Transfer robot

Abstract

The utility model provides a carrying robot, and relates to the technical field of material carrying. The carrying robot comprises a fixed door frame, a chassis, a lifting module and a goods taking and placing module, the fixed door frame is fixed to one side, in the first direction, of the chassis, the chassis comprises a goods taking and placing channel, and the goods taking and placing channel penetrates through the chassis in the second direction; the side, back to the fixed portal frame, of the goods taking and placing channel in the first direction is open, and the first direction is perpendicular to the second direction. And the lifting module is connected with the chassis, the lifting module can drive the goods taking and placing module to move in the second direction so that the goods taking and placing module can enter the goods taking and placing channel, and the goods taking and placing module can stretch out and draw back in the first direction. According to the transfer robot, goods on the ground and goods shelves can be inserted and taken, and the application scene of the transfer robot is enriched.

Description

Technical Field

[0001] This application relates to the field of material handling technology, and in particular to a material handling robot. Background Technology

[0002] With the development of logistics handling technology, handling robots are being used more and more widely. A typical handling robot consists of a chassis, a mast, and forks. The mast is fixed above the chassis, and the forks are connected to the mast and can slide along it. The forks can pick up materials from shelves, and the movement of the chassis moves the materials.

[0003] However, the forks are located above the chassis, which means that the forks can only pick up materials on shelves, but not goods on the ground, which limits the application scenarios of the handling robot. Utility Model Content

[0004] In view of this, this application provides a handling robot to solve the problem that the forks of existing handling robots cannot pick up goods located on the ground, which limits the application scenarios of the handling robot.

[0005] This application provides a handling robot, which includes a fixed gantry, a chassis, a lifting module, and a picking and placing module. The fixed gantry is fixed to one side of the chassis in a first direction. The chassis includes a picking and placing channel that runs through the chassis in a second direction. The picking and placing channel is open on the side of the chassis opposite to the fixed gantry in the first direction. The first direction is perpendicular to the second direction.

[0006] The lifting module is connected to the chassis. The lifting module can drive the picking and placing module to move along the second direction so that the picking and placing module can enter the picking and placing channel. The picking and placing module can extend and retract along the first direction.

[0007] Preferably, the loading and unloading module includes a telescopic fork, which includes a fixed fork, a movable fork, and a telescopic drive component. The fixed fork is connected to the lifting module, and the telescopic drive component is fixed to the fixed fork. The telescopic drive component can drive the movable fork to move along the first direction so that the movable fork can extend or retract relative to the fixed fork.

[0008] Preferably, the lifting module includes a movable gantry and a lifting mechanism. The lifting mechanism is fixed on the chassis, and the movable gantry is slidably connected to the fixed gantry. The lifting mechanism can drive the movable gantry to move along the second direction, thereby driving the loading and unloading module to move along the second direction.

[0009] Preferably, the movable gantry includes a frame and a reversing component, the reversing component being fixed to the frame;

[0010] The lifting mechanism includes a lifting drive component and a chain. The lifting drive component is fixed to the chassis and connected to the frame to drive the frame to move in the second direction. One end of the chain is fixed to the fixed gantry, and the other end of the chain passes around the reversing component and is connected to the loading and unloading module.

[0011] Preferably, the loading and unloading module further includes a fork carriage and rollers, wherein the fixed forks and the rollers are both fixed on the fork carriage, and the fork carriage is connected to the chain;

[0012] The movable gantry includes a guide extending along the second direction, a portion of the roller is located within the guide, and the roller is movable within the guide.

[0013] Preferably, the chassis includes two loading and unloading channels, which are arranged at intervals along a third direction;

[0014] The number of telescopic forks is two, and the two telescopic forks are spaced apart along the third direction. The two telescopic forks correspond to the two picking and placing channels respectively, and the telescopic forks can enter the corresponding picking and placing channels. The third direction is perpendicular to the first direction and the second direction respectively.

[0015] Preferably, the transport robot further includes a driving module, which includes two drive components. The two drive components are respectively disposed on both sides of the chassis in the third direction. Each drive component includes a suspension mechanism, a drive wheel, and a drive mechanism. The drive mechanism is connected to the drive wheel to drive the drive wheel to rotate. The drive component is slidably connected to the chassis.

[0016] The suspension mechanism includes an elastic element located between the drive mechanism and the chassis, and the elastic element is compressed.

