Transfer robot and power assisting device

Abstract

The utility model provides a carrying robot and a power assisting device. The carrying robot comprises a chassis assembly, a tray assembly, a shear fork assembly and a supporting part. The chassis assembly is configured to be supported on a working surface; the tray assembly is arranged above the chassis assembly and is configured to be used for bearing a container; the shear fork assembly is arranged between the chassis assembly and the tray assembly and is configured to drive the tray assembly to ascend or descend relative to the chassis assembly; the tray assembly is configured to be supported on the support portion when lowered to a predetermined height. The weight of the tray assembly and part of the weight of the goods above the tray assembly are shared by the supporting part, and the whole weight cannot be pressed on the shear fork assembly. In this way, the pressure of the shear fork assembly is relieved, and the service life of the shear fork assembly is prolonged. In addition, due to the fact that the supporting part bears part of weight, the driving force needed in the initial stage of upward lifting is small, and the power requirement for a driving mechanism is lowered.

Description

[0001] This application claims priority to the following Chinese patent applications filed on January 19, 2023, with application number 202310097556.6 entitled "Transporting Robot"; filed on January 19, 2023, with application number 202320181626.1 entitled "Transporting Robot"; filed on March 3, 2023, with application number 202320397956.4 entitled "Transporting Robot and Lifting Device"; filed on July 27, 2023, with application number 202322000066.8 entitled "Transporting Robot"; and filed on October 17, 2023, with application number 202322779739.4 entitled "Transporting Robot and Assistive Device", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of warehousing and logistics technology, and in particular to a handling robot and its assistive device. Background Technology

[0003] Currently, in the logistics and warehousing field, handling robots are commonly used for material handling. For example, during outbound operations, these robots need to remove target goods from shelves and transport them to the outbound location. Compared to manual handling, handling robots significantly improve the efficiency of inbound and outbound processes while saving considerable manpower. Handling robots come in various structural types, with scissor-lift mechanisms being particularly common. Scissor-lift mechanisms occupy less space when retracted and can achieve a large lifting stroke. In the logistics and warehousing field, using scissor-lift robots for material handling effectively improves the efficiency of inbound, outbound, and picking operations. Utility Model Content

[0004] This disclosure provides a handling robot and an assistive device to address the problems existing in the prior art.

[0005] According to a first aspect of this disclosure, a handling robot is provided, comprising:

[0006] A chassis assembly configured to be supported on a working surface;

[0007] A pallet assembly, disposed above the chassis assembly and configured to carry a container;

[0008] A scissor lift assembly, which is disposed between a chassis assembly and a pallet assembly and is configured to drive the pallet assembly to rise or fall relative to the chassis assembly;

[0009] The support portion, on which the tray assembly is configured to be supported when lowered to a predetermined height.

[0010] In one embodiment of this disclosure, drive wheels are provided on opposite sides of the chassis assembly, and the support portion is provided adjacent to the drive wheels.

[0011] In one embodiment of this disclosure, the support portion is disposed on the chassis assembly and configured to extend upward so that the pallet assembly is supported on the support portion when it descends to a predetermined height; or, the support portion is disposed on the pallet assembly and configured to extend downward so that the pallet assembly is supported on the chassis assembly by the support portion when it descends to a predetermined height.

[0012] In one embodiment of this disclosure, the support portion is a support component or an assist component.

[0013] In one embodiment of this disclosure, the support is an assist component disposed between the chassis assembly and the pallet assembly; the pallet assembly is configured to be controlled by a drive mechanism and move to an initial position against the elastic force of the assist component, and / or is configured to be controlled by a drive mechanism and move to a lifting position under the action of the elastic force provided by the assist component.

[0014] In one embodiment of this disclosure, the assist component is configured to always preload between the pallet assembly and the chassis assembly during the movement of the pallet assembly relative to the chassis assembly.

[0015] In one embodiment of this disclosure, the assist component is configured to pre-press between the pallet assembly and the chassis assembly after the pallet assembly has moved a predetermined distance from the lifting position to the initial position; and is configured to disengage from the chassis assembly or the pallet assembly after the pallet assembly has moved a predetermined distance from the initial position to the lifting position.

[0016] In one embodiment of this disclosure, the assist component is configured to extend vertically and includes a connecting portion and a movable portion pre-pressed on the connecting portion; the connecting portion is fixed to the chassis assembly, and the movable portion is configured to cooperate with the pallet assembly; or, the connecting portion is fixed to the pallet assembly, and the movable portion is configured to cooperate with the chassis assembly.

[0017] In one embodiment of this disclosure, a rolling part is provided between the chassis assembly and the movable part, and the chassis assembly is configured to roll with the movable part via the rolling part; when the pallet assembly shakes relative to the chassis assembly, the rolling part is configured to roll between the chassis assembly and the movable part;

[0018] Alternatively, a rolling part is provided between the pallet assembly and the movable part, and the pallet assembly is configured to roll in cooperation with the movable part through the rolling part; when the pallet assembly shakes relative to the chassis assembly, the rolling part is configured to roll between the pallet assembly and the movable part.

[0019] In one embodiment of this disclosure, the rolling part is a rolling shaft, and the rotation axis of the rolling shaft is perpendicular or parallel to the walking direction of the handling robot.

[0020] In one embodiment of this disclosure, the movable part of the assist component is provided with an arc surface, and the arc surface of the movable part is configured to abut against the chassis component or the tray component.

[0021] In one embodiment of this disclosure, the connecting portion includes a fixed seat and a guide rod extending vertically from the fixed seat; the movable portion is sleeved on the guide rod; an energy storage member is provided between the fixed seat and the movable portion, the energy storage member being configured to give the movable portion a tendency to move away from the fixed seat, so as to provide a vertically upward elastic force for the tray assembly.

[0022] In one embodiment of this disclosure, a through hole is provided at the abutment position of the tray assembly or chassis assembly; the diameter of the through hole is configured to be larger than the diameter of the guide rod and smaller than the diameter of the movable part.

[0023] In one embodiment of this disclosure, the connecting portion includes a fixed sleeve, and the movable portion is configured to be movably connected within the fixed sleeve; an energy storage member is disposed between the fixed sleeve and the movable portion, and the energy storage member is configured to give the movable portion an outward tendency to provide a vertically upward elastic force for the tray assembly.

[0024] In one embodiment of this disclosure, the movable part includes a slide rod and a bullseye bearing; the slide rod is configured to be slidably connected within the fixed sleeve and is configured to have an outward tendency under the action of the energy storage element; the bullseye bearing is configured to be detachably connected to the top end of the slide rod and is configured to abut against the chassis assembly or tray assembly.

[0025] In one embodiment of this disclosure, the energy storage element is a spring-type, gas-type, or hydraulic energy storage element.

[0026] In one embodiment of this disclosure, at least two assist components are provided, and the at least two assist components are provided on opposite sides of the chassis component and configured to cooperate with corresponding sides of the pallet component; or, at least two assist components are provided on opposite sides of the pallet component and configured to cooperate with corresponding sides of the chassis component.

[0027] In one embodiment of this disclosure, the force exerted by the pallet assembly on its own weight when it is unloaded is denoted as G1, and the maximum weight of the container that the pallet assembly can bear is denoted as G2; the maximum elastic force of the assist component when the pallet assembly is in its initial position is denoted as F, and the peak value of the driving force provided by the drive mechanism is denoted as Fp.

[0028] When F≤G1, Fp≥G1+G2-F.

[0029] In one embodiment of this disclosure, when G1 < F < G1 + G2 / 2, Fp ≥ G1 + G2 - F; when F = G1 + G2 / 2, Fp ≥ G2 / 2; and when F > G1 + G2 / 2, Fp ≥ F - G1.

[0030] In one embodiment of this disclosure, the chassis assembly includes a first chassis and a second chassis hinged to the first chassis; the first chassis and the second chassis are configured to be supported together on a working surface;

[0031] The scissor lift assembly includes at least a first scissor lift arm and a second scissor lift arm hinged together; the bottom of one of the first scissor lift arms and the second scissor lift arm is connected to the first chassis at a position away from the second chassis; the bottom of the other scissor lift arm is connected to the second chassis at a position away from the first chassis.

[0032] In one embodiment of this disclosure, the support portion is a support assembly configured to be disposed on the first chassis and configured to protrude from the end face of the first chassis; the tray assembly is configured to be supported on the support assembly when lowered to a predetermined height.

[0033] In one embodiment of this disclosure, drive wheels are provided on opposite sides of the chassis assembly, and the support assembly is configured to extend upward beyond the drive wheels.

[0034] In one embodiment of this disclosure, the support assembly is configured to be positioned on a first chassis adjacent to the drive wheel.

[0035] In one embodiment of this disclosure, the support is an assist component, and the tray assembly is configured to apply positive pressure to the position of the corresponding drive wheel on the chassis assembly through the assist component; the drive wheel is disposed on the first chassis, and the assist component is disposed on the first chassis, the second chassis, or on the tray assembly at a position adjacent to the drive wheel.

[0036] In one embodiment of this disclosure, the scissor lift assembly includes a drive device disposed between the first scissor lift arm and the second scissor lift arm, the drive device being configured to drive the second scissor lift arm to rotate relative to the first scissor lift arm.

[0037] In one embodiment of this disclosure, at least two first scissor arms and at least two second scissor arms are provided, the bottoms of the at least two first scissor arms are connected by a first rotating shaft, and the bottoms of the at least two second scissor arms are connected by a second rotating shaft; the driving device is disposed between the first rotating shaft and the second rotating shaft and is configured to drive the first rotating shaft and the second rotating shaft to move away from or towards each other.

[0038] In one embodiment of this disclosure, the first rotating shaft is configured to be hinged to a first bracket located on the end face of the first chassis; the second rotating shaft is guided to the second chassis and is configured to move along the second chassis under the drive of the driving device; or, the first rotating shaft is configured to be hinged to a first bracket located on the end face of the second chassis; the second rotating shaft is guided to the first chassis and is configured to move along the first chassis under the drive of the driving device.

[0039] In one embodiment of this disclosure, first rollers are provided at opposite ends of the second rotating shaft; a first guide block is provided on the first chassis or the second chassis, and the first guide block has a first guide groove for guiding and engaging with the first rollers;

[0040] Or,

[0041] The second rotating shaft is provided with first guide blocks at opposite ends, and the first guide blocks are provided with first guide grooves; a first roller is provided on the first chassis or the second chassis for cooperating with the first guide groove.

[0042] In one embodiment of this disclosure, the tops of at least two of the first scissor arms are connected by a third rotating shaft, and the tops of at least two of the second scissor arms are connected by a fourth rotating shaft.

[0043] One of the third and fourth rotating shafts is configured to be hinged to a third bracket located on the end face of the pallet assembly; the other rotating shaft has second rollers at opposite ends; a second guide block is provided on the pallet assembly, the second guide block having a second guide groove for guiding and engaging with the second roller; or the other rotating shaft has second guide blocks at opposite ends, the second guide blocks having a second guide groove; and a second roller is provided on the pallet assembly for engaging with the second guide groove.

[0044] In one embodiment of this disclosure, the body of the drive device is sleeved on a first rotating shaft and configured to rotate relative to the first rotating shaft; the output end of the drive device is connected to a second rotating shaft.

[0045] In one embodiment of this disclosure, an elastic device is provided between the second rotating shaft and the output end of the drive device, the elastic device being configured to cause the second rotating shaft to have a tendency to move in the direction of the first rotating shaft.

[0046] In one embodiment of this disclosure, the output end of the drive device is a ball screw, and a ball screw nut that cooperates with the ball screw is provided on the second rotating shaft; a stop portion is provided at one end of the ball screw that extends out of the ball screw nut; and the elastic device is provided between the stop portion and the ball screw nut.

[0047] In one embodiment of this disclosure, the elastic device is configured to be preloaded between the stop and the lead screw nut as the lead screw nut moves relative to the stop.

[0048] In one embodiment of this disclosure, the elastic device is configured to pre-press between the stop and the lead screw nut after the stop and the lead screw nut have moved a predetermined distance toward each other; or, after the stop and the lead screw nut have moved a predetermined distance away from each other, it disengages from the stop and / or the lead screw nut.

[0049] In one embodiment of this disclosure, the scissor lift assembly includes at least a third scissor lift arm and a fourth scissor lift arm hinged together; the third scissor lift arm is configured to be hinged to the first scissor lift arm via a fifth rotation axis; the fourth scissor lift arm is configured to be hinged to the second scissor lift arm via a sixth rotation axis; and further includes a drive device disposed between the fifth rotation axis and the sixth rotation axis, the drive device being configured to drive the fifth rotation axis and the sixth rotation axis to move away from or towards each other.

[0050] In one embodiment of this disclosure, the chassis assembly includes a first chassis and a second chassis hinged to the first chassis; the first chassis and the second chassis are configured to be supported together on a working surface;

[0051] The transport robot also includes a movable platform, one side of which is hinged to the second chassis and the other side is movably connected to the first chassis; the scissor lift assembly is disposed between the movable platform and the pallet assembly and is configured to drive the pallet assembly to rise or fall relative to the chassis assembly.

[0052] In one embodiment of this disclosure, the scissor lift assembly includes at least a first scissor lift arm and a second scissor lift arm hinged together; the bottom of one of the first scissor lift arms and the second scissor lift arm is hinged to one side of the movable platform, and the bottom of the other is slidably connected to the other side of the movable platform.

[0053] In one embodiment of this disclosure, the tray assembly includes a tray body and at least two comb teeth spaced apart on the tray body; the bottom of the tray body and the comb teeth are provided with a space for accommodating the scissor fork assembly; the top of the scissor fork assembly is configured to penetrate the tray body and is configured to be connected to the sidewall of the comb teeth.

[0054] In one embodiment of this disclosure, the support is disposed on a movable platform or on a pallet assembly adjacent to the drive wheel, and the pallet assembly is configured to apply positive pressure to the position of the corresponding drive wheel on the chassis assembly in sequence through the support and the movable platform.

[0055] In one embodiment of this disclosure, the support is disposed on a first chassis, a second chassis, or a pallet assembly at a position adjacent to the drive wheel, and is configured to extend through the movable platform.

[0056] According to a second aspect of this disclosure, a handling robot is provided, comprising:

[0057] A chassis assembly configured to be supported on a working surface; the chassis assembly includes a first chassis and a second chassis hinged to the first chassis; the first chassis and the second chassis are configured to be supported together on the working surface;

[0058] A pallet assembly, disposed above the chassis assembly and configured to carry a container;

[0059] A scissor lift assembly configured to be controlled by a drive mechanism to move the pallet assembly in the height direction between an initial position and a raised position;

[0060] The movable platform has one side hinged to the second chassis and the other side movably connected to the first chassis; the scissor lift assembly is disposed between the movable platform and the pallet assembly and is configured to drive the pallet assembly to rise or fall relative to the chassis assembly.

[0061] In one embodiment of this disclosure, a support portion is further included, which is disposed on the chassis assembly and configured to extend upward so that the pallet assembly is configured to be supported on the support portion when it is lowered to a predetermined height;

[0062] Alternatively, the support portion is disposed on the pallet assembly and configured to extend downward so that the pallet assembly is configured to be supported on the chassis assembly by the support portion when lowered to a predetermined height.

[0063] According to a third aspect of this disclosure, an assistive device is provided, comprising:

[0064] Connecting part;

[0065] The movable part is configured to be pre-pressed onto the connecting part by an energy storage element; the movable part includes a slide rod and a bullseye bearing; the slide rod is configured to be slidably connected to the connecting part, and the bullseye bearing is configured to be detachably connected to the free end of the slide rod.

[0066] In one embodiment of this disclosure, the connecting part includes a fixed seat and a fixed sleeve, the fixed sleeve being threadedly connected to the fixed seat; the slide rod is configured to be slidably connected inside the fixed sleeve and is configured to have an outward tendency under the action of the energy storage element;

[0067] The bottom end of the slide rod is constructed as a protrusion, and a sealing member is provided at the upper opening of the fixed sleeve. When the slide rod moves to the highest position, the sealing member is constructed to abut against the protrusion.

