 200, a lifting assembly 300, a first support assembly 400, and a second support assembly 500. The handling robot has two forks 200, which are arranged opposite to each other and slidably connected to the body 100. The two forks 200 can move towards or away from each other to grip the palletized goods 800. The first support assembly 400 and the second support assembly 500 are spaced apart along a first direction on each fork 200, and can support the bottom of the palletized goods 800. It should be noted that the first direction can be referred to as... Figure 1 The x-direction is shown in the figure.

[0047] For example, the surface of the vehicle body 100 is provided with a guide rail assembly extending in a second direction, and both fork arms 200 are slidably connected to the vehicle body 100 via the guide rail assembly. Figure 1 As shown, two linear guide rails extending along a second direction are fixedly provided on the surface of the vehicle body 100, and two forks 200 are slidably disposed in the two linear guide rails. In addition, the handling robot includes a fork-arm drive assembly 700, which is disposed on the vehicle body 100, and each fork 200 is connected to the fork-arm drive assembly 700. The fork-arm drive assembly 700 drives the two forks 200 to move simultaneously towards or away from each other. It should be noted that the second direction can be referred to as... Figure 1 As shown in the y direction in

[0048] For example, the fork arm drive assembly 700 includes a fork arm drive motor and a lead screw and nut drive assembly. The fork arm drive motor is disposed inside the vehicle body 100, and its output end is connected to a lead screw extending along a second direction and disposed on the vehicle body 100. A nut is fixedly disposed at one end of each fork arm 200 near the vehicle body 100, and the nut is connected to the lead screw. It should be noted that in order for the fork arm drive motor to control the two fork arms 200 to move simultaneously towards or away from each other, the threads at both ends of the lead screw are in opposite directions. It is understood that the lead screw and nut drive assembly can also be replaced by a gear and rack mechanism or a timing belt assembly. Regardless of the transmission mechanism, as long as it can drive the two fork arms 200 to move simultaneously towards or away from each other, it is acceptable.

[0049] The lifting assembly 300 is connected to the fork arm 200 to control the lifting and lowering of the fork arm 200. When the two fork arms 200 clamp the disc-shaped goods 800, and the first support assembly 400 and the second support assembly 500 move to the bottom of the disc-shaped goods 800, the lifting assembly 300 controls the height of the two fork arms 200 to rise. The first support assembly 400 and the second support assembly 500 lift the disc-shaped goods 800 off the ground, and the vehicle body 100 drives the two fork arms 200 to move, thereby moving the disc-shaped goods 800 to the designated position.

[0050] Understandably, the two fork arms 200 clamp the disc-shaped goods 800, restricting its axial movement (i.e., left-right movement); the first support assembly 400 and the second support assembly 500 support the disc-shaped goods 800 from below, further restricting its radial movement (i.e., front-back movement). The two fork arms 200, the first support assembly 400, and the second support assembly 500 completely secure the disc-shaped goods 800, thus preventing safety accidents caused by the disc-shaped goods 800 slipping during handling due to insecure securing.

[0051] like Figure 2 As shown, exemplarily, the vehicle body 100 includes a chassis 130, a steering wheel 110, and at least two auxiliary wheels 120. The steering wheel 110 is mounted on the chassis 130, and the at least two auxiliary wheels 120 are respectively mounted on both sides of the steering wheel 110. The steering wheel 110 serves as a drive mechanism for driving the chassis 130 to move, while the auxiliary wheels 120 support the chassis 130 to prevent it from tilting. The steering wheel 110 is equipped with a drive motor.