[0017] Preferably, the suspension mechanism includes a slider and a guide rail, the guide rail is fixed on the chassis and extends along the second direction, the slider is disposed on the guide rail, and the drive mechanism is connected to the slider.

[0018] Preferably, the driving module further includes a mounting base, and the drive mechanism is fixed on the mounting base;

[0019] The suspension mechanism further includes a guide shaft and an adjusting nut. The guide shaft is fixed on the chassis and passes through the mounting base. The adjusting nut and the elastic element are both sleeved on the guide shaft. One end of the elastic element abuts against the mounting base, and the other end of the elastic element abuts against the adjusting nut.

[0020] Preferably, the number of suspension mechanisms in the drive assembly is two, and the two suspension mechanisms are respectively disposed on both sides of the drive wheel in the first direction.

[0021] In the use of the handling robot of this application, the second direction is parallel to the direction of gravity. The lifting module can drive the picking and placing module to move along the second direction, allowing the picking and placing module to enter the picking and placing channel. When picking up goods on the ground, the picking and placing module enters the picking and placing channel. Since the picking and placing module can extend and retract along the first direction, a part of the picking and placing module can extend out of the picking and placing channel along the first direction to pick up the goods located on the ground. Then, the lifting module drives the picking and placing module to rise along the second direction. After the picking and placing module is higher than the chassis, the picking and placing module stops rising and retracts, thus completing the picking of goods. When picking up goods on a shelf, the lifting module drives the picking and placing module to move along the second direction to a position corresponding to the height of the goods. Then, the picking and placing module extends along the first direction to pick up the goods. After picking up the goods, the picking and placing module retracts, causing the goods to move above the chassis. In this way, the handling robot of this application can pick up goods on the ground and on shelves, enriching the application scenarios of handling robots. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 A three-dimensional structural diagram of the handling robot is shown;

[0024] Figure 2 A partial structural diagram of the handling robot is shown;

[0025] Figure 3 A three-dimensional structural diagram of the picking and placing module is shown;

[0026] Figure 4 A partial cross-sectional view of the telescopic forks is shown;

[0027] Figure 5 A schematic diagram of the movable gantry is shown.

[0028] Figure 6 The diagram shows the relative positions of the fixed gantry and the movable gantry;

[0029] Figure 7 A schematic diagram of the suspension mechanism is shown;

[0030] Figure 8 This diagram illustrates the state of a transport robot when it picks up or places goods on the ground.

[0031] Figure 9 This diagram illustrates the state of the handling robot loading goods into the pick-and-place module.

[0032] Icons: 1-Chassis; 11-Loading / Unloading Channel; 2-Driving Module; 21-Drive Wheel; 22-Drive Mechanism; 221-Driving Motor; 222-Reducer; 223-Mounting Base; 23-Wheel Casters; 24-Suspension Mechanism; 241-Elastic Component; 242-Guide Rail; 243-Adjusting Nut; 244-Guide Shaft; 245-Sheath; 246-Slider; 3-Lifting Module; 31-Moving Gantry; 311-Reversing Component; 312-Rotating Wheel; 313-Frame; 3131-Guide Component; 3132-Connecting Component; 314-Mounting Component; 315-Rotating Shaft; 32-Lifting... Lifting mechanism; 321-Lifting drive component; 322-Chain; 4-Loading and unloading module; 41-Telescopic fork; 411-Fixed fork; 412-Telescopic drive component; 413-Moving fork; 414-Connecting block; 42-Fork carriage; 43-Roller; 44-Collision detector; 45-Pull rope sensor; 5-Housing; 6-Fixed mast; 61-Support component; 62-Connector component; 7-Goods; 71-Pallet; 72-Material; 81-Battery; 82-LiDAR; 83-QR code camera; 9-Safety edge; L1-First direction; L2-Second direction; L3-Third direction. Detailed Implementation

[0033] The following detailed embodiments are provided to help the reader gain a comprehensive understanding of the methods, apparatus, and / or systems described herein. However, various changes, modifications, and equivalents of the methods, apparatus, and / or systems described herein will be apparent after understanding the disclosure of this application. For example, the order of operations described herein is merely illustrative and is not limited to the order set forth herein; changes that will be apparent after understanding the disclosure of this application are possible, except for operations that must occur in a specific order. Furthermore, for clarity and brevity, descriptions of features known in the art may be omitted.