[0068] In one embodiment of this disclosure, the bullseye bearing includes a bearing body and a top abutment. The bearing body is detachably connected to the top end of the slide rod via a thread. The top abutment is configured to press between the bearing body and the slide rod. The energy storage element is configured to be pre-pressed between the lower end face of the top abutment and the upper end face of the fixed seat.

[0069] According to a fourth aspect of this disclosure, a handling robot is provided, comprising:

[0070] A chassis assembly configured to be supported on a working surface;

[0071] A pallet assembly, the pallet assembly being disposed above the chassis assembly;

[0072] A scissor lift assembly, comprising at least a first link assembly and a second link assembly hinged between the chassis assembly and the tray assembly and arranged alternately, and at least two linkages hinged to the first link assembly and the second link assembly and forming a quadrilateral structure, the tray assembly being configured to move relative to the chassis assembly in the height direction under the constraint of the quadrilateral structure.

[0073] In one embodiment of this disclosure, the first linkage assembly includes a first link and a second link connected by a first pivot, the first link being hinged to the tray assembly and the second link being hinged to the chassis assembly;

[0074] The second linkage assembly includes a third linkage and a fourth linkage connected by a second pivot. The third linkage is hinged to the tray assembly, and the fourth linkage is hinged to the chassis assembly.

[0075] The first link and the third link are staggered, and the second link and the fourth link are staggered.

[0076] In one embodiment of this disclosure, the first link, the fourth link, and at least two linkages constitute the quadrilateral structure; or, the second link, the third link, and at least two linkages constitute the quadrilateral structure.

[0077] In one embodiment of this disclosure, the connections between the first link assembly, the second link assembly, and the tray assembly are spaced apart; the connections between the first link assembly, the second link assembly, and the chassis assembly are also spaced apart.

[0078] In one embodiment of this disclosure, the linkage includes a first linkage and a second linkage; one end of the first linkage is hinged to a first connecting rod, and the other end is hinged to a second rotating shaft; one end of the second linkage is hinged to a fourth connecting rod, and the other end is hinged to the first rotating shaft.

[0079] In one embodiment of this disclosure, one end of the first linkage rod is hinged between the two ends of the first connecting rod, and the second linkage rod is hinged between the two ends of the fourth connecting rod.

[0080] In one embodiment of this disclosure, the quadrilateral structure is a parallelogram.

[0081] In one embodiment of this disclosure, a first link assembly, a second link assembly, and at least two linkages constituting the same quadrilateral structure are used as a link unit. At least two link units are provided between the chassis assembly and the tray assembly. The at least two link units are connected by a connecting shaft and move synchronously.

[0082] In one embodiment of this disclosure, the chassis assembly is provided with a first bracket and a second bracket, the first linkage assembly is connected to the first bracket via a third pivot, and the second linkage assembly is connected to the second bracket via a fourth pivot; the pallet assembly is provided with a third bracket and a fourth bracket, the first linkage assembly is connected to the third bracket via a fifth pivot, and the second linkage assembly is connected to the fourth bracket via a sixth pivot.

[0083] In one embodiment of this disclosure, a drive assembly disposed on the chassis assembly or the pallet assembly is further included, the drive assembly being configured to drive the first link assembly to rotate relative to the chassis assembly or the pallet assembly, or to drive the second link assembly to rotate relative to the chassis assembly or the pallet assembly.

[0084] In one embodiment of this disclosure, the drive assembly includes a first drive rod and a second drive rod hinged together, and a rotary motor fixed to the chassis assembly or the tray assembly. The second drive rod is hinged to the first link assembly or the second link assembly. The rotary motor is configured to drive the first drive rod to rotate and drive the first link assembly or the second link assembly to rotate via the second drive rod.

[0085] In one embodiment of this disclosure, the drive assembly includes a linear driver, the body of which is hinged to the chassis assembly or the tray assembly, and the output end is hinged to a first link assembly or a second link assembly.

[0086] In one embodiment of this disclosure, the chassis assembly includes a first chassis and a second chassis hinged to the first chassis, the first linkage assembly being hinged to the first chassis and the second linkage assembly being hinged to the second chassis.

[0087] In one embodiment of this disclosure, the drive assembly is disposed on the first chassis and configured to drive the second linkage assembly to rotate relative to the second chassis;

[0088] And / or,

[0089] The drive assembly is mounted on the second chassis and configured to drive the first linkage assembly to rotate relative to the first chassis.

[0090] One beneficial effect of this disclosure is that by incorporating a support section and resting the pallet assembly on it when lowered to a predetermined height, a portion of the weight of the pallet assembly and the goods above it is distributed to the support section, preventing the entire weight from resting on the scissor lift assembly. This reduces stress on the scissor lift assembly and extends its lifespan. Furthermore, because the support section bears part of the weight, less driving force is required during the initial upward lifting phase, thereby reducing the power requirements of the drive mechanism. Attached Figure Description

[0091] Figure 1 This is a schematic diagram of the handling robot provided in this disclosure in Embodiment 1;

[0092] Figure 2 This is a schematic diagram of the chassis assembly provided in this disclosure in Embodiment 1;

[0093] Figure 3 This is a structural schematic diagram of the handling robot provided in this disclosure from another angle in Embodiment 1;

[0094] Figure 4 This is a schematic diagram of the scissor lift assembly provided in this disclosure in Embodiment 1;

[0095] Figure 5 This is a schematic diagram of the scissor lift assembly provided in this disclosure in Embodiment 2;

[0096] Figure 6 yes Figure 5 A diagram from another angle;

[0097] Figure 7 This is a schematic diagram of the lifting position of the publicly disclosed handling robot;

[0098] Figure 8 This is a structural diagram of the publicly disclosed transport robot in its initial position;

[0099] Figure 9 This is a schematic diagram of the scissor lift assembly in the lifting position.

[0100] Figure 10 This is a schematic diagram of the structure of the material handling robot after the comb teeth are hidden in the initial position;

[0101] Figure 11 This is a partial enlarged view of the through hole in the tray assembly disclosed herein;

[0102] Figure 12 This is a schematic diagram of the structure of the first type of assistive component disclosed herein;

[0103] Figure 13 This is a cross-sectional view of the first type of assistive component disclosed herein;

[0104] Figure 14 This is a schematic diagram of the structure of the second type of assistive component disclosed herein;

[0105] Figure 15 This is a cross-sectional view of the second type of assistive component disclosed herein;

[0106] Figure 16 This is a structural schematic diagram of the first and second chassis disclosed herein;

[0107] Figure 17 This is a cross-sectional view of the third type of assistive component disclosed herein;

[0108] Figure 18 This is a schematic diagram of the transport robot in its initial position according to another embodiment of this disclosure;

[0109] Figure 19 This is an exploded view of the transport robot according to another embodiment of this disclosure;

[0110] Figure 20 This is a schematic diagram of the structure of the handling robot after the comb teeth are hidden in another embodiment of this disclosure;

[0111] Figure 21This is a schematic diagram of the overall structure of a handling robot provided in one embodiment of the present disclosure;

[0112] Figure 22 This is a schematic diagram of the structure of the scissor assembly and the drive assembly provided in an embodiment of this disclosure;

[0113] Figure 23 This is a schematic diagram of the overall structure of another handling robot provided in one embodiment of the present disclosure;

[0114] Figure 24 This is a schematic diagram of the overall structure of a chassis assembly provided in one embodiment of this disclosure.

[0115] Figures 1 to 24 The one-to-one correspondence between the component names and the reference numerals in the figures is as follows:

[0116] 1. Chassis assembly; 11. First chassis; 113. Hinge; 12. Second chassis; 13. First guide groove; 14. Support assembly; 15. Drive wheel; 16. First bracket; 161. Hinge hole; 17. First guide block; 18. Caster wheel; 19. Second guide block; 191. Second guide groove; 140. Second bracket; 170. Walking drive device; 2. Pallet assembly; 21. Third bracket; 22. Fourth bracket; 210. Through opening 220. Through hole; 23. Rolling part; 24. Comb teeth; 25. Baffle; 26. Pallet body; 3. Scissor fork assembly; 31. Fourth scissor fork arm; 32. Third scissor fork arm; 33. Second scissor fork arm; 34. First scissor fork arm; 35. Drive mechanism; 310. First link assembly; 311. First link; 312. Second link; 320. Second link assembly; 321. Third link; 322. Fourth link; 330. Linkage rod; 331 331. First linkage rod; 332. Second linkage rod; 301. First rotating shaft; 302. Second rotating shaft; 303. Third rotating shaft; 304. Fourth rotating shaft; 305. Fifth rotating shaft; 306. Sixth rotating shaft; 307. Seventh rotating shaft; 3023. First rotating shaft; 3231. Third rotating shaft; 3024. Second rotating shaft; 3241. Fourth rotating shaft; 3025. First roller; 3251. Second roller; 3026. Elastic device; 3 029. Fifth rotating shaft; 3030. Sixth rotating shaft; 4. Power assist assembly; 41. Fixed seat; 42. Guide rod; 421. Limiting component; 43. Moving part; 44. Energy storage component; 45. Fixed sleeve; 451. Sealing component; 46. Bullseye bearing; 461. Bearing body; 462. Top abutment component; 47. Slide rod; 471. Protrusion; 5. Moving platform; 6. Drive device; 61. Roller screw; 62. Screw nut; 63. Stop part. Detailed Implementation

[0117] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present disclosure.

[0118] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use.

[0119] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0120] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0121] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0122] In this article, terms such as "up," "down," "front," "back," "left," and "right" are used only to indicate the relative positional relationship between related parts, rather than to define the absolute position of these related parts.

[0123] In this article, "first," "second," etc., are used only to distinguish one another, and not to indicate degree of importance, order, or prerequisite for each other.

[0124] In this document, terms such as “equal” and “same” are not strict mathematical and / or geometric limitations, but also include errors that are understandable to those skilled in the art and permissible in manufacturing or use.

[0125] Unless otherwise stated, the numerical ranges in this document include not only the entire range within its two endpoints, but also the subranges contained therein.

[0126] This disclosure provides a handling robot, which can be used in the warehousing field. This robot can transfer target containers within a storage area, such as between different carriers, between different storage locations within the same carrier, or between a carrier and other locations. Of course, the handling robot of this disclosure can also be used in other application scenarios, such as shopping malls, hotels, workshops, and other scenarios familiar to those skilled in the art that require handling and transfer; these will not be specifically described herein.

[0127] The handling robot includes a chassis assembly, a pallet assembly, a scissor lift assembly, and a support unit. The chassis assembly is configured to support the robot on a working surface. The chassis assembly also enables the handling robot to move on the working surface. The chassis assembly may be equipped with drive wheels and / or casters that work in conjunction with the drive wheels. The drive wheels and casters work together to propel the handling robot to move and turn on the working surface, facilitating subsequent transfer of containers.

[0128] A pallet assembly is positioned above the chassis assembly and configured to carry containers. The containers can be those used in logistics and warehousing for loading goods and merchandise, including but not limited to bins, cartons, and packaging boxes; this disclosure does not limit the type or shape of the containers. A scissor lift assembly is positioned between the chassis assembly and the pallet assembly and configured to raise or lower the pallet assembly relative to the chassis assembly to lift or lower containers carried on top of the pallet assembly.

[0129] In practical applications, the pallet assembly will remain in a low position for extended periods, with the weight of the pallet assembly and container entirely distributed across the scissor lift assembly and chassis assembly. Lifting from this low position requires significant driving force because the angle between the scissor arms in the low position is very small, necessitating a large lifting force to initiate the scissor lift assembly's movement towards the lifting position. To prevent the scissor lift assembly from bearing the entire weight, the weight of the pallet assembly and container needs to be distributed. Therefore, the handling robot provided in this disclosure is equipped with a support section. The pallet assembly is configured to rest on the support section when lowered to a predetermined height.

[0130] This disclosure distributes some of the weight of the pallet assembly and the goods above it to the support by incorporating a support section, allowing the pallet assembly to rest on the support section when lowered to a predetermined height, rather than placing the entire weight on the scissor lift assembly. This reduces stress on the scissor lift assembly and extends its lifespan. Furthermore, because the support section bears part of the weight, less driving force is required during the initial upward lifting phase, thus reducing the power requirements of the drive mechanism.

[0131] In one embodiment of this disclosure, drive wheels are provided on opposite sides of the chassis assembly, and a support portion is positioned adjacent to the drive wheels. The handling robot can move on the ground using at least two drive wheels located on both sides of the chassis assembly. When transporting containers, the center of gravity of the handling robot may shift, resulting in unstable movement. Therefore, in this embodiment, the support portion is positioned adjacent to the drive wheels, allowing the pallet assembly to apply positive pressure to the corresponding drive wheels of the chassis assembly via the support portion. This ensures that the drive wheels are in closer contact with the ground, thereby making the handling robot move more smoothly.

[0132] In one embodiment of this disclosure, a support portion is disposed on the chassis assembly and configured to extend upward so that the pallet assembly is supported on the support portion when descending to a predetermined height; alternatively, the support portion is disposed on the pallet assembly and configured to extend downward so that the pallet assembly is supported on the chassis assembly by the support portion when descending to a predetermined height. The support portion may be mounted on the upper surface of the chassis assembly to support the pallet assembly upward. The support portion may also be mounted on the lower surface of the pallet assembly and extend downward to abut against the upper surface of the chassis assembly during descent.

[0133] Specifically, in most application scenarios, to accommodate larger containers, the load-bearing area of ​​the pallet assembly is set to exceed the area of ​​the chassis assembly. When the upward extension of the support portion does not exceed the height of the drive wheel, the pallet assembly will first abut against the drive wheel during descent, failing to support itself on the support portion. To solve this problem, abutment structure extending opposite to the support portion can be provided on the side without the support portion. When the support portion is on the chassis assembly, the abutment structure is located on the lower surface of the pallet assembly; when the support portion is on the pallet assembly, the abutment structure is located on the upper surface of the chassis assembly. The abutment structure can be positioned corresponding to the support portion, ensuring that the pallet assembly can be supported on the support portion without contacting the drive wheel. In another embodiment, the upward extension length of the support portion can be further limited. When the support portion is on the chassis assembly, it extends upward beyond the height of the drive wheel; when the support portion is on the pallet assembly, its downward extension length is configured to be greater than the length of the portion of the drive wheel above the chassis assembly, ensuring that the bottom surface of the pallet assembly can directly support itself on the support portion when descending to a predetermined height.

[0134] In one embodiment of this disclosure, the support portion is a support component or an assist component. The support component can be a rigid support block, and the assist component can be an elastic assist device. The rigid support component fulfills the basic function of the support portion, while the elastic assist component, in addition to distributing weight, also provides assistance. Specifically, the assist component may include an energy-storing elastic device. When the pallet assembly moves downwards to rest on the assist component, the elastic device can be compressed, thereby storing energy. The stored energy can be released when the pallet assembly moves upwards again. The assist component provides an upward elastic force to the pallet assembly, thereby reducing the lifting force and driving force required for the scissor lift assembly to lift upwards, and lowering the power requirements of the drive mechanism.

[0135] Example 1

[0136] refer to Figure 1 and Figure 2 The handling robot disclosed herein includes a chassis assembly 1, a scissor lift assembly 3, and a pallet assembly 2.

[0137] The chassis assembly 1 supports the entire transport robot on the working surface, and has a certain length and width between it and the ground to ensure the stability of its movement. Drive wheels 15 can be installed on the chassis assembly 1, which contact the working surface and drive the chassis assembly 1 to move on the working surface.

[0138] Specifically, the chassis assembly 1 includes a first chassis 11 and a second chassis 12, with the second chassis 12 hinged to the first chassis 11. The first chassis 11 and the second chassis 12 are configured to be supported together on the working surface.

[0139] For example, refer to Figure 2 The second chassis 12 can be connected to the first chassis via hinges 113. The second chassis 12 can rotate relative to the first chassis 11 around the hinges 113. There can be two hinges 113 arranged at intervals and in parallel to ensure the stability of the relative rotation between the second chassis 12 and the first chassis 11.