[0052] In some embodiments, a single lifting assembly 300 is fixedly mounted on the vehicle body 100. Two fork arms 200 are connected to the movable ends of the lifting assembly 300 and are fitted onto the vehicle body 100. The lifting assembly 300 can simultaneously control the lifting and lowering of both fork arms 200. Furthermore, the two fork arms 200 can move along a second direction via guide rail assemblies, thereby adjusting the distance between them to facilitate gripping the disc-shaped cargo 800. It is understood that by simultaneously changing the height of the two fork arms 200, the lifting assembly 300 ensures the stability of the disc-shaped cargo 800 during lifting and lowering, preventing it from falling. In these embodiments, when the handling robot retrieves goods, it moves to the disc-shaped cargo 800. The lifting assembly 300 controls the two forks 200 to descend to their lowest position. The vehicle body 100 drives the two forks 200 to move to both sides of the disc-shaped cargo 800. The two forks 200 move inward in a second direction, causing them to engage with both sides of the disc-shaped cargo 800. The first support assembly 400 and the second support assembly 500 support the disc-shaped cargo 800 from below, forming a limit along the radial direction of the disc-shaped cargo 800. Then, the lifting assembly 300 drives the two forks 200 to rise, causing the disc-shaped cargo 800 to lift off the ground to complete the retrieval. Exemplarily, the lifting assembly 300 is configured as a cylinder or hydraulic cylinder assembly to control the lifting and lowering of the two forks 200.

[0053] In other examples, there are multiple lifting assemblies 300, each mounted on one of the two forks 200. For example, see [reference needed]. Figure 1As shown, there are two lifting components 300, each corresponding to a fork arm 200. The lifting components 300 are located at the end of the fork arm 200 furthest from the vehicle body 100 and are nested within the fork arm 200. When moving the disc-shaped cargo 800, each lifting component 300 is supported on the ground and gradually extends, supporting the fork arm 200 to a certain height, allowing the disc-shaped cargo 800 on the fork arm 200 to leave the ground for easy movement. When it is necessary to place the disc-shaped cargo 800, the height of the fork arm 200 needs to be lowered. At this time, the size of each lifting component 300 shortens, and the height of the fork arm 200 gradually decreases until the disc-shaped cargo 800 contacts the ground.

[0054] Additionally, it is understood that because the lifting assembly 300 is in direct contact with the ground, the fork arm 200 can maintain stable operation when carrying heavy loads, thus improving the carrying capacity of the handling robot. Exemplarily, in these examples, the lifting assembly 300 is configured as a telescopic support mechanism.

[0055] Figure 3 yes Figure 1 A schematic diagram of the lifting assembly 300 in the handling robot. (Refer to...) Figure 3 As shown, the lifting assembly 300 disposed at the end of the fork arm 200 includes a fixed frame 310, a first linear drive assembly 320, a mounting base 330, and a load-bearing wheel 340. The fixed frame 310 is connected to the fork arm 200, the first linear drive assembly 320 is connected to the fixed frame 310, the mounting base 330 is slidably connected to the fixed frame 310 via a guide rail, and the mounting base 330 is connected to the movable end of the first linear drive assembly 320. The load-bearing wheel 340 is fitted into the mounting base 330. It can be understood that the first linear drive assembly 320 drives the load-bearing wheel 340 to move vertically through the mounting base 330, thereby changing the overall length of the lifting assembly 300, causing the load-bearing wheel 340 to contact or detach from the ground. When the first linear drive assembly 320 retracts and the load-bearing wheel 340 gradually moves upward, the vehicle body 100 tilts forward and the height of the fork arm 200 decreases; when the first linear drive assembly 320 extends and the load-bearing wheel 340 gradually moves downward, the height of the fork arm 200 gradually increases, thereby adjusting the height of the fork arm 200 to complete the picking and placing of the disc-shaped goods 800.

[0056] Continue to refer to Figure 1 and Figure 2As shown, the carrying robot further comprises a moving wheel 600 arranged at the end of the fork arm 200 away from the vehicle body 100, and the moving wheel 600 is used to assist the fork arm 200 to move in the second direction. Specifically, in the above embodiment, when the lifting assembly 300 is configured as a telescopic support mechanism and arranged at the end of the two fork arms 200 respectively, the lifting assembly 300 is retracted, the height of the end of the fork arm 200 away from the vehicle body 100 gradually decreases, and the moving wheel 600 gradually contacts the ground. Then, the lifting assembly 300 continues to retract until the lower end thereof is separated from the ground. It can be understood that the lifting assembly 300 is separated from the ground to avoid affecting the movement of the two fork arms 200 in the second direction. Since the end of the fork arm 200 is provided with the moving wheel 600, when the two fork arms 200 move relative to each other, the fork arm 200 can be prevented from directly contacting the ground.