[0034] The features described herein may be implemented in different forms and should not be construed as being limited to the examples described herein. Rather, the examples described herein have been provided merely to illustrate some of the many feasible ways of implementing the methods, apparatus, and / or systems described herein that will be apparent upon understanding the disclosure of this application.

[0035] Throughout the specification, when an element (such as a layer, region, or substrate) is described as being "on" another element, "connected to" another element, "bonded to" another element, "on" another element, or "covering" another element, it may be directly "on" another element, "connected to" another element, "bonded to" another element, "on" another element, or "covering" another element, or there may be one or more other elements in between. In contrast, when an element is described as being "directly on" another element, "directly connected to" another element, "directly bonded to" another element, "directly on" another element, or "directly covering" another element, there may be no other elements in between.

[0036] As used herein, the term “and / or” includes any one of the relevant items listed and any combination of any two or more items.

[0037] Although terms such as “first,” “second,” and “third” may be used herein to describe individual components, assemblies, regions, layers, or parts, these components, assemblies, regions, layers, or parts are not limited by these terms. Rather, these terms are used only to distinguish one component, assembly, region, layer, or part from another. Therefore, without departing from the teachings of the examples described herein, the first component, assembly, region, layer, or part referred to as the second component, assembly, region, layer, or part may also be referred to as the second component, assembly, region, layer, or part.

[0038] For ease of description, spatial relation terms such as “above,” “upper,” “below,” and “lower” are used herein to describe the relationship between one element and another, as shown in the accompanying drawings. Such spatial relation terms are intended to include not only the orientation depicted in the drawings but also different orientations of the device during use or operation. For example, if the device in the drawings is flipped, an element described as being “above” or “upper” relative to another element will subsequently be “below” or “lower” relative to that other element. Therefore, the term “above” includes both “above” and “below” orientations depending on the spatial orientation of the device. The device may also be positioned in other ways (e.g., rotated 90 degrees or in other orientations), and the spatial relation terms used herein will be interpreted accordingly.

[0039] The terminology used herein is for the purpose of describing various examples only and is not intended to limit this disclosure. Unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. The terms “comprising,” “including,” and “having” enumerate the stated features, quantities, operations, components, elements, and / or combinations thereof, but do not exclude the presence or addition of one or more other features, quantities, operations, components, elements, and / or combinations thereof.

[0040] Variations in the shapes shown in the accompanying drawings may occur due to manufacturing techniques and / or tolerances. Therefore, the examples described herein are not limited to the specific shapes shown in the accompanying drawings, but include changes in shape that may occur during manufacturing.

[0041] The features of the examples described herein can be combined in various ways that will be apparent upon understanding the disclosure of this application. Furthermore, although the examples described herein have a wide variety of constructions, other constructions are possible, as will be apparent upon understanding the disclosure of this application.

[0042] The following will combine Figures 1 to 9 The present application describes a handling robot, in Figures 1 to 9 In the diagram, the first direction L1, the second direction L2, and the third direction L3 are perpendicular to each other. When the handling robot is in use, the second direction L2 is parallel to the direction of gravity.

[0043] like Figures 1 to 9 As shown, the handling robot includes a fixed gantry 6, a chassis 1, a lifting module 3, and a picking and placing module 4. The fixed gantry 6 is fixed to one side of the chassis 1 in the first direction L1. The chassis 1 includes a picking and placing channel 11, which runs through the chassis 1 along the second direction L2. The picking and placing channel 11 is open on the side of the chassis 1 facing away from the fixed gantry 6 in the first direction L1. The lifting module 3 is connected to the chassis 1. The lifting module 3 can drive the picking and placing module 4 to move along the second direction L2 so that the picking and placing module 4 can enter the picking and placing channel 11. The picking and placing module 4 can also extend and retract along the first direction L1.

[0044] When the handling robot of this application is used, the second direction L2 is parallel to the direction of gravity. The lifting module 3 can drive the picking and placing module 4 to move along the second direction L2, which allows the picking and placing module 4 to enter the picking and placing channel 11. When picking up goods 7 from the ground, the picking and placing module 4 enters the picking and placing channel 11. Since the picking and placing module 4 can extend and retract along the first direction L1, a portion of the module 4 can extend out of the picking and placing channel 11 along the first direction L1 to pick up the goods 7 on the ground. Then, the lifting module 3 drives the picking and placing module 4 to rise along the second direction L2. After the picking and placing module 4 is higher than the chassis 1, it stops rising and retracts, thus completing the picking up of goods 7. When picking up goods 7 from a shelf, the lifting module 3 drives the picking and placing module 4 to move along the second direction L2 to a position corresponding to the height of the goods 7. Then, the picking and placing module 4 extends along the first direction L1 to pick up the goods 7. After picking up the goods 7, the picking and placing module 4 retracts, moving the goods 7 above the chassis 1. In this way, the handling robot can pick up goods 7 from the ground and shelves, enriching the application scenarios of the handling robot.