[0140] When the transport robot is working, it moves along a predetermined path or direction. When the robot enters a sloping work surface or crosses an obstacle, the second chassis 12 of the chassis assembly 1 will adaptively deflect relative to the first chassis 11 due to the change in the slope of the work surface, for example, by referring to... Figure 1 When the second chassis 12 travels to a working surface with an upward slope, it will rotate clockwise relative to the first chassis 11 around the hinge point of the first chassis 11 to adapt to the upward slope. Similarly, when the second chassis 12 travels to a working surface with a downward slope, it will rotate counterclockwise relative to the first chassis 11 around the hinge point to adapt to the downward slope. In these situations, the second chassis 12 will adaptively rotate according to the slope of the working surface to prevent direct entry into the sloping working surface and the resulting severe bumps. This prevents the containers carried by the handling robot from falling off due to bumps, thus improving the stability of the handling robot in transporting goods.

[0141] The scissor lift assembly 3 is configured to be mounted on the chassis assembly 1 and to move along the extension direction of the first chassis 11 and the second chassis 12 of the chassis assembly 1 to increase or decrease the dimension of the scissor lift assembly 3 in the height direction.

[0142] Specifically, the scissor fork assembly 3 includes at least a first scissor fork arm 34 and a second scissor fork arm 33 hinged together. The top and bottom of the first scissor fork arm 34 and the second scissor fork arm 33 increase or decrease the size of the scissor fork assembly 3 in the height direction by moving closer or further apart from each other.

[0143] The bottom of one of the first scissor arms 34 and the second scissor arm 33 is connected to the first chassis 11, and the bottom of the other is connected to the second chassis 12. For example, the bottom of the first scissor arm 34 is connected to the first chassis 11, and the bottom of the second scissor arm 33 is connected to the second chassis 12. The bottoms of the first scissor arm 34 and the second scissor arm 33 are close to or far from each other along the extending direction of the first chassis 11 and the second chassis 12.

[0144] The pallet assembly 2 is located on top of the scissor assembly 3. That is, the tops of the first scissor arm 34 and the second scissor arm 33 are connected to the pallet assembly 2. The pallet assembly 2 is configured to rise or fall relative to the chassis assembly 1 under the movement of the scissor assembly 3.

[0145] For example, when the top and bottom of the first scissor arm 34 and the second scissor arm 33 move away from each other, the dimension of the scissor assembly 3 increases in the height direction. Since the chassis assembly 1 is always in contact with the working surface, the pallet assembly 2 will rise in the height direction under the drive of the first scissor arm 34 and the second scissor arm 33.

[0146] Similarly, when the tops and bottoms of the first scissor arms 34 and the second scissor arms 33 approach each other, the dimension of the scissor assembly 3 decreases in the height direction, and the pallet assembly 2 descends in the height direction under the action of the first scissor arms 34 and the second scissor arms 33. The pallet assembly 2 can be used to carry containers or vehicles, and can also move to a designated position in cooperation with the chassis assembly 1, and cooperate with the scissor assembly 3 to complete the lifting action, lifting the container or vehicle to the corresponding storage position for removal or storage. Compared with the complex lifting structures in the prior art, the scissor assembly structure selected in this disclosure is simple, easy to install and maintain, and also reduces costs.

[0147] refer to Figure 3 In one embodiment of this disclosure, the scissor lift assembly 3 includes a drive device 6 disposed between a first scissor lift arm 34 and a second scissor lift arm 33, the drive device 6 being configured to drive the second scissor lift arm 33 to rotate relative to the first scissor lift arm 34.

[0148] For example, referring to the view direction, with the hinge of the first scissor arm 34 and the second scissor arm 33 as the rotation center, when the drive device 6 drives the second scissor arm 33 to rotate clockwise relative to the first scissor arm 34 around the rotation center, the dimension of the scissor assembly 3 in the height direction decreases. Since the chassis assembly 1 is always in contact with the working surface, the pallet assembly 2 will move towards the chassis assembly 1 under the drive of the scissor assembly 3, so that the height of the pallet assembly 2 decreases relative to the working surface.

[0149] Similarly, when the drive device 6 drives the second scissor arm 33 to move counterclockwise relative to the first scissor arm 34 around the rotation center, the dimension of the scissor assembly 3 in the height direction increases, and the pallet assembly 2 will move away from the chassis assembly 1 under the drive of the scissor assembly 3, so that the height of the pallet assembly 2 rises relative to the working surface.

[0150] The drive unit 6 is positioned between the first scissor arm 34 and the second scissor arm 33, which makes the structure more compact. There is no need to leave space outside the first scissor arm 34 and the second scissor arm 33 to install the drive unit, which improves the utilization rate of the internal space of the handling robot. The space saved can be flexibly set up with other components.

[0151] refer to Figure 1 and Figure 4 In one embodiment of this disclosure, two first scissor arms 34 and two second scissor arms 33 are provided.

[0152] For example, two first scissor arms 34 and second scissor arms 33 are spaced apart and parallel to each other on the chassis assembly 1. The first scissor arms 34 and second scissor arms 33 are hinged together. That is to say, there are two sets of first scissor arms 34 and second scissor arms 33 hinged together. Their movement relationship and function are the same as those of the first scissor arms 34 and second scissor arms 33 in the previous embodiment, and will not be described again here.

[0153] Continue to refer to Figure 1 and Figure 3 In this embodiment, the bottoms of at least two first scissor arms 34 are connected by a first rotating shaft 3023, which enables the bottoms of the at least two first scissor arms 34 to move synchronously. Similarly, the bottoms of at least two second scissor arms 33 are connected by a second rotating shaft 3024. Likewise, the bottoms of at least two second scissor arms 33 can move synchronously via the second rotating shaft 3024. A driving device 6 is disposed between the first rotating shaft 3023 and the second rotating shaft 3024, and is configured to drive the first rotating shaft 3023 and the second rotating shaft 3024 to move in a manner that moves them apart or closer to each other.

[0154] For example, when the output end of the drive device 6 drives the first rotating shaft 3023 and the second rotating shaft 3024 to move away from each other, the bottoms of the two first scissor arms 34 connected to the first rotating shaft 3023 and the bottoms of the two second scissor arms 33 connected to the second rotating shaft 3024 will move synchronously away from each other, so that the height dimension of the scissor assembly 3 is reduced, and the pallet assembly moves in the downward direction.

[0155] When the output end of the drive device 6 drives the first rotating shaft 3023 and the second rotating shaft 3024 to move closer to each other, the bottoms of the two first scissor arms 34 connected to the first rotating shaft 3023 and the bottoms of the two second scissor arms 33 connected to the second rotating shaft 3024 will move synchronously closer to each other, thereby increasing the height of the scissor assembly 3 and causing the pallet assembly to move upward.

[0156] Since the scissor lift assembly 3 is mainly composed of two first scissor arms 34 and two second scissor arms 33, the two first scissor arms 34 and the two second scissor arms 33 can share the pressure at the top and bottom, thereby increasing the load-bearing capacity of the scissor lift assembly 3.

[0157] This embodiment illustrates the example of two first scissor arms 34 cooperating with a first rotating shaft 3023, and two second scissor arms 33 cooperating with a second rotating shaft 3024. In practical applications, the first rotating shaft 3023 can connect to more first scissor arms, and the second rotating shaft can connect to more second scissor arms. Multiple first scissor arms and second scissor arms cooperate in pairs to share the pressure from the top and bottom of the scissor assembly 3, thereby improving the load-bearing capacity of the scissor assembly 3. These examples will not be listed here.

[0158] refer to Figure 1 and Figure 4 In one embodiment of this disclosure, the first rotating shaft 3023 is configured to be hinged to a first bracket 16 located on the end face of the first chassis 11. The first bracket 16 has a through hole allowing the first rotating shaft 3023 to pass through, and the first rotating shaft 3023 can rotate within the through hole. The second rotating shaft 3024 is configured to guide and engage with the second chassis 12, and is configured to move along the second chassis 12 under the drive of the drive device 6. The second rotating shaft 3024 can move horizontally along the extension direction of the second chassis 12 towards or away from the first rotating shaft 3023 under the drive of the drive device 6.

[0159] For example, the second rotating shaft 3024 moves away from the first rotating shaft 3023 along the extension direction of the second chassis 12 under the drive of the drive device 6. The bottoms of the two second scissor arms 33 move synchronously with the second rotating shaft 3024. The first scissor arm 34 and the second scissor arm 33 move closer to each other in the height direction, so that the size of the scissor assembly 3 in the height direction is reduced. The pallet assembly 2 moves closer to the chassis assembly 1 under the drive of the scissor assembly 3.

[0160] Driven by the drive device 6, the second rotating shaft 3024 moves along the extension direction of the second chassis 12 toward the direction close to the first rotating shaft 3023. The bottoms of the two second scissor arms 33 move synchronously with the second rotating shaft 3024. The first scissor arm 34 and the second scissor arm 33 move away from each other in the height direction, which increases the size of the scissor assembly 3 in the height direction. The pallet assembly 2 moves away from the chassis assembly 1 under the drive of the scissor assembly 3.

[0161] In another embodiment of this disclosure, the first rotating shaft 3023 may be configured to be hinged to a first bracket located on the end face of the second chassis 12. The first bracket has a through hole allowing the first rotating shaft 3023 to pass through, and the first rotating shaft 3023 can rotate within the through hole. The second rotating shaft 3024 may be configured to guide and engage with the first chassis 11, and is configured to move along the first chassis 11 under the drive of the drive device 6. The second rotating shaft 3024 may move horizontally along the extension direction of the first chassis 11 towards or away from the first rotating shaft 3023 under the drive of the drive device 6.

[0162] For example, the second rotating shaft 3024 moves away from the first rotating shaft 3023 along the extension direction of the first chassis 11 under the drive of the drive device 6. The bottoms of the two second scissor arms 33 move synchronously with the second rotating shaft 3024. The first scissor arm 34 and the second scissor arm 33 move closer to each other in the height direction, so that the size of the scissor assembly 3 in the height direction is reduced. The pallet assembly 2 moves closer to the chassis assembly 1 under the drive of the scissor assembly 3.

[0163] Driven by the drive device 6, the second rotating shaft 3024 moves along the extension direction of the first chassis 11 toward the direction close to the first rotating shaft 3023. The bottoms of the two second scissor arms 33 move synchronously with the second rotating shaft 3024. The first scissor arms 34 and the second scissor arms 33 move away from each other in the height direction, which increases the size of the scissor assembly 3 in the height direction. The pallet assembly 2 moves away from the chassis assembly 1 under the drive of the scissor assembly 3.

[0164] The difference between this embodiment and the previous embodiment lies in the cooperation relationship between the first rotating shaft 3023 and the second rotating shaft 3024 and the first chassis and the second chassis. That is, one of the first rotating shaft 3023 and the second rotating shaft 3024 is hinged to the first chassis 11, and the other is guided to the second chassis 12. Both of the above embodiments can realize the change of the scissor assembly 3 in the height direction, and drive the pallet assembly 2 to move closer to or away from the chassis assembly 1 through the scissor assembly 3, so as to realize the lifting function of the handling robot.

[0165] refer to Figure 1 and Figure 4In one embodiment of this disclosure, first rollers 3025 are provided at opposite ends of the second rotating shaft 3024, and first guide blocks 17 are provided on the first chassis 11 or the second chassis 12. The first guide blocks 17 have first guide grooves 13 for cooperating with the first rollers 3025. There may be two first guide blocks 17, and correspondingly, there may be two first guide grooves 13. The two first guide grooves 13 have the same structure and their openings face each other.

[0166] For example, when the second rotating shaft 3024 moves toward or away from the first rotating shaft 3023 under the drive of the drive device 6, the second rotating shaft 3024 can move along the extension direction of the corresponding first guide groove 13 through the first rollers 3025 set at opposite ends. The first guide groove 13 plays a guiding role in the movement of the first rollers 3025, and thus plays a guiding role in the movement of the second rotating shaft 3024 and the second scissor arm 33.

[0167] In another embodiment of this disclosure, first guide blocks are provided at opposite ends of the second rotating shaft 3024, and the first guide blocks are provided with first guide grooves. First rollers for cooperating with the first guide grooves are provided on the first chassis 11 or the second chassis 12. There may be two first rollers, and the two first rollers have the same structure and are located on the same rotation axis.

[0168] For example, when the second rotating shaft 3024 moves towards or away from the first rotating shaft 3023 under the drive of the drive device 6, the second rotating shaft 3024 can move along the rotation direction of its corresponding first rollers through the first guide grooves provided at its two ends. The first rollers guide the movement of the first guide grooves, thereby guiding the movement of the second rotating shaft 3024 and the second scissor arm 33. In this embodiment, the first rollers and first guide grooves can be constructed to be exactly the same as the first roller 3025 and first guide groove 13 in the previous embodiment, except for the change in their positions, but the functions are exactly the same.

[0169] refer to Figure 1 and Figure 4 In one embodiment of this disclosure, the tops of at least two first scissor arms 34 are connected by a third rotating shaft 3231, and the tops of at least two second scissor arms 33 are connected by a fourth rotating shaft 3241. The third rotating shaft 3231 and the fourth rotating shaft 3241 may have the same shape as the first rotating shaft 3023 and the second rotating shaft 3024.

[0170] One of the third rotating shaft 3231 and the fourth rotating shaft 3241 is configured to be hinged to the third bracket 21 located on the end face of the pallet assembly 2; the other rotating shaft is provided with second rollers 3251 at opposite ends; a second guide block 19 is provided on the pallet assembly 2, and the second guide block 19 has a second guide groove 191 for guiding and engaging with the second roller 3251; or the other rotating shaft is provided with second guide blocks 19 at opposite ends, and the second guide blocks 19 have a second guide groove 191; the pallet assembly 2 is provided with second rollers 3251 for engaging with the second guide groove 191.

[0171] For details, please refer to Figure 4 In one embodiment of this disclosure, the fourth rotating shaft 3241 is configured to be hinged to the third bracket 21 located on the end face of the tray assembly 2. The third bracket 21 has a through hole allowing the fourth rotating shaft 3241 to pass through, and the fourth rotating shaft 3241 can rotate within the through hole. Second rollers 3251 are provided at opposite ends of the third rotating shaft 3241. The tray assembly 2 is provided with a second guide block 19. The second guide block 19 has a second guide groove 191 for cooperating with the second roller 3251. There can be two second guide grooves 191, and the two guide grooves 191 have the same structure and their openings face each other. The shape and size of the first guide block 17 and the second guide block 19 can be set according to the internal structure between the chassis assembly 1 and the tray assembly 2, respectively. The shape of the first guide groove 13 and the second guide groove 191 can also be reasonably set according to the shape and size of their respective guide blocks. This disclosure does not limit this.

[0172] In another embodiment of this disclosure, the third rotating shaft 3231 is configured to be hinged to a third bracket 21 located on the end face of the tray assembly 2. The third bracket 21 has a through hole allowing the third rotating shaft 3231 to pass through, and the third rotating shaft 3231 can rotate within the through hole. Second rollers are provided at opposite ends of the fourth rotating shaft 3241. A second guide block is provided on the tray assembly 2. The second guide block has a second guide groove for cooperating with the second roller. There can be two second guide grooves, and the two guide grooves have identical structures and their openings face each other.

[0173] refer to Figure 1 and Figure 4 In one embodiment of this disclosure, the body of the drive device 6 is sleeved on the first rotating shaft 3023 and is configured to rotate relative to the first rotating shaft 3023. The output end of the drive device 6 is connected to the second rotating shaft 3024. Since the first rotating shaft rotates when the second rotating shaft 3024 moves relative to the first rotating shaft 3023, the body of the drive device 6 needs to be sleeved on the first rotating shaft 3023 in order to adapt the drive device 6 to the rotation of the first rotating shaft 3023.