[0057] In some examples, the first supporting assembly 400 and the second supporting assembly 500 are fixedly arranged on the fork arm 200, and the distance between the first supporting assembly 400 and the second supporting assembly 500 is fixed. When the disc-shaped cargo 800 needs to be moved, the two fork arms 200 are first located at the two sides of the disc-shaped cargo 800, and then the two fork arms 200 are controlled to move towards each other to clasp the disc-shaped cargo 800, and at the same time, the first supporting assembly 400 and the second supporting assembly 500 on the fork arm 200 are inserted below the disc-shaped cargo 800 to support the disc-shaped cargo 800. It can be understood that, since the distance between the first supporting assembly 400 and the second supporting assembly 500 is fixed, the carrying robot in this example can only carry the disc-shaped cargo 800 with a size matching the distance between the first supporting assembly 400 and the second supporting assembly 500.

[0058] In some other examples, at least one of the first supporting assembly 400 and the second supporting assembly 500 is movably connected to the fork arm 200, and the first supporting assembly 400 and / or the second supporting assembly 500 moves in the first direction to change the distance between the first supporting assembly 400 and the second supporting assembly 500, so as to adapt to disc-shaped cargos 800 of different sizes.

[0059] Figure 4 is Figure 1 a schematic view of the first supporting assembly 400 of the carrying robot in

[0060] Referring to Figure 4As shown, the first supporting assembly 400 comprises a second linear driving assembly 410, a first supporting member 420, a guiding assembly 430 and a base 440. In an example, the fork arm 200 is internally hollow, the base 440 is arranged inside the fork arm 200 and fixedly connected with the fork arm 200, and the second linear driving assembly 410 is arranged inside the fork arm 200 and connected with the fork arm 200. The guiding assembly 430 is connected with the base 440 in the first direction, and the guiding assembly 430 is located at one end of the fork arm 200 close to the vehicle body 100. The first supporting member 420 is slidingly arranged on the guiding assembly 430, i.e. the first supporting member 420 is also located at one end of the fork arm 200 close to the vehicle body 100, and the first supporting member 420 extends from the fork arm 200. The second linear driving assembly 410 is connected with the first supporting member 420, and the second linear driving assembly 410 drives the first supporting member 420 to move in the first direction. It should be noted that the side surface of the fork arm 200 is provided with a groove for accommodating and sliding the first supporting member 420.

[0061] In an example, the second linear driving assembly 410 can be one of a pneumatic cylinder assembly, a hydraulic cylinder assembly, an electric cylinder assembly or a screw nut assembly. The guiding assembly 430 is a linear guide rail or a guide rod assembly. The first supporting member 420 comprises a connecting seat and a supporting rod, the supporting rod is fixedly connected with the connecting seat, the connecting seat is connected with the movable end of the second linear driving assembly 410, and the supporting rod extends from the fork arm 200 and is used for supporting the disc-shaped cargo 800.

[0062] As shown in Figure 1 In some examples, the second supporting assembly 500 is arranged at one end of the fork arm 200 away from the vehicle body 100, and the second supporting assembly 500 is selectively extended from the fork arm 200 to jointly support the disc-shaped cargo 800 with the first supporting assembly 400. It can be understood that when the second supporting assembly 500 is extended from the fork arm 200, it is spaced apart from the first supporting assembly 400 by a certain space, and the outer arc surface of the disc-shaped cargo 800 is clamped on the first supporting assembly 400 and the second supporting assembly 500. When the second supporting assembly 500 is hidden in the fork arm 200, the second supporting assembly 500 will not interfere with the disc-shaped cargo 800 in the process of moving the fork arm 200 to the disc-shaped cargo 800. After the two fork arms 200 are clamped at the specified position of the disc-shaped cargo 800, the second supporting assembly 500 is extended from the fork arm 200 to support at the specified position of the disc-shaped cargo 800.