[0045] In addition, after the goods 7 are inserted and retrieved, the picking and placing module 4 can move again along the second direction L2 into the picking and placing channel 11, thereby placing the goods 7 on the chassis 1, thus improving the stability of the handling robot when moving the goods 7.

[0046] Preferably, the goods 7 generally include a pallet 71 and materials 72 supported on the pallet 71. The pallet 71 has two fork holes, and the goods 7 can be picked up by extending the two telescopic forks 41 into the two fork holes.

[0047] like Figure 1 As shown, chassis 1 includes two loading and unloading channels 11, which are arranged at intervals along the third direction L3. In other words, the entire chassis 1 is "E" shaped.

[0048] In the embodiments of this application, such as Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the loading / unloading module 4 includes a fork carriage 42 and two telescopic forks 41. The two telescopic forks 41 are spaced apart on the fork carriage 42 along a third direction L3. The fork carriage 42 is connected to the lifting module 3, which allows the lifting module 3 to drive the fork carriage 42 and the telescopic forks 41 to move along a second direction L2. The two telescopic forks 41 correspond to two loading / unloading channels 11, and the telescopic forks 41 can enter the corresponding loading / unloading channel 11 to easily pick up goods 7 on the ground.

[0049] Furthermore, the telescopic fork 41 includes a fixed fork 411, a movable fork 413, and a telescopic drive member 412. The fixed fork 411 is fixed on the fork carriage 42, and the telescopic drive member 412 is fixed to the fixed fork 411. The telescopic drive member 412 can drive the movable fork 413 to move along the first direction L1, so that the movable fork 413 can extend relative to the fixed fork 411 or retract relative to the fixed fork 411.

[0050] Optionally, the telescopic drive 412 can be a hydraulic cylinder, a servo electric cylinder, or an electric push rod.

[0051] Preferably, the telescopic drive component 412 is a hydraulic cylinder, such as... Figure 4 As shown, the cylinder body of the hydraulic cylinder is fixed to the fixed fork 411, and the end of the cylinder rod is mounted on the movable fork 413 via a connecting block 414. When the cylinder rod extends, the movable fork 413 extends; when the cylinder rod retracts, the movable fork 413 retracts. In this way, the hydraulic cylinder can drive the movable fork 413 to move, thereby realizing the insertion and removal of the goods 7.

[0052] In addition, such as Figure 3 and Figure 6 As shown, the picking and placing module 4 also includes a roller 43, a collision detector 44, and a pull rope sensor 45. The roller 43 is mounted on the fork carriage 42. When the picking and placing module 4 rises or falls along the second direction L2, the roller 43 can roll in the guide member 3131 of the moving mast 31 described below, thereby guiding the movement of the picking and placing module 4. The collision detector 44 is fixed to the end of the telescopic fork 41. When the collision detector 44 collides with an obstacle, the collision detector 44 sends a signal to the controller of the handling robot, and the controller starts a safety alarm. The pull rope sensor 45 is fixed on the fork carriage 42. The wire rope of the pull rope sensor 45 is pulled out and mounted on the moving fork 413 through the roller. The pull rope sensor 45 can detect the distance the moving fork 413 moves, so that the controller can control the extension distance of the moving fork 413.

[0053] Alternatively, the collision detector 44 can be a contact sensor.

[0054] In the embodiments of this application, such as Figure 1 and Figure 2 As shown, the fixed gantry 6 includes a connector 62 and two support members 61. The two support members 61 are connected by the connector 62. The cross-section of the two support members 61 is "C" shaped, which allows the fixed gantry 6 to be used as a guide rail for the movable gantry 31 described below, thereby guiding the movement of the movable gantry 31. A housing 5 can be installed on the fixed gantry 6 to cover some components.