[0174] For example, refer to Figure 1 In the view direction, when the drive device 6 drives the second rotating shaft 3024 to move away from the first rotating shaft 3023 via its output end, the first scissor arm 34 and the second scissor arm 33 approach each other in the height direction, and the first scissor arm 34 rotates counterclockwise relative to the second scissor arm. Since the bottoms of the two first scissor arms 34 are hinged to the first chassis 11 via the first rotating shaft 3023, the two first scissor arms 34 will jointly drive the first rotating shaft 3023 to rotate counterclockwise. Since the body of the drive device 6 is rotatably connected to the first rotating shaft 3023, and the output end of the drive device 6 does not rotate, the body of the drive device 6 will remain relatively stationary.

[0175] In other words, during the counterclockwise rotation of the first rotating shaft 3023 relative to the first chassis 11, it will also rotate counterclockwise relative to the drive device 6, so that the drive device 6 adapts to the rotation of the first rotating shaft 3023. When the drive device 6 drives the second rotating shaft 3024 to move closer to the first rotating shaft 3023 through the output end, the first scissor arm 34 and the second scissor arm 33 move away from each other in the height direction, and the first scissor arm 34 will rotate clockwise relative to the second scissor arm.

[0176] Since the bottoms of the two first scissor arms 34 are hinged to the first chassis 11 via the first rotating shaft 3023, the two first scissor arms 34 will jointly drive the first rotating shaft 3023 to rotate clockwise. Since the body of the drive device 6 is rotatably connected to the first rotating shaft 3023 and the output end of the drive device 6 does not rotate, the body of the drive device 6 will remain relatively stationary. In other words, during the clockwise rotation of the first rotating shaft 3023 relative to the first chassis 11, it will also rotate clockwise relative to the drive device 6, so that the drive device 6 adapts to the rotation of the first rotating shaft 3023.

[0177] In one embodiment of this disclosure, an elastic device 3026 is provided between the second rotating shaft 3024 and the output end of the drive device 6. The elastic device 3026 can be a spring, and the elastic device 3026 is configured to give the second rotating shaft 3024 a tendency to move in the direction of the first rotating shaft 3023.

[0178] For example, when the second rotating shaft 3024 moves away from the first rotating shaft 3023, the elastic device 3026 can be compressed to gain elastic potential energy. This gives the elastic device 3026 the thrust to move the second rotating shaft 3024 towards the first rotating shaft 3023. When the output of the drive device 6 drives the second rotating shaft 3024 towards the first rotating shaft 3023, the elastic potential energy of the elastic device 3026 is released, and it assists the output of the drive device 6 in driving the second rotating shaft 3024 towards the first rotating shaft 3023, reducing the burden on the output of the drive device 6.

[0179] It should be noted that the handling robot disclosed herein lifts the carrier or container by means of lifting, and then moves through the chassis assembly 1 to realize the operation of transferring the carrier or container. When lifting the carrier or container, the pallet assembly 2 of the handling robot is in direct contact with the carrier or container, and the scissor assembly 3 drives the pallet assembly 2 to rise to remove the carrier or container from the storage position. Therefore, the scissor assembly 3 needs to overcome the gravity of the pallet assembly 2 and the carrier or container to successfully complete the lifting movement.

[0180] Specifically, the output end of the drive device 6 needs to drive the second rotating shaft 3024 to move in the direction of the first rotating shaft 3023 to complete the lifting action. Therefore, the drive device 6 has the largest load when the handling robot is performing the lifting action. The elastic device 3026 can assist the drive device 6 in driving the second rotating shaft 3024 to move in the direction of the first rotating shaft 3023, thereby sharing the load of the drive device 6 and improving the efficiency of the handling robot in taking out the carrier or container.

[0181] In one embodiment of this disclosure, the output end of the drive device 6 is a ball screw 61, and a ball screw nut 62 that cooperates with the ball screw 61 is provided on the second rotating shaft 3024. When the drive device 6 drives the ball screw 61 to rotate, the ball screw nut 62 is threadedly engaged with the ball screw 61, causing the second rotating shaft 3024 to move toward or away from the first rotating shaft 3023.

[0182] For example, the drive device 6 can be configured such that when the drive roller screw 61 rotates in one direction, the screw nut 62 drives the second rotating shaft 3024 to move closer to the first rotating shaft 3023, causing the tray assembly 2 to move upward.

[0183] When the output end of the drive device 6 drives the lead screw 61 to rotate in another direction, the lead screw nut 62 drives the second rotating shaft 3024 to move away from the first rotating shaft 3023, causing the tray assembly 2 to descend. That is, the drive device 6 can drive the lead screw 61 to rotate in two opposite directions. Correspondingly, due to the different rotation directions of the lead screw 61, the lead screw nut 62 drives the second rotating shaft 3024 to move closer to or away from the first rotating shaft 3023, thereby realizing the lifting and lowering movement of the tray assembly 2. The direction of movement of the lead screw nut 62 under different rotation directions of the lead screw 61 can be determined according to the actual assembly situation and is not limited thereto.

[0184] The roller screw 61 of this disclosure has a stop 63 at one end that protrudes from the screw nut 62. An elastic device 3026 is disposed between the stop 63 and the screw nut 62. The stop 63 can be constructed as a circular or square baffle with a diameter larger than that of the elastic device 3026. The baffle can be made of a hard material such as metal, thereby ensuring that the stop 63 and the screw nut 62 can jointly press the elastic device 3026 together.

[0185] When the pallet assembly 2 of the handling robot descends, the drive unit 6 drives the lead screw nut 62 to move away from the first rotating shaft 3023 via the roller lead screw 61. The second rotating shaft 3024 moves synchronously with the lead screw nut 62. After the lead screw nut 62 moves to contact the elastic device 3026 and continues to move, it will press the elastic device 3026 against the stop part 63, and the elastic device 3026 will gain elastic potential energy.

[0186] When the pallet assembly 2 of the handling robot performs an upward movement or needs to lift a carrier or container, the drive unit 6 drives the screw nut 62 to move closer to the first rotating shaft 3023 via the roller screw 61. The second rotating shaft 3024 moves synchronously with the screw nut 62. Since the elastic device 3026 has elastic potential energy at this time, the elastic potential energy of the elastic device 3026 will be converted into a thrust that pushes the screw nut 62 towards the first rotating shaft 3023. That is, the elastic device 3026 and the drive unit 6 together drive the screw nut 62 to move closer to the first rotating shaft 3023 via the roller screw 61, thereby reducing the torque output by the drive unit 6 and reducing the load on the drive unit 6.

[0187] In one embodiment of this disclosure, the elastic device 3026 is configured to be pre-pressed between the stop 63 and the lead screw 62 during the movement of the stop 63 relative to the lead screw nut 62. That is, as long as the lead screw nut 62 moves away from the first rotation axis 3023, the elastic device 3026 will increase its elastic potential energy, ensuring that the elastic device 3026 can have sufficient thrust to assist the drive device 6 in working.

[0188] In another embodiment of this disclosure, the elastic device 3026 is configured to be pre-pressed between the stop 63 and the lead screw nut 62 after the stop 63 and the lead screw nut 62 have moved a predetermined distance relative to each other.

[0189] For example, when the pallet assembly 2 is at its highest position in the height direction, the drive device 6 drives the lead screw nut 62 to move towards the stop portion 63 via the roller lead screw 61. After the lead screw nut 62 has moved a predetermined distance, the lead screw nut 62 begins to contact the elastic device 3026 and begins to squeeze the elastic device 3026 towards the stop portion 63, so that the elastic potential energy of the elastic device 3026 gradually increases.

[0190] Alternatively, when the pallet assembly 2 is at its lowest position in the height direction, after the drive device 6 drives the screw nut 62 to move a predetermined distance away from the stop part 63 via the roller screw 61, the elastic device 3026 disengages from the screw nut 62, that is, the elastic device 3026 has consumed all its elastic potential energy.

[0191] Both of the above structures can enable the elastic device 3026 to exist in a state of natural elongation, which ensures the elastic device 3026's extensibility and prevents it from failing due to holding the deformation for too long.

[0192] refer to Figure 1 In one embodiment of this disclosure, a support component 14 protruding from the end face of the first chassis 11 is provided on the first chassis 11, and the tray component 2 is configured to be supported on the support component 14 when it is lowered to a predetermined height.

[0193] For example, referring to the view, the support component 14 can be constructed as a cuboid, thereby supporting the pallet component 2 through its top surface. There can be two support components 14 arranged at intervals and in parallel. By having the two support components 14 support the pallet component 2 together, the pallet component 2 can be evenly stressed, so as to ensure the stability of the pallet component 2.

[0194] Since the height of chassis assembly 1 is fixed, the height of support assembly 14 is also fixed. When pallet assembly 2 descends to the predetermined height, the top of support assembly 14 contacts the bottom of pallet assembly 2 and supports pallet assembly 2. It can also prevent pallet assembly 2 from descending further and damaging other components on chassis assembly 1.

[0195] refer to Figure 1 In one embodiment of this disclosure, drive wheels 15 are provided on opposite sides of the first chassis 11, and the support assembly 14 is configured to extend upward beyond the drive wheels 15.

[0196] For example, if the drive wheel 15 has a certain diameter, the support assembly 14 can be configured such that the height of the support assembly 14 extending upward from the first chassis 11 exceeds the diameter of the drive wheel 15. When the pallet assembly 2 descends, it will be supported on the support assembly 14, preventing the bottom end of the pallet assembly 2 from contacting the drive wheel 15 and thus hindering the rotation of the drive wheel 15.

[0197] In one embodiment of this disclosure, the drive wheel 15 can be configured to be located at the middle of opposite sides of the first chassis 11, and the support component 14 can be configured to extend upward from near the drive wheel 15 beyond the drive wheel 15. When the support component 14 supports the pallet assembly 2, most of the pressure generated by the weight of the pallet assembly 2 will be transmitted to the drive wheel 15 through the support component 14, which increases the load-bearing ratio of the drive wheel 15, increases the pressure of the drive wheel 15 on the working surface, and thus increases the friction between the drive wheel 15 and the working surface, improves the grip of the drive wheel 15, and enables it to move more stably.

[0198] For example, refer to Figure 1 and Figure 2 The support component 14 can be positioned on the first chassis 11 near the drive wheels 15. For example, the two drive wheels 15 can be coaxially and symmetrically arranged on opposite sides of the first chassis 11. The support component 14 can be perpendicular to the rotation axis of the drive wheels 15 and extend upwards along the height direction beyond the top of the drive wheels 15. When the pallet assembly 2 moves under the drive of the scissor lift assembly 3 and lands on top of the support component 14, the support component 14 can take over from the scissor lift assembly 3 to share the entire weight of the pallet assembly 2 and transfer this weight to the two drive wheels 15. Compared to setting the support component 14 in other positions, this position is more conducive to increasing the load-bearing ratio of the two drive wheels 15, which is beneficial to significantly improving the robot's motion performance.

[0199] Example 2

[0200] Compared with Embodiment 1, the main difference in Embodiment 2 lies in the specific structure of the scissor lift assembly and its connection method with the chassis assembly and pallet assembly. To keep the text concise, the following will combine... Figure 5 and Figure 6 The differences will be explained in detail, and the parts that are the same as in Example 1 will not be described in detail.

[0201] refer to Figure 5 and Figure 6In this embodiment, the scissor lift assembly 3 includes at least a third scissor lift arm 32 and a fourth scissor lift arm 31 hinged together. The third scissor lift arm 32 is configured to be hinged to the first scissor lift arm 34 via a fifth rotation shaft 3029. The fourth scissor lift arm 31 can be configured to be hinged to the second scissor lift arm 33 via a sixth rotation shaft 3030. It also includes a drive device 6 disposed between the fifth rotation shaft 3029 and the sixth rotation shaft 3030. The drive device 6 is configured to drive the fifth rotation shaft 3029 and the sixth rotation shaft 3030 to move away from or towards each other.

[0202] In this embodiment, the connection and movement relationship between the first scissor arm 34 and the second scissor arm 33 are exactly the same as those described above. The difference is that the bottom of the first scissor arm 34 is hinged to the top of the third scissor arm 32 through the fifth rotating shaft 3029, and the bottom of the second scissor arm 33 is hinged to the top of the fourth scissor arm 31.

[0203] The matching relationship between the fifth rotating shaft 3029 and the sixth rotating shaft 3030 is exactly the same as the matching relationship between the first rotating shaft 3023 and the second rotating shaft 3024 described above, and the driving device 6 is also exactly the same as the driving device 6 described above.

[0204] In this embodiment, the drive device 6 is configured to drive the sixth rotating shaft 3030 to move toward or away from the fifth rotating shaft 3029 via its output end.

[0205] For example, when the drive device 6 drives the sixth rotating shaft 3030 to move away from the fifth rotating shaft 3029, the sixth rotating shaft 3030 will drive the bottom of the second scissor arm 33 and the top of the third scissor arm 32, which are hinged to it, to move away from the fifth rotating shaft 3029. This causes the first scissor arm 34, the second scissor arm 33, the third scissor arm 32 and the fourth scissor arm 31 to move closer to each other in the height direction, thereby causing the scissor assembly 3 to drive the tray assembly 2 to descend.

[0206] When the drive device 6 drives the sixth rotating shaft 3030 to move closer to the fifth rotating shaft 3029, the sixth rotating shaft 3030 will drive the bottom of the second scissor arm 33 and the top of the third scissor arm 32, which are hinged to it, to move closer to the fifth rotating shaft 3029. This causes the first scissor arm 34, the second scissor arm 33, the third scissor arm 32 and the fourth scissor arm 31 to move away from each other in the height direction, thereby causing the scissor assembly 3 to drive the pallet assembly 2 to rise.

[0207] Additionally, refer to Figure 1 and Figure 5Unlike the embodiments described above, in this embodiment, the bottoms of the two third scissor arms 32 are connected together by a second rotating shaft 3024. Rollers 25 are provided at both ends of the second rotating shaft 3024, and guide grooves 13 that cooperate with the rollers are provided on the second chassis 12. In other words, in this embodiment, the cooperation between the rollers 25 and the guide grooves 13 guides the third scissor arms 32, thereby guiding the overall movement direction of the scissor assembly 3.

[0208] In addition, refer to Figure 6 In this embodiment, the drive device 6 is positioned between the first scissor arm 34 and the third scissor arm 32, that is, it operates in the middle position of the scissor assembly 3. This allows the upper and lower parts of the drive device 6 to be evenly stressed, improving the stability of the overall movement of the scissor assembly 3 driven by the drive device 6. Given that this disclosure provides a scissor assembly composed of a first scissor arm, a second scissor arm, a third scissor arm, and a fourth scissor arm, those skilled in the art can use this scissor assembly as a basis to derive combinations of more scissor arms in the height direction, thereby increasing the maximum lifting height of the scissor assembly. These combinations will not be listed here.

[0209] Example 3

[0210] refer to Figure 7 and Figure 8 This disclosure provides a handling robot configured to transfer containers stored in a warehouse area by lifting. The handling robot includes a chassis assembly 1, a pallet assembly 2, a scissor lift assembly 3, and a power assist assembly 4. The chassis assembly 1 is configured to be supported on a working surface, and the pallet assembly 2 is configured to carry containers. The containers can be containers used in the logistics and warehousing field for loading goods and commodities, including but not limited to bins, cartons, and packaging boxes. This disclosure does not limit the type and shape of the containers.

[0211] The chassis assembly 1 can also drive the handling robot to walk on the work surface. The chassis assembly 1 can be equipped with drive wheels and / or universal wheels that cooperate with the drive wheels. The drive wheels and universal wheels work together to drive the handling robot to walk and turn on the work surface, so as to facilitate the subsequent transfer of containers by the handling robot.

[0212] In one embodiment of this disclosure, such as Figure 8As shown, the pallet assembly 2 can be equipped with comb teeth 24 and baffles 25. The baffles 25 are located on opposite sides of the pallet assembly 2, and each baffle 25 has an inwardly inclined surface. Containers can slide along the inclined surface to the middle of the two baffles 25, thus being stably supported on the pallet assembly 2. Multiple comb teeth 24 can be provided, each with a gap between it, allowing the comb teeth 24 to pass through the gaps in the load-bearing part of the rack. Containers can be directly supported on the comb teeth 24, and the gaps between the comb teeth 24 should be smaller than the outer diameter of the smallest container, thus ensuring that the container can be stably supported on the comb teeth 24.