[0063] Figure 5 is Figure 1 a schematic view of the second supporting assembly 500 of the carrying robot in

[0064] Referring to Figure 5As shown, the second supporting assembly 500 includes a fixed part 510, a driving part 520 and a second supporting member 530. The fixed part 510 is arranged inside the fork arm 200 and fixedly connected with the fork arm 200. The driving part 520 is fixedly connected with the fixed part 510. The second supporting member 530 is slidingly connected with the fixed part 510. The driving part 520 drives the second supporting member 530 to move along the second direction, so as to selectively extend out of the fork arm 200. In this example, the second supporting member 530 is a supporting column. The driving part 520 is a mechanism for driving the supporting column to move linearly. Figure 5 As shown, in this example, the fixed part 510 is a frame structure for fixing the driving part 520. The driving part 520 includes a supporting driving motor 521 and a driving gear 522. The supporting driving motor 521 is mounted on the fixed part 510. The driving gear 522 is fixed on the output end of the driving motor. The surface of the supporting column is provided with teeth for engaging with the driving gear 522. The driving gear 522 is engaged with the supporting column. The supporting column is controlled to reciprocate along the first direction by controlling the forward and reverse rotation of the driving motor. In addition, the driving part 520 can also be one of a gas cylinder assembly, a hydraulic cylinder assembly, an electric cylinder assembly or a screw nut assembly.

[0065] Figure 6 is a first state diagram of the handling robot holding the disc-shaped goods in Figure 1 is a top view of the handling robot in Figure 7 is a first state diagram of the handling robot holding the disc-shaped goods in Figure 6 is a top view of the handling robot in Figure 8 is a second state diagram of the handling robot holding the disc-shaped goods in Figure 1 is a top view of the handling robot in Figure 9 is a second state diagram of the handling robot holding the disc-shaped goods in Figure 8 is a top view of the handling robot in

[0066] Referring to Figure 6 to Figure 9As shown, the two fork arms 200 of the carrying robot are adjusted to a distance capable of accommodating the disc-shaped goods 800 in a reverse movement, the second supporting assembly 500 is retracted into the fork arms 200, and the vehicle body 100 drives the two fork arms 200 to move to the disc-shaped goods 800. Then, the first linear drive assembly 320 drives the bearing wheels 340 to rise, and the height of the two fork arms 200 is lowered until the bearing wheels 340 are separated from the ground, and the moving wheels 600 are in contact with the ground. Then, the fork arm drive assembly 700 drives the two fork arms 200 to move towards each other and clasp the two sides of the disc-shaped goods 800. Then, the second linear drive assembly 410 of the first supporting assembly 400 drives the first supporting piece 420 to support the bottom of the disc-shaped goods 800, and the driving part 520 in the second supporting assembly 500 drives the second supporting piece 530 to extend from the fork arms 200 and support the bottom of the disc-shaped goods 800. Finally, the first linear drive assembly 320 drives the bearing wheels 340 to descend and gradually contact the ground, gradually lifts the two fork arms 200, and the moving wheels 600 are separated from the ground, thereby lifting the height of the two fork arms 200 and the disc-shaped goods 800, so as to facilitate the movement.

[0067] In a second aspect, the embodiments of the present application provide a logistics system comprising the carrying robot for carrying disc-shaped goods according to the first aspect. Since the logistics system comprises the carrying robot for carrying disc-shaped goods according to any of the above-mentioned solutions, it has all the beneficial effects of the carrying robot according to any of the above-mentioned solutions, which will not be repeated here.

[0068] It is easy to understand that, based on the several embodiments provided by the present application, those skilled in the art can combine, split, recombine, etc. the embodiments of the present application to obtain other embodiments, and these embodiments do not exceed the protection scope of the present application.