[0055] Furthermore, such as Figure 2As shown, the lifting module 3 includes a movable gantry 31 and a lifting mechanism 32. The lifting mechanism 32 is fixed on the chassis 1. The movable gantry 31 is slidably connected to the fixed gantry 6. The lifting mechanism 32 can drive the movable gantry 31 to move along the second direction L2, thereby driving the loading and unloading module 4 to move along the second direction L2.

[0056] like Figure 5 and Figure 6 As shown, the movable mast 31 includes a frame 313, a reversing member 311, a mounting member 314, and a rotating shaft 315. The frame 313 includes a connecting member 3132 and two guide members 3131. The two guide members 3131 are connected by the connecting member 3132. The cross-section of the guide member 3131 is C-shaped, so that part of the roller 43 is located within the guide member 3131, and the roller 43 can move within the guide member 3131. The fork carriage 42 has four rollers 43, two of which are located within one guide member 3131, and the other two are located within another guide member 3131. Each guide member 3131 is provided with two rotating wheels 312. The positions of the two guide members 3131 correspond to the two support members 61, and the two rotating wheels 312 on the guide member 3131 are located within the support member 61 corresponding to the guide member 3131, so that the support member 61 can guide the movement of the movable mast 31. Each reversing component 311 is provided with two mounting components 314. The two mounting components 314 are spaced apart on the connecting component 3132. The reversing component 311 is located between the two mounting components 314 and is connected to the two mounting components 314 through a rotating shaft 315. The mounting components 314 and the connecting component 3132 can be integrally formed.

[0057] Preferably, the commutator 311 is a bearing.

[0058] Furthermore, such as Figure 2 and Figure 5 As shown, the lifting mechanism 32 includes a lifting drive 321 and a chain 322. The lifting drive 321 can drive the frame 313 to move along the second direction L2. One end of the chain 322 is fixed to the fixed mast 6, and the other end of the chain 322 passes around the reversing member 311 and connects to the fork carriage 42 of the loading / unloading module 4. When the lifting drive 321 is extended, it can push out the moving mast 31, and the roller 312 on it will roll upward along the fixed mast 6. At the same time, the chain 322 on the side where the fixed mast 6 is located becomes longer, and the chain 322 on the side where the loading / unloading module 4 is located becomes shorter, thereby lifting the loading / unloading module 4. The descent process of the loading / unloading module 4 is the reverse of the lifting process, which will not be described in detail here.

[0059] Optionally, the lifting drive 321 can be a hydraulic cylinder, a servo electric cylinder, or an electric push rod. Preferably, the lifting drive 321 is a hydraulic cylinder. The cylinder body of the lifting drive 321 is fixed on the chassis 1, and the cylinder rod of the lifting drive 321 is connected to the frame 313. The frame 313 can be driven to move along the second direction L2 by extending or retracting the cylinder rod of the lifting drive 321.

[0060] In addition, such as Figure 2 As shown, a battery 81, a QR code camera 83, and a LiDAR 82 are mounted on the chassis 1. The battery 81 and the QR code camera can be positioned at the center of the chassis 1. The QR code camera 83 can scan QR codes on the ground to obtain the position of the transport robot. The LiDAR 82 can detect obstacles around the transport robot, reducing the risk of collisions. The number of LiDARs 82 can be one or two; preferably, two LiDARs 82 are used, one at the front and one at the back of the chassis 1. If the transport robot does not use laser navigation, the LiDARs 82 can be radars with only obstacle avoidance capabilities, thereby reducing the cost of the transport robot.

[0061] Optionally, the chassis 1 is equipped with a safety contact edge 9. When the transport robot encounters an obstacle during its operation, the safety contact edge 9 is triggered, and the controller can control the transport robot to stop running in order to protect the transport robot.

[0062] In the embodiments of this application, such as Figure 2 and Figure 7 The transport robot also includes a travel module 2, which comprises two drive components. These two drive components are respectively mounted on both sides of the chassis 1 in the third direction L3. Each drive component includes a suspension mechanism 24, drive wheels 21, and a drive mechanism 22. The drive mechanism 22 includes a travel motor 221, a reducer 222, and a mounting base 223. The travel motor 221 is connected to the drive wheels 21 via the reducer 222 to drive the drive wheels 21 to rotate. The reducer 222 is mounted on the mounting base 223, which is slidably connected to the chassis 1, allowing the reducer 222 and the drive wheels 21 connected to it to move relative to the chassis 1. The two drive wheels 21 in the two drive components are each driven by a different travel motor 221. This allows the transport robot to perform in-situ spin-and-change-direction using differential steering, thereby reducing the space required for turning, reducing the width of the travel path required for the transport robot, and improving space utilization.