[0213] The scissor lift assembly 3 is positioned between the chassis assembly 1 and the pallet assembly 2, and is configured to be controlled by the drive mechanism 35 to move the pallet assembly 2 in the height direction between an initial position and a raised position. Figure 7 The transport robot shown in the image is in the lifting position. Figure 8 The transport robot shown in the image is in its initial position. The scissor lift assembly 3 has a multi-stage scissor arm structure. When the scissor lift assembly 3 is in its initial position, the angle between the scissor arms is very small, requiring a large lifting driving force to drive the scissor lift assembly to start moving towards the lifting position; however, after exceeding a certain lifting threshold, the driving force required by the scissor lift assembly 3 is significantly reduced.

[0214] Specifically, refer to Figure 9 In one specific embodiment of this disclosure, the scissor fork assembly 3 includes, from bottom to top, a primary scissor fork and a secondary scissor fork. The primary scissor fork includes a fourth scissor arm 31 and a third scissor arm 32, and the secondary scissor fork includes a second scissor arm 33 and a first scissor arm 34. It is understood that each set of scissors forks has two forks, which are respectively supported on both sides of the tray assembly 2. One end of the fourth scissor arm 31 is hinged to the chassis assembly 1, and the other end is hinged to one end of the second scissor arm 33, the other end of which is hinged to the tray assembly 2. One end of the third scissor arm 32 is slidably connected to the chassis assembly 1, and the other end is hinged to one end of the first scissor arm 34, the other end of which is slidably connected to the tray assembly 2.

[0215] The drive mechanism 35 can be installed in the middle of the scissor lift assembly 3, see reference. Figure 10 The pallet assembly 2 is provided with a through-hole 210. When the handling robot is in the initial position, the drive mechanism 35 and part of the scissor assembly 3 can pass through the through-hole 210, thereby ensuring that the pallet assembly 2 can be lowered to the lowest possible position. When the drive mechanism 35 is activated, it can cause the scissor assembly 3 to open outward or move inward, thereby causing one end of the third scissor arm 32 to slide relative to the chassis assembly 1 and one end of the first scissor arm 34 to slide relative to the pallet assembly 2, which in turn causes the fourth scissor arm 31 and the second scissor arm 33 to rotate, thereby causing the pallet assembly 2 to rise or fall.

[0216] It is evident that the drive mechanism 35 actually needs to provide driving force for the rotation of the fourth scissor arm 31 and the second scissor arm 33. When the pallet assembly 2 is in the initial position, the included angle between the scissor arms is very small, requiring a large driving force to rotate it. When selecting a drive mechanism, the maximum driving force required by the scissor assembly 3 throughout its movement needs to be considered. If the peak value of the driving force can be reduced, a lower-power drive mechanism can be selected, thereby reducing costs. For this purpose, the handling robot provided in this disclosure is equipped with an assist component 4.

[0217] like Figure 7 As shown, the assist component 4 is disposed between the chassis component 1 and the tray component 2. The tray component 2 is configured to move to an initial position under the control of the drive mechanism 35 and against the elastic force of the assist component 4, and / or to move to a lifted position under the control of the drive mechanism 35 and under the action of the elastic force provided by the assist component 4. The assist component 4 has an elastic device capable of storing energy. When the tray component 2 moves to the initial position, the elastic device can be compressed to store energy. The stored energy can be released when the tray component 2 moves upward from the initial position again. The assist component 4 provides a vertically upward elastic force to the tray component 2, thereby reducing the lifting force required by the drive mechanism 35.

[0218] This disclosure reduces the power requirements of the drive mechanism 35 by providing an assist component 4 between the chassis assembly 1 and the pallet assembly 2, allowing the pallet assembly 2 to receive vertical upward elastic assistance from the assist component 4 during lifting. The assist component 4 provides vertical upward elastic assistance at least in the initial stage of the scissor lift assembly 3's movement from its initial position to the lifting position. Compared to a horizontal assist device, directly providing vertical assistance ensures that the assistance is used to the maximum extent for lifting, thereby effectively reducing assistance loss.

[0219] In one embodiment of this disclosure, the assist component 4 is configured to be pre-pressed between the pallet assembly 2 and the chassis assembly 1 throughout the movement of the pallet assembly 2 relative to the chassis assembly 1. In this embodiment, when the scissor lift assembly 3 moves to its highest lifting position, the assist component 4 can still provide an upward elastic force assist to the pallet assembly 2; throughout the entire movement of the pallet assembly 2 back to its initial position, it needs to overcome the elastic force of the assist component 4. When the elastic force that the pallet assembly 2 needs to overcome exceeds the sum of its own weight and the weight of the container, the drive mechanism 35 needs to provide partial driving force during descent. This embodiment achieves that the assist component 4 can provide upward assistance to the pallet assembly 2 throughout the entire lifting process, thereby reducing the driving force requirement throughout the lifting process and thus reducing drive costs.

[0220] In another embodiment of this disclosure, the assist component 4 is configured to pre-press between the pallet assembly 2 and the chassis assembly 1 after the pallet assembly 2 has moved a predetermined distance from the lifting position to the initial position; and is configured to disengage from the chassis assembly 1 or the pallet assembly 2 after the pallet assembly 2 has moved a predetermined distance from the initial position to the lifting position. In this embodiment, the assist component 4 can provide assistance in the initial stage of lifting, and after the pallet assembly 2 has moved upward to a certain height, the assist component 4 can separate from the chassis assembly 1 or the pallet assembly 2 and no longer provide assistance to the pallet assembly 2. The force required by the drive mechanism 35 in the initial stage of lifting is much greater than the driving force provided later. Therefore, providing assistance in the initial stage of lifting can effectively reduce the peak output of the drive mechanism 35, thereby allowing the selection of a lower-power drive mechanism 35 and saving drive costs.

[0221] Both of the above-described implementation methods can achieve the assist effect and save on drive costs. In this embodiment, as... Figure 7 As shown, the latter implementation method is chosen, that is, the assistance component 4 is set up in a way that only provides assistance in the initial stage.

[0222] In one embodiment of this disclosure, the power-assist component 4 is configured to extend vertically and includes a connecting portion and a movable portion 43 pre-pressed onto the connecting portion; the connecting portion is fixed to the chassis assembly, and the movable portion 43 is configured to engage with the tray assembly 2; alternatively, the connecting portion is fixed to the tray assembly 2, and the movable portion 43 is configured to engage with the chassis assembly 1. The connecting portion is the part of the power-assist component 4 that is fixedly connected to the tray assembly 2 or the chassis assembly 1, and the movable portion 43 can move relative to the fixed portion, thereby achieving the functions of power storage and power assistance.

[0223] The power assist component 4 can be installed either on the upper side of the chassis component 1 or on the lower side of the tray component 2. In this embodiment, as shown... Figure 7 As shown, the power assist component 4 is installed on the chassis. When installed on the chassis component 1, after the tray component 2 descends to the position where it contacts and engages with the power assist component 4, it engages with the upper surface of the movable part 43 and presses the movable part 43 downward to accumulate elastic force. In the initial stage of lifting the tray component 2, the upper surface of the movable part 43 pushes the tray component 2 upward, thereby providing power assist to the tray component 2. When the power assist component 4 is installed on the lower surface of the tray component 2, after the tray component 2 descends a certain distance, the lower surface of the movable part 43 can engage with the chassis component 1 and continue to exert elastic force during the descent. In the initial stage of lifting the tray component 2, the lower surface of the movable part 43 presses against the chassis component 1 under the action of elastic force, thereby providing power assist to the tray component 2.

[0224] In one embodiment of this disclosure, reference is made to Figure 12 and Figure 13The connecting part includes a fixed base 41 and a guide rod 42 extending vertically from the fixed base 41; a movable part 43 is sleeved on the guide rod 42; an energy storage member 44 is provided between the fixed base 41 and the movable part 43, and the energy storage member 44 is configured to give the movable part 43 a tendency to move away from the fixed base 41, so as to provide a vertically upward elastic force for the tray assembly 2. The guide rod 42 may be integrally formed with the fixed base 41, or it may be fixedly connected to the fixed base 41. The movable part 43 may be a sliding sleeve structure, which can be slidably sleeved on the guide rod 42 and can slide up and down along the guide rod 42. A limiting member 421 is provided at the upper end of the guide rod 42, and the outer diameter of the limiting member 421 is configured to be larger than the inner diameter of the movable part 43, thereby preventing the movable part 43 from dislodging from the guide rod 42 during movement.

[0225] The energy storage element 44 can be spring-type, gas-type, or hydraulic; this disclosure uses a spring-type energy storage element 44. The energy storage element 44 is sleeved on the guide rod 42 and pre-pressed between the fixed seat 41 and the movable part 43. When the movable part 43 is pressed downwards by the tray assembly 2, the energy storage element 44 is synchronously compressed, thereby accumulating elastic force and providing elastic assistance in the initial stage of the tray assembly 2's upward movement.

[0226] In one embodiment of this disclosure, reference is made to Figure 10 and Figure 11 A through hole 220 is provided at the abutment position of the pallet assembly 2 or the chassis assembly 1; the diameter of the through hole 220 is configured to be larger than the diameter of the guide rod 42 and smaller than the diameter of the movable part 43. Figure 11 This is a bottom structural diagram showing the location of the through hole 220 in the tray assembly 2. The through hole 220 is configured to allow the guide rod 42 to pass through to the top of the tray assembly 2, thereby keeping the upper end face of the movable part 43 in contact with the bottom surface of the tray assembly 2. The diameter of the through hole 220 is larger than the diameter of the guide rod 42. Since a limiting member 421 is provided at the top of the guide rod 42, the actual diameter of the through hole 220 needs to be larger than the diameter of the limiting member 421. The diameter of the through hole 220 is smaller than the outer diameter of the movable part 43, thereby preventing the movable part 43 from passing through the through hole 43.

[0227] In one embodiment of this disclosure, the assist component 4 may also have other types of structural features, see reference. Figure 14 and Figure 15The connecting part includes a fixed sleeve 45, and the movable part 43 is configured to be movably connected within the fixed sleeve 45. An energy storage member 44 is provided between the fixed sleeve 45 and the movable part 43. The energy storage member 44 is configured to give the movable part 43 a tendency to move outward, thereby providing an upward elastic force to the tray assembly 2. In this embodiment, the movable part 43 is a cylindrical structure slidably connected within the fixed sleeve 45. The upper end of the movable part 43 is configured as a larger diameter abutment structure, and the lower end is configured as a smaller diameter sliding rod structure. The abutment structure at the upper end of the movable part 43 can abut against the lower surface of the tray assembly 2, and the sliding rod at the lower end can extend into the fixed sleeve 45 to move. The bottom end of the sliding rod can be configured as a protruding structure to prevent the movable part 43 from coming off the top of the fixed sleeve 45. The energy storage member 44 is sleeved on the sliding rod of the movable part 43 and is pre-pressed between the abutment structure and the fixed sleeve 45. When the movable part 43 is pressed downward by the tray assembly 2, the energy storage component 44 is compressed synchronously, thereby accumulating elastic force and providing elastic assistance in the initial stage of the upward movement of the tray assembly 2.

[0228] In one embodiment of this disclosure, the assist component 4 may also have a third structural feature, as described above. Figure 17 The movable part 43 includes a slide rod 47 and a bullseye bearing 46. The slide rod 47 is configured to slide within a fixed sleeve 45 and to tend to move outward under the action of the energy storage element 44. The bullseye bearing 46 is configured to be detachably connected to the top of the slide rod 47 and to abut against the chassis assembly 1 or the pallet assembly 2. The handling robot may shake during movement, causing wear on the contact surface. Therefore, this embodiment uses a bullseye bearing 46 to abut against the chassis assembly 1 or the pallet assembly 2, thereby reducing friction at the contact point. In this embodiment, the bullseye bearing 46 is detachably connected to the top of the slide rod 47. The user can fix the bullseye bearing 46 to the top of the slide rod 47 using screws. When the bullseye bearing 46 wears, the user can easily and quickly replace it.

[0229] The bottom end of the slide rod 47 is constructed as a protrusion, and a sealing member 451 is provided at the upper opening of the fixed sleeve 45. The sealing member 451 can play a limiting role. When the slide rod 47 moves to the highest position, the sealing member 451 is constructed to abut against the protrusion 471, thereby preventing the slide rod 47 from dislodging from the fixed sleeve 45 under the action of the energy storage member 44. The bullseye bearing 46 includes a bearing body 461 and abutting member 462. The bearing body 461 can be detachably connected to the top end of the slide rod 47 by threads. When the bearing body 461 is installed at the top end of the slide rod 47, the abutting member 462 is constructed to press between the bearing body 461 and the slide rod 47. In this way, the bearing body 461, the abutting member 462 and the slide rod 47 together constitute a movable part 43 that can move as a whole. The lower end face of the abutting member 462 is constructed to abut against the energy storage member 44, thereby pre-pressing the movable part 43 as a whole onto the connecting part.

[0230] The assist component 4 may also have other types of structures. The three embodiments described above are only preferred embodiments. This disclosure does not limit the specific structural features of the assist component 4.

[0231] In one embodiment of this disclosure, reference is made to Figure 7 The assist components are provided in at least two locations. At least two assist components 4 are located on opposite sides of the chassis assembly 1 and are configured to cooperate with the corresponding sides of the pallet assembly 2; alternatively, two of the assist components 4 are located on opposite sides of the pallet assembly 2 and are configured to cooperate with the corresponding sides of the chassis assembly 1. Symmetrically arranging the assist components 4 on both sides of the pallet assembly 2 or chassis assembly 1 makes the assistance more uniform. On the one hand, this prevents the scissor fork assembly 3 from tilting or mechanically jamming during lifting due to uneven force on both sides. On the other hand, it provides twice the assistance, further reducing the peak output force of the drive mechanism 35.

[0232] In one embodiment of this disclosure, reference is made to Figure 11A rolling part 23 is provided between the chassis assembly 1 and the movable part 43, and the chassis assembly 1 is configured to roll in cooperation with the movable part 43 via the rolling part 23. When the pallet assembly 2 shakes relative to the chassis assembly 1, the rolling part 23 is configured to roll between the chassis assembly 1 and the movable part 43. Alternatively, a rolling part 23 is provided between the pallet assembly 2 and the movable part 43, and the pallet assembly 2 is configured to roll in cooperation with the movable part 43 via the rolling part 23. When the pallet assembly 2 shakes relative to the chassis assembly 1, the rolling part 23 is configured to roll between the pallet assembly 2 and the movable part 43. When the power assist component 4 is fixed to the pallet assembly 2, the rolling part 23 can be provided on the chassis assembly 1; when the power assist component 4 is fixed to the chassis assembly 1, the rolling part 23 can be provided on the pallet assembly 2; in addition, the rolling part 23 can be directly provided on the movable part 43. The rolling part 23 should be positioned at the point where the moving part 43 abuts against the chassis assembly 1 or the pallet assembly 2, so that rolling occurs between the moving part 43 and the chassis assembly 1 or the pallet assembly 2.

[0233] Specifically, in one embodiment of this disclosure, the rolling part 23 is a rolling shaft, and the rotation axis of the rolling shaft is perpendicular or parallel to the walking direction of the handling robot. During the walking process of the handling robot, the pallet assembly 2 is prone to slight wobbling relative to the chassis assembly 1. If the movable part 43 of the assist component 4 is in the contact position at this time, friction will occur at the top, leading to wear on the contact surface. In order to reduce the friction at the contact position, this disclosure provides a rolling part 23, which can be a omnidirectional ball or a rolling shaft. Since the rotation direction of the rolling shaft is fixed, it is necessary to make its rotation axis perpendicular or parallel to the walking direction of the handling robot, thereby reducing the friction at the contact position when the pallet assembly 2 wobbles.