[0069] The above detailed description of the specific embodiments of the present application further describes 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 embodiment 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 handling robot for handling of disc-shaped goods, characterized in that The utility model relates to a disc-shaped goods carrying robot, which comprises the following parts: A vehicle body (100); A fork arm driving assembly (700) connected with the vehicle body (100); Two oppositely arranged fork arms (200) each in sliding connection with the vehicle body (100), both of which are connected with the fork arm driving assembly (700), and the fork arm driving assembly (700) drives the two fork arms (200) to move towards or away from each other to clamp a disc-shaped goods (800); A first supporting assembly (400) and a second supporting assembly (500) which are arranged along a first direction on each of the fork arms (200) to support the disc-shaped goods (800); A lifting assembly (300) connected with the fork arms (200) to control the lifting of the fork arms (200).

2. The palletizing robot for palletizing of disc-shaped goods as claimed in claim 1, characterized in that The lifting assembly (300) is provided in one-to-one correspondence with the fork arms (200) and is arranged at the end of the fork arms (200) away from the vehicle body (100).

3. The palletizing robot for palletizing of disc-shaped goods as claimed in claim 1, characterized in that, The lifting assembly (300) is arranged on the vehicle body (100) and is connected with all the fork arms (200), and the lifting assembly (300) simultaneously lifts the height of all the fork arms (200).

4. The palletizing robot for palletizing disc-shaped goods as claimed in claim 2, characterized in that The lifting assembly (300) comprises a fixing frame (310), a first linear driving assembly (320), a mounting seat (330) and a load wheel (340), the fixing frame (310) is connected with the fork arms (200), the first linear driving assembly (320) is connected with the fixing frame (310), the mounting seat (330) is in sliding connection with the fixing frame (310), the fixing frame (310) is connected with the first linear driving assembly (320), and the load wheel (340) is arranged in the mounting seat (330).

5. The palletizing robot for palletizing disc-shaped goods as claimed in claim 1, characterized in that, The carrying robot further comprises a moving wheel (600) arranged at the end of the fork arms (200) away from the vehicle body (100), which is used to assist the fork arms (200) to move along a second direction.

6. The palletizing robot for palletizing disc-shaped goods as claimed in claim 1, characterized in that The first supporting assembly (400) and / or the second supporting assembly (500) are movably connected with the fork arms (200), and the first supporting assembly (400) and / or the second supporting assembly (500) move along the first direction to change the distance between the first supporting assembly (400) and the second supporting assembly (500).

7. The palletizing robot for palletizing of disc-shaped goods as claimed in claim 6, characterized in that The first supporting assembly (400) comprises a second linear driving assembly (410), a first supporting member (420), a guide assembly (430) and a base (440). The base (440) is connected with the fork arm (200), the second linear drive assembly (410) is connected with the fork arm (200), the guide assembly (430) is connected with the base (440), the first supporting piece (420) is located at one end of the fork arm (200) close to the vehicle body (100) and extends from the fork arm (200), the first supporting piece (420) is slidingly connected with the guide assembly (430), the second linear drive assembly (410) is connected with the first supporting piece (420), and the second linear drive assembly (410) drives the first supporting piece (420) to move in a first direction.

8. The palletizing robot for palletizing disc-shaped goods as claimed in claim 6, characterized in that The second supporting assembly (500) is arranged at one end of the fork arm (200) away from the vehicle body (100), and the second supporting assembly (500) selectively extends from the fork arm (200).

9. The palletizing robot for palletizing of disc-shaped goods according to claim 8, characterized in that, The second supporting assembly (500) comprises a fixed part (510), a driving part (520) and a second supporting piece (530), the fixed part (510) is fixedly connected with the fork arm (200), the driving part (520) is fixedly connected with the fixed part (510), the second supporting piece (530) is slidingly connected with the fixed part (510), and the driving part (520) drives the second supporting piece (530) to move in a second direction.

10. A logistics system characterized by, A handling robot for handling of disc-shaped goods, comprising a handling robot as claimed in any one of claims 1-9.

Images