[0063] In addition, the driving module 2 also includes four omnidirectional wheels 23, which are arranged at the four corners of the chassis 1.

[0064] like Figure 7As shown, the suspension mechanism 24 includes an elastic element 241 located between the chassis 1 and the drive mechanism 22. The elastic element 241 is compressed. When the transport robot travels on uneven ground, the drive wheel 21 moves up and down with the ground, causing the elastic element 241 to shorten or lengthen. The elastic element 241 exerts a force on the drive mechanism 22, ensuring that the drive wheel 21 always remains in contact with the ground. Thus, the drive wheel 21 does not lose its ground pressure and thus its driving power, ensuring the stability of the transport robot's movement.

[0065] Furthermore, the suspension mechanism 24 includes a slider 246 and a guide rail 242. The guide rail 242 is fixed to the chassis 1 and extends along a second direction L2. The slider 246 is mounted on the guide rail 242, and the mounting base 223 is connected to the slider 246, thereby enabling the slider 246 to drive the mounting base 223, the reducer 222, and the drive wheel 21 to move. Because the guide rail 242 extends along the second direction L2, the slider 246 can only move along the guide rail 242, which restricts the degrees of freedom of the mounting base 223 in other directions and prevents the suspension mechanism 24 from deflecting.

[0066] like Figure 7 As shown, the suspension mechanism 24 also includes a guide shaft 244, an adjusting nut 243, and two protective sleeves 245. The guide shaft 244 is fixed to the chassis 1 and passes through the mounting base 223. The first protective sleeve 245, the elastic element 241, the second protective sleeve 245, and the adjusting nut 243 are sequentially fitted onto the guide shaft 244. One end of the elastic element 241 abuts against the mounting base 223 through the first protective sleeve 245, and the other end of the elastic element 241 abuts against the adjusting nut 243 through the second protective sleeve 245. The guide shaft 244 is threaded, and the adjusting nut 243 is fixed to the desired position by rotating through the thread to preload the elastic element 241. Since the reducer 222 is connected and fixed to the mounting base 223, the pressure generated by the elastic element 241 can be transmitted to the reducer 222, and then to the drive wheel 21 mounted on the reducer 222. This pressure is the positive pressure used for the movement of the transport robot. When the handling robot travels on uneven ground, the drive wheel 21 moves up and down with the ground. The mounting base 223 drives the first protective sleeve 245 at the lower end to move up and down, causing the elastic element 241 to shorten or lengthen on the guide shaft 244, ensuring that the drive wheel 21 always remains in contact with the ground. In this way, the handling robot will not lose its driving power due to the loss of ground pressure when the drive wheel 21 leaves the ground, thus ensuring the smooth movement of the handling robot.

[0067] Preferably, the elastic element 241 is a spring, and the number of suspension mechanisms 24 in the drive assembly is two. The two suspension mechanisms 24 are respectively installed on both sides of the drive wheel 21 in the first direction L1, thereby further improving the stability of the transport robot operation.

[0068] When the handling robot picks up the goods 7 on the ground, the robot moves to the pickup position, the pickup and placement module 4 lowers to its lowest position, and the telescopic drive component 412 drives the moving fork 413 to extend into the fork hole of the pallet 71 of the goods 7. At this time, the state of the goods 7 and the handling robot is as follows: Figure 8 As shown, the loading / unloading module 4 then lifts to raise the goods 7, and then the telescopic drive 412 drives the moving fork 413 to retract, causing the goods 7 on the moving fork 413 to move to the side closer to the fork carriage 42, thereby completing the loading / unloading of the goods 7 on the ground. The process of placing the goods 7 on the ground is the reverse of the process of picking them up from the ground, and will not be described in detail here.