[0234] In another specific embodiment of this disclosure, reference is made to Figure 14 The rolling part 23 is a bullseye bearing 46, which is installed at the position where the movable part 43 abuts against the pallet assembly 2. Specifically, the bullseye bearing 46 can be installed on the top of the movable part 43. When the pallet assembly 2 shakes relative to the chassis assembly 1, the bottom surface of the pallet assembly 2 directly abuts against the bullseye bearing 46, thereby reducing friction at the abutment position and preventing wear on the abutment surface.

[0235] This disclosure also provides another way to reduce friction. In one embodiment, the movable part 43 of the assist component 4 is provided with an arc surface, which is configured to abut against the chassis component 1 or the tray component 2. Setting the top of the movable part 43 as an arc surface can effectively reduce the friction at the abutment position. When the tray component 2 shakes relative to the chassis component 1, the arc surface can ensure that the abutment position is only a point contact and will not cause excessive friction.

[0236] In one embodiment of this disclosure, reference is made to Figure 16 The chassis assembly 1 includes drive wheels 15, one on each side, which propels the handling robot to move and turn on the work surface. A booster assembly 4 is positioned corresponding to each drive wheel 15. The pallet assembly 2 is configured to apply positive pressure to the corresponding drive wheel 15 on the chassis assembly 1 via the booster assembly 4. The pallet assembly 2 applies downward pressure to the booster assembly 4, which, fixed to the corresponding drive wheel 15 on the chassis assembly 1, further transmits this downward pressure downwards, thus applying downward positive pressure to the chassis assembly 1 at the drive wheel 15. Applying positive pressure to the drive wheel 15 allows it to adhere more closely to the work surface, resulting in smoother operation of the handling robot.

[0237] In one embodiment of this disclosure, reference continues to be made to... Figure 16 The chassis assembly 1 includes a first chassis 11 and a second chassis 12 hinged to the first chassis 11. The first chassis 11 and the second chassis 12 are configured to be supported together on the working surface. The second chassis 12 can be connected to the first chassis 11 via hinges. The second chassis 12 can rotate relative to the first chassis 11 around the hinges. There can be two hinges arranged at intervals and in parallel to ensure the stability of the relative rotation between the second chassis 12 and the first chassis 11.

[0238] When the handling robot is working, it moves along a predetermined path or direction. When the robot enters a sloping work surface or crosses an obstacle, the second chassis 12 of the chassis assembly 1 adaptively deflects relative to the first chassis 11 due to the change in the slope of the work surface. For example, when the second chassis 12 moves to a work surface with an upward slope, it deflects clockwise relative to the first chassis 11 around the hinge point of the first and second chassis 12 to adapt to the upward slope. Similarly, when the second chassis 12 moves to a work surface with a downward slope, it deflects counterclockwise relative to the first chassis 11 around the rotation axis to adapt to the downward slope. In these situations, the second chassis 12 adaptively deflects according to the slope of the work surface to prevent direct entry into a sloping work surface and the resulting violent shaking. This prevents the containers carried by the handling robot from falling due to the shaking, improving the stability of the handling robot in transporting goods.

[0239] The scissor lift assembly 3 is configured to be mounted on the chassis assembly 1 and to move along the extension direction of the first chassis 11 and the second chassis 12 of the chassis assembly 1 to increase or decrease the dimension of the scissor lift assembly 3 in the height direction. The scissor lift assembly 3 includes at least a fourth scissor arm 31 and a third scissor arm 32 hinged together. The top and bottom of the fourth scissor arm 31 and the third scissor arm 32 move closer to or further away from each other to increase or decrease the dimension of the scissor lift assembly 3 in the height direction, thereby driving the pallet assembly 2 to rise or fall. The bottom of one of the fourth scissor arms 31 and the third scissor arm 32 is connected to the first chassis 11 at a position away from the second chassis 12; the bottom of the other is connected to the second chassis 12 at a position away from the first chassis 11. For example, the bottom of the fourth scissor arm 31 is connected to the first chassis 11 at a position away from the second chassis 12, and the bottom of the third scissor arm 32 is connected to the second chassis 12 at a position away from the first chassis 11. The bottoms of the fourth scissor arm 31 and the third scissor arm 32 are close to or far from each other along the extension direction of the first chassis 11 and the second chassis 12.

[0240] In practical applications, because this embodiment includes a second chassis 12 with movable space, the overall support of chassis assembly 1 may not be stable enough. Both ends of chassis assembly 1 will be subjected to pressure from the scissor lift assembly 3, which will cause the connection point between the first chassis 11 and the second chassis 12 to arch upwards, such as... Figure 16 As shown, the drive wheel 15, installed in the middle of the chassis assembly 1, is subjected to an upward force, which causes it to tend to float upward, thus affecting the stability of transporting goods. To solve the above problem, this embodiment places the assist component 4 near the drive wheel 15 to provide downward positive pressure to the drive wheel 15, ensuring that the drive wheel 15 can keep close to the ground and provide stable support.

[0241] The drive wheel 15 is mounted on the first chassis 11, and the power assist assembly 4 is mounted on the first chassis 11, the second chassis 12, or the pallet assembly 2 at a position adjacent to the drive wheel 15. Figure 16 As shown, the power assist component 4 can be positioned on the first chassis 11 near the drive wheel 15. Alternatively, it can be positioned at other locations near the drive wheel 15, such as on the second chassis 12, or on the tray assembly 2, with the power assist component 4 abutting against the chassis assembly 1 near the drive wheel 15. This provides downward positive pressure to the drive wheel 15, overcoming the problems caused by the second chassis 12 and improving the stability of the chassis assembly 1.

[0242] In one embodiment of this disclosure, in order to further improve the stability of the handling robot, reference is made to... Figure 18 A movable platform 5 is also provided between the chassis assembly 1 and the pallet assembly 2. Specifically, as shown... Figure 18As shown, the chassis assembly 1 in this embodiment still includes a first chassis 11 and a second chassis 12 hinged to the first chassis 11. The first chassis 11 and the second chassis 12 are configured to be supported together on the working surface. The handling robot also includes a movable platform 5. One side of the movable platform 5 is configured to be hinged to the second chassis 12, and the other side is configured to be movably connected to the first chassis 11. It should be noted that the structures of the first chassis 11 and the second chassis 12 can be completely identical; the difference in name is only for ease of explanation. One side of the movable platform 5 can also be hinged to the first chassis 11, and the other side can also be movably connected to the second chassis 12. The scissor lift assembly 3 is disposed between the movable platform 5 and the pallet assembly 2, and is configured to be controlled by the drive mechanism 35 to move the pallet assembly 2 in the height direction between an initial position and a lifting position.

[0243] In the design where only the second chassis 12 is provided without the movable platform 5, the bottom of the scissor lift assembly 3 is directly connected to the two chassis. This results in the chassis assembly 1 primarily experiencing pressure applied to the second chassis 12 and the first chassis 11, respectively. The force on both sides may lead to insufficient stress at the hinge point in the middle of the chassis assembly 1, and even with the power assist assembly 4 located at the drive wheel 15, the chassis assembly 1 may still be unstable. In this embodiment, a movable platform 5 is provided between the chassis assembly 1 and the pallet assembly 2, and the scissor lift assembly 3 is directly positioned between the movable platform 5 and the pallet assembly 2. This allows the scissor lift assembly 3 to directly apply pressure to the movable platform 5, while the pressure on the chassis assembly 1 comes directly from the movable platform 5.

[0244] like Figure 18 As shown, the movable platform 5 is connected to the chassis assembly 1 near the drive wheel 15. Compared with the solution of directly mounting the scissor assembly 3 to the chassis assembly, setting up the movable platform 5 can effectively concentrate the positive pressure, so that the force of the scissor assembly 3, the pallet assembly 2 and the transport container are all concentrated on the movable platform 5. No matter how the scissor assembly 3 moves, or no matter where the transport container is placed on the pallet assembly 2, the movable platform 5 can transmit the pressure above to the position near the drive wheel 15, thereby increasing the positive pressure at the drive wheel 15 and improving the stability of the transport robot's movement.

[0245] like Figure 19As shown, four sets of protruding connectors can be provided on the chassis assembly 1, and the movable platform 5 is connected to the chassis assembly 1 through these connectors. Specifically, two connectors located on one side of the second chassis 12 are respectively provided with hinge holes 14, and one side of the movable platform 5 is hinged to the second chassis 12 through the two hinge holes 14. Two connectors located on one side of the first chassis 11 are respectively provided with waist-shaped holes 141, and the other side of the movable platform 5 is slidably connected to the first chassis 11 through the two waist-shaped holes 141. When the working surface on which the transport robot walks is uneven, the second chassis 12 can float relative to the first chassis 11. At this time, the movable platform 5 can also float relative to the chassis assembly 1 simultaneously to ensure that the transport robot can walk smoothly. In addition to the above-mentioned slot connection method, the movable platform 5 can also be movably connected to the chassis assembly 1 in other ways, such as a four-bar linkage. This disclosure does not impose any specific limitations on this.

[0246] In one embodiment of this disclosure, the assist component 4 is disposed on the movable platform 5 or on the pallet assembly 2 near the drive wheel 15. The pallet assembly 2 is configured to apply positive pressure to the position corresponding to the drive wheel 15 on the chassis assembly 1 via the assist component 4 and the movable platform 5. In this embodiment, the assist component 4 can be directly mounted on the movable platform 5, or it can be mounted on the pallet assembly 2 near the drive wheel 15 and directly abut against the movable platform 5. The pressure of the pallet assembly 2 can fall on the assist component 4. After receiving pressure, the assist component 4 can transmit the pressure downward to the movable platform 5. Since the movable platform 5 is mounted on the chassis assembly 1 near the drive wheel 15, the positive pressure at the drive wheel 15 position increases, and the stability of the handling robot is enhanced.

[0247] In another embodiment of this disclosure, reference is made to Figure 20 The assist component 4 is positioned on the first chassis 11, the second chassis 12, or the pallet assembly 2 near the drive wheel 15, and is configured to penetrate the movable platform 5. In this embodiment, the assist component 4 is positioned near the drive wheel 15 on the chassis assembly 1 or the pallet assembly 2. For example, an installation area can be provided inside the drive wheel 15 of the first chassis 11, and the assist component 4 can be installed there to provide assistance to the pallet assembly 2. The assist component 4 needs to penetrate the movable platform 5 to support the pallet assembly 2; therefore, a notch needs to be provided in the movable platform 5 for the assist component 4 to pass through. This embodiment can also transmit the pressure on the assist component 4 to a position near the drive wheel 15, thereby increasing the positive pressure at the drive wheel 15 and enhancing the stability of the handling robot.

[0248] In one embodiment of this disclosure, reference is made to Figure 19 and Figure 20The pallet assembly 2 includes a pallet body 26 and at least two comb teeth 24 spaced apart on the pallet body 26. The assist component 4 directly abuts against or is directly mounted on the bottom surface of the pallet body 26. The comb teeth 24 are plate-like structures that support the pallet body 26 vertically upwards. The bottom of the pallet body 26 and the comb teeth 24 has space for accommodating the scissor fork assembly 3. The pallet body 26 has a through-hole 210 in the middle, large enough for the widest part of the scissor fork assembly 3 to pass through. The bottom of the comb teeth 24 may have corresponding notches. Figure 20 As shown, the top of the scissor lift assembly 3 is configured to penetrate the pallet body 26 and is connected to the side wall of the comb teeth 24. This reduces the height of the handling robot, saving space. When the scissor lift assembly 3 is in its initial position, it can be accommodated in the pallet assembly 2, thereby reducing the height of the pallet assembly 2 in its initial position and facilitating user access to containers; it also lowers the center of gravity of the handling robot, further enhancing its stability.

[0249] In one embodiment of this disclosure, the scissor lift assembly 3 includes at least a fourth scissor lift arm 31 and a third scissor lift arm 32 hinged together. The bottom of one of the fourth scissor lift arms 31 and 32 is hinged to one side of the movable platform 5, and the bottom of the other is slidably connected to the other side of the movable platform 5. For example, the bottom of the fourth scissor lift arm 31 may be hinged to one side of the second chassis 12 on the movable platform 5, and the bottom of the third scissor lift arm 32 may be slidably connected to one side of the first chassis 11 on the movable platform 5. The bottoms of the fourth scissor lift arm 31 and the third scissor lift arm 32 are close to or far from each other along the extension direction of the movable platform 5.

[0250] Furthermore, the scissor lift assembly 3 may also include a second scissor lift arm 33 and a first scissor lift arm 34 hinged together, wherein the bottom of the second scissor lift arm 33 is hinged to the top of the fourth scissor lift arm 31, and the bottom of the first scissor lift arm 34 is hinged to the top of the third scissor lift arm 32. Figure 20 As shown, the top of the second scissor arm 33 is hinged to the side wall of the comb tooth 24, and the top of the first scissor arm 34 is slidably connected to the side wall of the comb tooth 24. The tops of the second scissor arm 33 and the first scissor arm 34 move closer to or further away from each other along the extension direction of the movable platform 5.

[0251] In one embodiment of this disclosure, the force exerted by the pallet assembly 2 under its own weight when it is unloaded is denoted as G1, and the maximum weight of the container that the pallet assembly 2 can bear is denoted as G2; the maximum elastic force of the assist component 4 when the pallet assembly 2 is in its initial position is denoted as F, and the peak driving force provided by the drive mechanism 35 is denoted as Fp. The energy storage element 44 in the assist component 4 can have different elastic coefficients, thereby providing different magnitudes of elastic force. When the maximum elastic force F is different, the maximum driving force Fp provided by the drive mechanism 35 will also change accordingly, thus leading to a change in the selection of the drive mechanism 35. When selecting the drive mechanism 35, it is necessary to select one where the peak driving force Fp is greater than or equal to the peak value of the required output force, thereby ensuring the normal operation of the handling robot. The magnitude of F needs to be classified and discussed below to derive the corresponding criteria for the selection of the drive mechanism 35.

[0252] When F ≤ G1, regardless of whether it is empty or fully loaded, the drive mechanism 35 can be directly disconnected when the pallet assembly 2 moves to the initial position. Under the action of gravity, the pallet assembly 2 can move to the initial position and press the movable part 43 to the lowest position. At this time, the drive force required by the drive mechanism 35 is G1 + G2 - F. Selecting a drive mechanism 35 with a peak drive force Fp ≥ G1 + G2 - F can meet the operating requirements of the handling robot.

[0253] When F > G1, the drive mechanism 35 may need to exert force during the descent of the pallet assembly 2. At the lowest unloaded position, the drive mechanism 35 needs to overcome the elastic force of the assist assembly 4, at which point the force exerted is F-G1; when fully loaded, the lifting force of the drive mechanism 35 is G1+G2-F. When selecting the drive mechanism 35, both extreme cases mentioned above need to be considered comprehensively, and Fp should not be lower than the larger value.

[0254] The most special case is when the output force of the drive mechanism 35 is equal in both of the above scenarios. In this case, F-G1=G1+G2-F, F=G1+G2 / 2. Substituting F into the above formula, we can find that the drive force required by the drive mechanism 35 is G2 / 2. Therefore, selecting a drive mechanism 35 with a peak drive force Fp≥G2 / 2 can meet the operating requirements of the handling robot.

[0255] When G1 < F < G1 + G2 / 2, G1 + G2 - F > F - G1. In other words, the maximum driving force that the drive mechanism 35 needs to provide is G1 + G2 - F. Therefore, selecting a drive mechanism 35 with a peak driving force Fp ≥ G1 + G2 - F can meet the operating requirements of the handling robot.

[0256] When F > G1 + G2 / 2, F - G1 > G1 + G2 - F. That is to say, the maximum driving force that the drive mechanism 35 needs to provide is F - G1. Therefore, selecting a drive mechanism 35 with a peak driving force Fp ≥ F - G1 can meet the operation requirements of the handling robot.