[0069] When the handling robot picks up goods 7 from the shelf, the lifting module 3 raises the picking and placing module 4 to the picking height. At this time, the position of the telescopic fork 41 corresponds to the position of the fork hole in the pallet 71 of the goods 7. Then, the travel module 2 drives the handling robot to move, so that the telescopic fork 41 inserts into the fork hole of the pallet 71. At this time, the state of the goods 7 and the handling robot is as follows. Figure 9 As shown, the lifting module 3 then lifts the pallet 71 off the shelf. Next, the travel module 2 drives the handling robot to retreat. When it retreats to an area that does not affect the descent of the goods 7, the lifting module 3 lowers, and the goods 7 descends to the lowest position. Then, the telescopic drive component 412 drives the moving forks 413 to retract, moving the goods 7 on the moving forks 413 to the side closer to the fork carriage 42, completing one retrieval process. The process of placing goods on the shelf is the reverse of the process of retrieving goods from the shelf, and will not be described further here.

[0070] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A transport robot, characterized in that, The carrying robot comprises a fixed gantry, a chassis, a lifting module and a picking module, the fixed gantry is fixed on one side of the chassis in a first direction, the chassis comprises a picking channel, the picking channel penetrates through the chassis along a second direction, the picking channel is open on a side opposite to the fixed gantry in the first direction, and the first direction is perpendicular to the second direction; The lifting module is connected with the chassis, the lifting module can drive the picking module to move along the second direction, so that the picking module can enter the picking channel, and the picking module can extend and retract along the first direction.

2. The transport robot of claim 1, wherein, The picking module comprises telescopic forks, the telescopic forks comprise fixed forks, movable forks and telescopic driving members, the fixed forks are connected with the lifting module, the telescopic driving members are fixed on the fixed forks, and the telescopic driving members can drive the movable forks to move along the first direction, so that the movable forks can extend or retract relative to the fixed forks.

3. The transport robot of claim 2, wherein, The lifting module comprises a movable gantry and a lifting mechanism, the lifting mechanism is fixed on the chassis, the movable gantry is slidingly connected with the fixed gantry, and the lifting mechanism can drive the movable gantry to move along the second direction, so as to drive the picking module to move along the second direction.

4. The transport robot according to claim 3, characterized in that, The movable gantry comprises a framework and a reversing member, and the reversing member is fixed on the framework; The lifting mechanism comprises a lifting driving member and a chain, the lifting driving member is fixed on the chassis, the lifting driving member is connected with the framework to drive the framework to move along the second direction, one end of the chain is fixed on the fixed gantry, and the other end of the chain passes through the reversing member and is connected with the picking module.

5. The transport robot of claim 4, wherein, The picking module further comprises forks and rollers, the fixed forks and the rollers are both fixed on the forks, and the forks are connected with the chain; The movable gantry comprises a guide member, the guide member extends along the second direction, part of the rollers is located in the guide member, and the rollers can move in the guide member.

6. A transport robot according to any one of claims 2-5, characterized in that, The chassis comprises two picking channels, and the two picking channels are arranged at intervals along a third direction; The number of the telescopic forks is two, the two telescopic forks are arranged at intervals along the third direction, the two telescopic forks correspond to the two picking channels respectively, the telescopic forks can enter the corresponding picking channels, and the third direction is perpendicular to the first direction and the second direction.

7. The transport robot of claim 6, wherein, The carrying robot further comprises a driving module, the driving module comprises two driving assemblies, the two driving assemblies are arranged on two sides of the chassis in the third direction respectively, the driving assembly comprises a suspension mechanism, a driving wheel and a driving mechanism, the driving mechanism is connected with the driving wheel to drive the driving wheel to rotate, and the driving assembly is slidingly connected with the chassis; The suspension mechanism comprises an elastic member, the elastic member is located between the driving mechanism and the chassis, and the elastic member is compressed.

8. The transport robot of claim 7, wherein, The suspension mechanism comprises a sliding block and a guide rail, the guide rail is fixed on the chassis, the guide rail extends along the second direction, the sliding block is arranged on the guide rail, and the driving mechanism is connected with the sliding block.

9. The transport robot of claim 8, wherein, The driving module further comprises a mounting seat, and the driving mechanism is fixed on the mounting seat. The suspension mechanism further comprises a guide shaft and an adjusting nut, the guide shaft is fixed on the chassis, the guide shaft passes through the mounting seat, the adjusting nut and the elastic member are sleeved on the guide shaft, one end of the elastic member abuts against the mounting seat, and the other end of the elastic member abuts against the adjusting nut.

10. The transport robot of claim 7, wherein, The number of the suspension mechanisms in the driving assembly is two, and the two suspension mechanisms are arranged on the two sides of the driving wheel in the first direction.

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