[0257] This disclosure also provides an assist device, which includes a connecting portion and a movable portion 43, wherein the movable portion 43 is configured to be pre-pressed onto the connecting portion by an energy storage member 44. The energy storage member 44 can be a spring-type, gas-type, or hydraulic energy storage member; this disclosure uses a spring-type energy storage member 44. (Reference) Figure 17 The movable part 43 includes a slide rod 47 and a bullseye bearing 46. The slide rod 47 is configured to slide in connection with the connecting part, and the bullseye bearing 46 is configured to be detachably connected to the free end of the slide rod 47. By detachably connecting the bullseye bearing 46 to the top of the slide rod 47, the user can easily and quickly replace it. The power assist device can provide assistance to various lifting machinery, thereby saving the lifting force required by the equipment and reducing the peak lifting force.

[0258] In one embodiment of this disclosure, such as Figure 17 As shown, the connecting part includes a fixed base 41 and a fixed sleeve 45, with the fixed sleeve 45 threadedly connected to the fixed base 41. The bottom end face of the fixed base 41 is constructed as a plane, which facilitates the user to install the fixed base 41 onto a plane of other equipment to provide lifting assistance, for example, it can be fixed to the chassis assembly 1 of the aforementioned handling robot. The slide rod 47 is constructed to slide within the fixed sleeve 45 and is constructed to have an outward tendency under the action of the energy storage member 44. Specifically, the bottom end of the slide rod 47 is constructed as a protrusion 471, and a sealing member 451 is provided at the upper opening of the fixed sleeve 45. When the slide rod 47 moves to the highest position, the sealing member 451 is constructed to abut against the protrusion 471. The sealing member 451 can play a limiting role, preventing the slide rod 47 from dislodging from the fixed sleeve 45 under the action of the energy storage member 44.

[0259] The bullseye bearing 46 includes a bearing body 461 and a top abutment 462. The bearing body 461 is detachably connected to the top of the slide rod 47 via threads. For example, a threaded hole can be provided on the slide rod 47, and a corresponding threaded rod can be provided on the bearing body 461. The bearing body 461 can be detachably connected to the top of the slide rod 47 by the cooperation of the threaded rod and the threaded hole, so as to facilitate quick release of the bearing body 461.

[0260] When the bearing body 461 is mounted on the top of the slide rod 47, the abutment 462 is configured to press between the bearing body 461 and the slide rod 47. This causes the bearing body 461, the abutment 462, and the slide rod 47 to collectively form a movable part 43 capable of overall movement. The energy storage member 44 is configured to be pre-pressed between the lower end face of the abutment 462 and the upper end face of the fixed seat 41, thereby pre-pressing the movable part 43 entirely onto the connecting part.

[0261] Example 4

[0262] This disclosure provides a handling robot, including a chassis assembly 1, a pallet assembly 2, and a scissor lift assembly 3. The chassis assembly 1 is configured to be supported on a working surface. The pallet assembly 2 is disposed above the chassis assembly 1 and is used to carry goods that need to be lifted and lowered. The scissor lift assembly 3 is disposed between the chassis assembly 1 and the pallet assembly 2. The scissor lift assembly 3 includes at least a first link assembly 310 and a second link assembly 320 hinged between the chassis assembly 1 and the pallet assembly 2 and arranged alternately, and at least two linkages 330 hinged to the first link assembly 310 and the second link assembly 320 and forming a quadrilateral structure. The pallet assembly 2 is configured to move relative to the chassis assembly 1 in the height direction under the constraint of the quadrilateral structure, so that the goods it carries can be stably lifted or lowered. The movement can include translation, i.e., linear movement in the height direction, or other forms of movement.

[0263] The first linkage assembly 310 and the second linkage assembly 320 are connected by at least two linkage rods 330. Based on the principle of quadrilateral structure, they can work together in a coordinated manner. The first linkage assembly 310 and the second linkage assembly 320 can rotate under the action of external force. When rotating, the quadrilateral structure deforms in the height and horizontal directions to realize the lifting and lowering of the tray assembly 2. The tray assembly 2 is pushed by the first linkage assembly 310 and the second linkage assembly 320 at the same time, and can achieve linear movement in the height direction.

[0264] In this disclosed solution, the first link assembly 310 and the second link assembly 320 of the scissor lift assembly 3 are both hinged to the chassis assembly 1 and also hinged to the pallet assembly 2. Compared to current scissor lift mechanisms, the scissor lift assembly 3 of this disclosure does not have a sliding joint. The first link assembly 310 and the second link assembly 320 only rotate relative to the chassis assembly 1 and the pallet assembly 2, thereby providing more stable support for the pallet assembly 2, avoiding uneven force distribution on the pallet assembly 2 during lifting, and reducing the impact on the power unit providing the driving force.

[0265] In some embodiments of this disclosure, such as Figure 21As shown, the first link assembly 310 and the second link assembly 320 are spaced apart at their ends connected to the chassis assembly 1, and are also spaced apart at their ends connected to the tray assembly 2. The portions between the two ends of the first link assembly 310 and the second link assembly 320 are staggered. Furthermore, the ends of the first link assembly 310 and the second link assembly 320 connected to the chassis assembly 1 can be positioned close to their respective ends, and the ends connected to the tray assembly 2 can be positioned close to their respective ends, so that the tray assembly 2 is subjected to balanced forces and is more stable during lifting.

[0266] In some embodiments of this disclosure, such as Figure 21 As shown, the first linkage assembly 310 includes a first linkage 311 and a second linkage 312. The first linkage 311 and the second linkage 312 are connected by a first pivot 301 and can rotate relative to each other. The first linkage 311 is hinged to the tray assembly 2, and the second linkage 312 is hinged to the chassis assembly 1. Specifically, one end of the first linkage 311 is hinged to the tray assembly 2, and the other end is hinged to one end of the second linkage 312 via the first pivot 301; the end of the second linkage 312 away from the first linkage 311 is hinged to the chassis assembly 1.

[0267] The second linkage assembly 320 includes a third linkage 321 and a fourth linkage 322. The third linkage 321 is connected via a second pivot 302 and is rotatable relative to the third linkage. The third linkage 321 is hinged to the tray assembly 2, and the fourth linkage 322 is hinged to the chassis assembly 1. Specifically, one end of the third linkage 321 is hinged to the tray assembly 2, and the other end is hinged to one end of the fourth linkage 322 via the second pivot 302. The end of the fourth linkage 322 furthest from the third linkage 321 is hinged to the chassis assembly 1.

[0268] In this embodiment, the first link 311 and the third link 321 are staggered, and the second link 312 and the fourth link 322 are staggered. In one specific embodiment of this disclosure, as... Figure 21 As shown, the first link 311, the fourth link 322, and at least two linkages 330 form a quadrilateral structure. Those skilled in the art will recognize that in another embodiment of this disclosure, the quadrilateral structure of the scissor lift assembly 3 can also be composed of the second link 312, the third link 321, and at least two linkages 330.

[0269] In some embodiments of this disclosure, such as Figure 21As shown, the linkage 330 includes a first linkage 3301 and a second linkage 3302. One end of the first linkage 3301 is hinged to the first connecting rod 311, and the other end is hinged to the fourth connecting rod 322; one end of the second linkage 3302 is hinged to the first connecting rod 311, and the other end is hinged to the fourth connecting rod 322.

[0270] Specifically, the first linkage rod 3301 can be hinged to the fourth link 322 via the second pivot 302, and the second linkage rod 3302 can be hinged to the first link 311 via the first pivot 301. Furthermore, one end of the first linkage rod 3301 is hinged between the two ends of the first link 311, and one end of the second linkage rod 3302 is hinged between the two ends of the fourth link 322.

[0271] The quadrilateral structure of the scissor lift assembly 3 can be a regular or irregular quadrilateral structure such as a rhombus or trapezoid, all of which enable the first link assembly 310 and the second link assembly 320 to work together. In a preferred embodiment of this disclosure, such as Figure 21 As shown, the quadrilateral structure of the scissor lift assembly 3 is configured as a parallelogram, with the first link 311 and the fourth link 322 parallel to each other, and the first linkage 3301 and the second linkage 3302 parallel to each other. During the lifting process, the first link 311 and the fourth link 322 rotate synchronously and at the same angle to ensure that the pallet assembly 2 can move horizontally, that is, linearly in the height direction, so that the goods it carries can remain balanced and prevent them from slipping off the pallet assembly 2.

[0272] In some embodiments of this disclosure, the first link assembly 310, the second link assembly 320, and at least two linkages 330 forming the same quadrilateral structure are considered as a single link unit. To further enhance the stability of the scissor lift assembly 3, at least two link units can be provided between the chassis assembly 1 and the tray assembly 2. These at least two link units are arranged side-by-side with a gap between them, and the link units can be connected by a connecting shaft and move synchronously. To increase the lifting height of the scissor lift assembly 3, at least two link units can be provided between the chassis assembly 1 and the tray assembly 2. These at least two link units are distributed in the height direction and connected end-to-end in sequence.

[0273] In some specific embodiments of this disclosure, such as Figure 21 As shown, the chassis assembly 1 is provided with a first bracket 16 and a second bracket 140. A first link assembly 310 is connected to the first bracket 16 via a third pivot 303. Specifically, the lower end of the second link 312 is connected to the first bracket 16 via the third pivot 303. The second link assembly 320 is connected to the second bracket via a fourth pivot 304. Specifically, the lower end of the fourth link 322 is connected to the second bracket 140 via the fourth pivot 304.

[0274] The tray assembly 2 is provided with a third support 21 and a fourth support 22. The first link assembly 310 is connected to the third support 21 via a fifth pivot 305. Specifically, the upper end of the first link 311 is connected to the third support 21 via the fifth pivot 305. The second link assembly 320 is connected to the fourth support 22 via a sixth pivot 306. Specifically, the upper end of the third link 321 is connected to the fourth support 22 via the sixth pivot 306.

[0275] like Figure 21 In the specific embodiment shown, the scissor lift assembly 3 includes two parallel connecting rod units. Any one of the first rotating shaft 301, the second rotating shaft 302, the third rotating shaft 303, the fourth rotating shaft 304, the fifth rotating shaft 305, and the sixth rotating shaft 306 can extend laterally and serve as a connecting shaft to connect with the two connecting rod units. That is, the corresponding hinge points of the two connecting rod units can share the same rotating shaft, which is beneficial to improving the overall structural stability of the scissor lift assembly 3.

[0276] In some embodiments of this disclosure, a drive assembly 7 is also provided on the chassis assembly 1 or the pallet assembly 2. The drive assembly 7 is configured to drive the first linkage assembly 310 to rotate relative to the chassis assembly 1 or the pallet assembly 2, or to drive the second linkage assembly 320 to rotate relative to the chassis assembly 1 or the pallet assembly 2. The first linkage assembly 310 and the second linkage assembly 320 move synchronously under the constraint of the quadrilateral structure, so that the pallet assembly 2 moves in the height direction relative to the chassis assembly 1, thereby raising or lowering the goods it carries.

[0277] In a preferred embodiment, the drive assembly 7 is mounted on the chassis assembly 1 to avoid increasing the load on the pallet assembly 2. The drive assembly 7 can be connected to the second link 312 and drive the second link 312 to rotate, or connected to the fourth link 322 and drive the fourth link 322 to rotate.

[0278] The drive assembly 7 can be a power unit that is directly connected to and provides power to the first link assembly 310 or the second link assembly 320, or it can include a transmission mechanism that transmits power between the power unit and the first link assembly 310 or the second link assembly 320. Those skilled in the art can choose commonly used power units such as rotary motors, electric actuators, and hydraulic actuators, as well as transmission mechanisms such as linkage mechanisms and rack and pinion mechanisms.

[0279] In one specific embodiment of this disclosure, such as Figure 22As shown, the drive assembly 7 includes a first drive rod 71 and a second drive rod 72 hinged together, and a rotary motor 73 fixed to the chassis assembly 1 or the tray assembly 2. The second drive rod 72 is hinged to the first link assembly 310 or the second link assembly 320. The rotary motor 73 is configured to drive the first drive rod 71 to rotate, and to drive the first link assembly 310 or the second link assembly 320 to rotate via the second drive rod 72.

[0280] exist Figure 22 In the specific embodiment shown, the rotary motor 73 is mounted on the chassis assembly 1, and the second drive rod 72 is hinged to the second link 312 of the first link assembly 310, driving the second link 312 to rotate. The second link 312 and the fourth link 322 are spaced apart, the rotary motor 73 can be positioned near the fourth link 322, and the second drive rod 72 can be connected between the two ends of the second link 312.

[0281] In another specific embodiment of this disclosure, such as Figure 23 As shown, the drive assembly 7 includes a linear actuator 74. The body of the linear actuator 74 is hinged to the chassis assembly 1 or the tray assembly 2. The output end of the linear actuator 74 is hinged to the first link assembly 310 or the second link assembly 320, directly driving the first link assembly 310 or the second link assembly 320 to rotate. The linear actuator 74 can be an electric actuator, a hydraulic cylinder, a pneumatic cylinder, etc., and this disclosure does not limit it.

[0282] In one embodiment of this disclosure, two linkage units are provided, and the drive assembly 7 can be disposed between the two linkage units and connected to the connecting shaft between the two linkage units to drive the two linkage units to move synchronously.

[0283] exist Figure 22 In the specific embodiment shown, the connecting shaft between the two linkage units includes a seventh rotating shaft 307. The seventh rotating shaft 307 is connected between the second links 312 of the two linkage units and is located between the two ends of the second links 312. The drive assembly 7 is connected to the seventh rotating shaft 307 and drives the two second links 312 to rotate synchronously through the seventh rotating shaft 307. Similarly, those skilled in the art will understand that the seventh rotating shaft 307 can also be connected between the fourth links 322 of the two linkage units, and the drive assembly 7 drives the two fourth links 322 to rotate synchronously through the seventh rotating shaft 307.

[0284] In some embodiments of this disclosure, the chassis assembly 1 is provided with a traveling mechanism that travels on the working surface. The traveling mechanism may include driving wheels, is capable of transporting goods to a designated location, and is capable of lifting goods to a required height position via the scissor lift assembly 3.

[0285] Specifically, the travel wheels may include drive wheels 15 disposed on opposite sides of the chassis assembly 1, and a travel drive device 17, such as a drive motor, that provides power to the drive wheels 15. The travel wheels may further include omnidirectional wheels 18 for steering. The two drive wheels 15 are driven by different travel drive devices 17, which can control the two drive wheels 15 to rotate at different speeds, thereby enabling the handling robot to change its travel direction.

[0286] In one embodiment of this disclosure, such as Figure 23 , Figure 24 As shown, chassis assembly 1 includes a first chassis 11 and a second chassis 12, which are connected by a laterally extending hinge 113 and can rotate relative to each other around the hinge 113. A first linkage assembly 310 is hinged to the first chassis 11, and a second linkage assembly 320 is hinged to the second chassis 12. The first chassis 11 and the second chassis 12 are distributed front to back in the direction of travel of chassis assembly 1. When encountering obstacles such as protrusions or depressions during travel, the first linkage assembly 310 or the second linkage assembly 320 can float up and down, which is beneficial for overcoming obstacles and adapting to uneven road surfaces.

[0287] In some embodiments of this disclosure, the drive component 7 may be mounted on the first chassis 11 or the second chassis 12. For example... Figure 23 In one specific embodiment shown, the drive assembly 7 is mounted on the first chassis 11 and drives the second linkage assembly 320 to rotate relative to the second chassis 12. When the second linkage assembly 320 rotates, it drives the first linkage assembly 310 to rotate synchronously via the linkage rod 330, thereby causing the pallet assembly 2 to rise and fall in the height direction. In another specific embodiment of this disclosure, the drive assembly 7 is mounted on the second chassis 12 and drives the first linkage assembly 310 to rotate relative to the first chassis 11. When the first linkage assembly 310 rotates, it drives the second linkage assembly 320 to rotate synchronously via the linkage rod 330, thereby causing the pallet assembly 2 to rise and fall in the height direction.

[0288] This disclosure also provides a lifting device, including:

[0289] The base is constructed to support the working surface;

[0290] Tray assembly 2, which is positioned above the base;

[0291] The scissor lift assembly 3 includes at least a first link assembly 310 and a second link assembly 320 hinged between the base and the tray assembly 2 and arranged alternately, and at least two linkages 330 hinged to the first link assembly 310 and the second link assembly 320 and forming a quadrilateral structure. The tray assembly 2 is configured to move relative to the base in the height direction under the constraint of the quadrilateral structure.

[0292] It is understandable that when the lifting device is applied to a mobile handling robot, the base is the chassis component 1 mentioned above, while when the lifting device is applied to a non-mobile device, the function of the base is only to support the lifting device on the working surface.

[0293] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, and are not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein. The scope of this disclosure is defined by the appended claims.

Claims

1. A transport robot, characterized in that, include: A chassis assembly configured to be supported on a working surface; A pallet assembly, disposed above the chassis assembly and configured to carry a container; A scissor lift assembly, which is disposed between a chassis assembly and a pallet assembly and is configured to drive the pallet assembly to rise or fall relative to the chassis assembly; A drive unit is configured to drive the scissor lift assembly to move, thereby causing the pallet assembly to rise or fall relative to the chassis assembly; wherein the drive unit is disposed on the scissor lift assembly; The scissor lift assembly includes two scissor arms hinged together, and the drive is configured to drive one of the scissor arms to rotate relative to the other scissor arm so that the tops and bottoms of the two scissor arms move closer to or further away from each other, thereby reducing or increasing the size of the scissor lift assembly in the height direction; The chassis assembly includes a first chassis and a second chassis hinged to the first chassis; the first chassis and the second chassis are configured to be supported together on the working surface; The bottom of one of the two scissor arms is connected to the first chassis at a position away from the second chassis; the bottom of the other is connected to the second chassis at a position away from the first chassis.

2. The handling robot according to claim 1, characterized in that, The drive unit is connected to the two scissor arms to drive one of the scissor arms to rotate relative to the other scissor arm.

3. The handling robot according to claim 2, characterized in that, The scissor assembly also includes a rotating shaft, and the two scissor arms are at least two pairs, with the two pairs of scissor arms connected by the rotating shaft. The drive device is connected to the rotating shaft so as to drive the rotating shaft to move, thereby driving the scissor arm to move.

4. The handling robot according to claim 3, characterized in that, The scissor lift assembly includes a first scissor lift arm and a second scissor lift arm hinged together. At least two of the first scissor lift arms and at least two of the second scissor lift arms are provided. The bottoms of at least two of the first scissor lift arms and the bottoms of at least two of the second scissor lift arms are disposed on the chassis assembly. The drive unit is configured to drive the second scissor arm to rotate relative to the first scissor arm.

5. The handling robot according to claim 4, characterized in that, The bottoms of at least two of the first scissor arms are connected by a first rotating shaft, and the bottoms of at least two of the second scissor arms are connected by a second rotating shaft; the rotating shaft includes the first rotating shaft and the second rotating shaft. The drive device is connected to the first rotating shaft and the second rotating shaft, and is configured to drive the first rotating shaft and the second rotating shaft to move away from or towards each other.

6. The handling robot according to claim 4, characterized in that, The scissor lift assembly includes a third scissor lift arm and a fourth scissor lift arm hinged together; the third scissor lift arm is configured to be hinged to the first scissor lift arm via a fifth rotation axis; the fourth scissor lift arm is configured to be hinged to the second scissor lift arm via a sixth rotation axis. The rotating shaft includes the fifth rotating shaft and the sixth rotating shaft. The driving device is connected to the fifth rotating shaft and the sixth rotating shaft to drive the fifth rotating shaft and the sixth rotating shaft to move away from or towards each other.

7. The handling robot according to any one of claims 4-6, characterized in that, The body of the drive device is disposed on the first rotating shaft of the scissor lift assembly and is configured to rotate relative to the first rotating shaft; the output end of the drive device is connected to the second rotating shaft of the scissor lift assembly. or, The body of the drive device is disposed on the fifth rotation axis of the scissor lift assembly and is configured to rotate relative to the fifth rotation axis; the output end of the drive device is connected to the sixth rotation axis of the scissor lift assembly.

8. The handling robot according to any one of claims 1-6, characterized in that, The first rotation axis of the scissor lift assembly is configured to be hinged to a first bracket located on the end face of the first chassis; the second rotation axis of the scissor lift assembly is guided to the second chassis and is configured to move along the second chassis under the drive of the drive device. Alternatively, the first rotating shaft may be configured to be hinged to a first bracket located on the end face of the second chassis; The second rotating shaft is guided to the first chassis and is configured to move along the first chassis under the drive of the drive device.

9. The handling robot according to claim 8, characterized in that, The second rotating shaft is provided with first rollers at opposite ends; a first guide block is provided on the first chassis or the second chassis, and the first guide block is provided with a first guide groove for guiding and cooperating with the first rollers; Or, The second rotating shaft is provided with first guide blocks at opposite ends, and the first guide blocks are provided with first guide grooves; a first roller is provided on the first chassis or the second chassis for cooperating with the first guide groove.

10. The handling robot according to claim 4, characterized in that, The tops of at least two of the first scissor arms are connected by a third rotating shaft, and the tops of at least two of the second scissor arms are connected by a fourth rotating shaft; One of the third and fourth rotating shafts is configured to be hinged to a third bracket located on the end face of the pallet assembly; the other rotating shaft has second rollers at opposite ends; a second guide block is provided on the pallet assembly, the second guide block having a second guide groove for guiding and engaging with the second roller; or the other rotating shaft has second guide blocks at opposite ends, the second guide blocks having a second guide groove; and a second roller is provided on the pallet assembly for engaging with the second guide groove.

11. The handling robot according to claim 1, characterized in that, It also includes a support portion, on which the tray assembly is configured to be supported when lowered to a predetermined height.

12. The handling robot according to claim 11, characterized in that, Drive wheels are provided on opposite sides of the chassis assembly, and the support portion is located adjacent to the drive wheels.

13. The handling robot according to claim 11, characterized in that, The support is disposed on the chassis assembly and is configured to extend upward so that the pallet assembly is supported on the support when it is lowered to a predetermined height; Alternatively, the support portion is disposed on the pallet assembly and is configured to extend downward so that the pallet assembly is supported on the chassis assembly by the support portion when it is lowered to a predetermined height.

14. The handling robot according to any one of claims 11-13, characterized in that, The support part is a support component or an assist component.

15. The handling robot according to claim 11, characterized in that, The support is an assist component, which is disposed between the chassis assembly and the pallet assembly; the pallet assembly is configured to be controlled by the drive mechanism and move to the initial position against the elastic force of the assist component, and / or is configured to be controlled by the drive mechanism and move to the lifting position under the action of the elastic force provided by the assist component.

16. The handling robot according to claim 15, characterized in that, The assist component is configured to always preload between the pallet assembly and the chassis assembly during the movement of the pallet assembly relative to the chassis assembly.

17. The handling robot according to claim 15, characterized in that, The assist component is configured to pre-press between the pallet assembly and the chassis assembly after the pallet assembly has moved a predetermined distance from the lifting position to the initial position; and is configured to disengage from the chassis assembly or the pallet assembly after the pallet assembly has moved a predetermined distance from the initial position to the lifting position.

18. The handling robot according to claim 15, characterized in that, The assist component is configured to extend vertically and includes a connecting portion and a movable portion pre-pressed on the connecting portion; the connecting portion is fixed to the chassis assembly, and the movable portion is configured to cooperate with the pallet assembly; or, the connecting portion is fixed to the pallet assembly, and the movable portion is configured to cooperate with the chassis assembly.

19. The handling robot according to claim 18, characterized in that, A rolling part is provided between the chassis assembly and the movable part, and the chassis assembly is configured to roll with the movable part through the rolling part; when the pallet assembly shakes relative to the chassis assembly, the rolling part is configured to roll between the chassis assembly and the movable part; Alternatively, a rolling part is provided between the pallet assembly and the movable part, and the pallet assembly is configured to roll in cooperation with the movable part through the rolling part; when the pallet assembly shakes relative to the chassis assembly, the rolling part is configured to roll between the pallet assembly and the movable part.

20. The handling robot according to claim 19, characterized in that, The rolling part is a rolling shaft, and the rotation axis of the rolling shaft is perpendicular or parallel to the walking direction of the handling robot.

21. The handling robot according to claim 18, characterized in that, The movable part of the power assist component is provided with an arc surface, and the arc surface of the movable part is configured to abut against the chassis component or the tray component.

22. The handling robot according to claim 18, characterized in that, The connecting part includes a fixed seat and a guide rod extending vertically from the fixed seat; the movable part is sleeved on the guide rod; an energy storage element is provided between the fixed seat and the movable part, the energy storage element being configured to give the movable part a tendency to move away from the fixed seat, so as to provide a vertically upward elastic force for the tray assembly.

23. The handling robot according to claim 22, characterized in that, The pallet assembly or chassis assembly has a through hole at its contact position; the diameter of the through hole is configured to be larger than the diameter of the guide rod and smaller than the diameter of the movable part.

24. The handling robot according to claim 18, characterized in that, The connecting part includes a fixed sleeve, and the movable part is configured to be movably connected within the fixed sleeve; an energy storage element is provided between the fixed sleeve and the movable part, and the energy storage element is configured to give the movable part a tendency to move outward, so as to provide a vertically upward elastic force for the tray assembly.

25. The handling robot according to claim 24, characterized in that, The movable part includes a slide rod and a bullseye bearing; the slide rod is configured to be slidably connected within the fixed sleeve and is configured to have an outward tendency under the action of the energy storage element; the bullseye bearing is configured to be detachably connected to the top of the slide rod and is configured to abut against the chassis assembly or tray assembly.

26. The handling robot according to any one of claims 22-25, characterized in that, The energy storage device is a spring-type, gas-type, or hydraulic energy storage device.

27. The handling robot according to claim 15, characterized in that, The assist components are provided in at least two, and the at least two assist components are provided on opposite sides of the chassis component and configured to cooperate with the corresponding sides of the pallet component; or, the at least two assist components are provided on opposite sides of the pallet component and configured to cooperate with the corresponding sides of the chassis component.

28. The handling robot according to claim 15, characterized in that, The force exerted by the pallet assembly on its own weight when it is unloaded is denoted as G1, and the maximum weight of the container that the pallet assembly can bear is denoted as G2; the maximum elastic force of the assist component when the pallet assembly is in the initial position is denoted as F, and the peak value of the driving force provided by the drive mechanism is denoted as Fp. When F≤G1, Fp≥G1+G2-F.

29. The handling robot according to claim 28, characterized in that, in, When G1 < F < G1 + G2 / 2, Fp ≥ G1 + G2 - F; when F = G1 + G2 / 2, Fp ≥ G2 / 2; when F > G1 + G2 / 2, Fp ≥ F - G1.

30. The handling robot according to claim 11, characterized in that, The support portion is a support component, which is configured to be disposed on the first chassis of the chassis component and to protrude from the end face of the first chassis; the pallet component is configured to be supported on the support component when it is lowered to a predetermined height.

31. The handling robot according to claim 30, characterized in that, Drive wheels are provided on opposite sides of the chassis assembly, and the support assembly is configured to extend upward beyond the drive wheels.

32. The handling robot according to claim 31, characterized in that, The support assembly is configured to be positioned on the first chassis adjacent to the drive wheel.

33. The handling robot according to claim 11, characterized in that, The support portion is an assist component, and the tray assembly is configured to apply positive pressure to the position of the corresponding drive wheel on the chassis assembly through the assist component; the drive wheel is disposed on the first chassis of the chassis assembly, and the assist component is disposed on the first chassis, the second chassis, or the tray assembly at a position adjacent to the drive wheel.

34. The handling robot according to claim 5, characterized in that, An elastic device is provided between the second rotating shaft and the output end of the drive device. The elastic device is configured to give the second rotating shaft a tendency to move in the direction of the first rotating shaft.

35. The handling robot according to claim 1, characterized in that, The transport robot also includes a movable platform, one side of which is hinged to the second chassis and the other side is movably connected to the first chassis; the scissor lift assembly is disposed between the movable platform and the pallet assembly and is configured to drive the pallet assembly to rise or fall relative to the chassis assembly.

36. The handling robot according to claim 35, characterized in that, The scissor lift assembly includes at least a first scissor arm and a second scissor arm hinged together; the bottom of one of the first scissor arms and the second scissor arm is hinged to one side of the movable platform, and the bottom of the other is slidably connected to the other side of the movable platform.

37. The handling robot according to claim 35, characterized in that, The tray assembly includes a tray body and at least two comb teeth spaced apart on the tray body; the bottom of the tray body and the comb teeth are provided with space for accommodating the scissor fork assembly; the top of the scissor fork assembly is configured to penetrate the tray body and is configured to be connected to the side wall of the comb teeth.

38. The handling robot according to claim 35, characterized in that, It also includes a support portion, the pallet assembly being configured to be supported on the support portion when it is lowered to a predetermined height, the support portion being disposed on the movable platform or on the pallet assembly at a position adjacent to the drive wheel, the pallet assembly being configured to apply positive pressure to the position corresponding to the drive wheel on the chassis assembly in sequence through the support portion and the movable platform.

39. The handling robot according to claim 35, characterized in that, It also includes a support portion, the pallet assembly being configured to be supported on the support portion when lowered to a predetermined height, the support portion being disposed on a first chassis, a second chassis, or on the pallet assembly at a position adjacent to the drive wheel, and being configured to extend through the movable platform.

40. A transport robot, characterized in that, include: A chassis assembly configured to be supported on a working surface; the chassis assembly includes a first chassis and a second chassis hinged to the first chassis. The first chassis and the second chassis are configured to be supported together on the working surface; A pallet assembly, disposed above the chassis assembly and configured to carry a container; A scissor lift assembly configured to be controlled by a drive mechanism to move the pallet assembly in the height direction between an initial position and a raised position; The movable platform has one side hinged to the second chassis and the other side movably connected to the first chassis; the scissor lift assembly is disposed between the movable platform and the pallet assembly and is configured to drive the pallet assembly to rise or fall relative to the chassis assembly.

41. The handling robot according to claim 40, characterized in that, It also includes a support portion disposed on the chassis assembly and configured to extend upward so that the pallet assembly is configured to be supported on the support portion when it is lowered to a predetermined height; Alternatively, the support portion is disposed on the pallet assembly and configured to extend downward so that the pallet assembly is configured to be supported on the chassis assembly by the support portion when lowered to a predetermined height.

42. A power assist device, applied to the handling robot according to any one of claims 1-41, characterized in that, The assist device includes: Connecting part; The movable part is configured to be pre-pressed onto the connecting part by an energy storage element; the movable part includes a slide rod and a bullseye bearing; the slide rod is configured to be slidably connected to the connecting part, and the bullseye bearing is configured to be detachably connected to the free end of the slide rod; The connecting part is used to fix the chassis assembly of the transport robot, and the movable part is configured to cooperate with the pallet assembly of the transport robot; or, the connecting part is used to fix the pallet assembly of the transport robot, and the movable part is configured to cooperate with the chassis assembly of the transport robot.

43. The assist device according to claim 42, characterized in that, The connecting part includes a fixed base and a fixed sleeve, the fixed sleeve being threadedly connected to the fixed base; the slide rod is configured to be slidably connected inside the fixed sleeve, and is configured to have an outward tendency under the action of the energy storage element; The bottom end of the slide rod is constructed as a protrusion, and a sealing member is provided at the upper opening of the fixed sleeve. When the slide rod moves to the highest position, the sealing member is constructed to abut against the protrusion.

44. The assist device according to claim 43, characterized in that, The bullseye bearing includes a bearing body and a top abutment. The bearing body is detachably connected to the top of the slide rod by a thread. The top abutment is configured to press between the bearing body and the slide rod. The energy storage device is configured to be pre-pressed between the lower end face of the top abutment and the upper end face of the fixed seat.

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