A multi-directionally mobile goods handling robot and warehousing system

Abstract

The application provides a multi-directional moving goods carrying robot and a warehouse system, comprising a multi-directional moving chassis, a support frame, telescopic forks and a lifting driving assembly. The multi-directional moving chassis is used for turning and moving along a track; the support frame is arranged on the multi-directional moving chassis, and the telescopic forks are movably arranged on the support frame and can be used for carrying goods; and the lifting driving assembly is used for driving the telescopic forks to lift. During the process of goods delivery or storage, the multi-directional moving chassis can adjust the moving direction, for example, switching from moving along a transverse track to moving along a longitudinal track, and then moving to a specified position, and the lifting driving assembly drives the telescopic forks to lift to a specified height to take and place goods. The multi-directional moving goods carrying robot can directly complete the taking and placing work between two positions alone, without other logistics equipment, thereby avoiding the problems of goods falling accidents and low conveying efficiency caused by the circulation of goods between multiple logistics equipment.

Description

Technical Field

[0001] This application relates to the field of logistics equipment technology, and in particular to a multi-directional moving cargo handling robot and warehousing system. Background Technology

[0002] As the modern logistics industry rapidly develops towards automation and intelligence, warehousing systems are gradually being applied and becoming highly automated cargo storage and management systems. They achieve rapid storage, retrieval, preservation, and management of goods by using logistics equipment such as racks, stacker cranes, and shuttles.

[0003] In related technologies, warehousing systems include conveyor lines, elevators, shuttles, or other logistics equipment. During the storage of goods, the goods are transported via conveyor lines to elevators, which lift the goods to the target height. Then, shuttles transport the goods to designated storage locations.

[0004] However, this type of warehousing system has a wide variety of logistics equipment, which can easily cause problems during the flow of goods between different logistics equipment, and the retrieval and placement efficiency of this type of warehousing system is low. Utility Model Content

[0005] This application provides a multi-directional moving cargo handling robot and warehousing system for transferring and storing goods.

[0006] In a first aspect, embodiments of this application provide a multi-directional moving cargo handling robot, comprising:

[0007] Multi-directional moving chassis, used for steering and moving along tracks;

[0008] A support frame is mounted on the multi-directional mobile chassis;

[0009] Telescopic forks, movably mounted on the support frame, are used for handling goods;

[0010] A lifting drive assembly is used to drive the telescopic forks to lift.

[0011] In one feasible implementation, the multi-directional mobile chassis includes wheels, wheel drive motors, steering components, and a chassis body;

[0012] The support frame is fixedly connected to the chassis body;

[0013] The wheel is connected to the wheel drive motor, and the wheel drive motor is used to drive the wheel to rotate;

[0014] The wheel is mounted on the chassis body via the steering assembly, which is used to adjust the direction of movement of the wheel.

[0015] In one feasible implementation, four wheels, four wheel drive motors, and four steering components are configured, with each wheel, wheel drive motor, and steering component corresponding to the other, and the four wheels are arranged in a rectangular pattern on the chassis body.

[0016] In one feasible implementation, the wheel body and the wheel body drive motor are integrally configured;

[0017] And / or, the steering assembly is configured as a steering drive motor.

[0018] In one feasible implementation, the telescopic fork includes two telescopic parts, which are arranged opposite to each other and respectively disposed on the support frame;

[0019] Each of the telescopic sections is equipped with a cargo clamping assembly;

[0020] The cargo clamping assembly is used to clamp cargo.

[0021] In one feasible implementation, the telescopic part further includes a connecting plate, a fork arm, and a telescopic drive assembly;

[0022] The connecting plate is slidably disposed on the support frame, the fork arm is disposed on the connecting plate, the telescopic drive assembly is disposed on the connecting plate and connected to the fork arm, and the telescopic drive assembly is used to drive the fork arm to extend or retract.

[0023] And / or, the telescopic drive assembly is configured as a synchronous belt assembly.

[0024] In one feasible implementation, the cargo clamping assembly includes a clamping part;

[0025] The clamping part is connected to the fork arm, and the clamping part selectively extends toward the goods to clamp the goods.

[0026] In one possible implementation, the clamping part is configured as a rotating clamping assembly, including a jaw drive assembly and a jaw;

[0027] The gripper drive assembly is connected to the fork arm, the gripper is connected to the gripper drive assembly, and the gripper drive assembly drives the gripper to rotate horizontally so that the gripper selectively grips the goods;

[0028] And / or, the cargo clamping assembly further includes a limiting plate disposed on the fork arm, and the gripper driving assembly is disposed on the side of the limiting plate facing away from the cargo, the gripper driving assembly driving the gripper to rotate horizontally so that the gripper protrudes from the surface of the limiting plate.

[0029] In one feasible implementation, there are two telescopic forks and two lifting drive assemblies;

[0030] The two telescopic forks are slidably connected to the support frame, and the two lifting drive components are connected to the two telescopic forks one-to-one;

[0031] And / or, the lifting drive assembly is configured as a synchronous belt assembly.

[0032] Secondly, embodiments of this application provide a warehousing system, including a longitudinal track, a transverse track, and a cargo handling robot as described in any of the first aspects. A steering unit is provided at the intersection of the longitudinal track and the transverse track, and the steering unit is used to enable the cargo handling robot to switch between longitudinal movement and transverse movement.

[0033] This application provides a multi-directional moving goods handling robot, including a multi-directional moving chassis, a support frame, telescopic forks, and a lifting drive assembly. The multi-directional moving chassis is used for steering and can move along a track; the support frame is mounted on the multi-directional moving chassis, and the telescopic forks are movably mounted on the support frame, capable of handling goods; the lifting drive assembly drives the telescopic forks to rise and fall. During the process of goods leaving or entering the warehouse, the multi-directional moving chassis can adjust its direction of movement, for example, switching from moving along a transverse track to moving along a longitudinal track, and then moving to a designated position. The lifting drive assembly drives the telescopic forks to rise and fall to the designated height to pick up and place goods. In other words, this multi-directional moving goods handling robot can independently and directly complete the picking and placing of goods between two locations without the need for other logistics equipment, avoiding the problems of goods falling and low conveying efficiency that can occur when goods are transferred between multiple logistics devices.

[0034] Secondly, embodiments of this application also provide a warehousing system, including a longitudinal track, a transverse track, and a cargo handling robot as described in any of the first aspects. A steering unit is provided at the intersection of the longitudinal and transverse tracks, and the steering unit is used to switch the cargo handling robot between longitudinal and transverse movements. Since this warehousing system includes the cargo handling robot of any of the above-described technical solutions, it has all the beneficial effects of the cargo handling robot of any of the above-described technical solutions, which will not be elaborated further here. Attached Figure Description

[0035] The accompanying drawings, which are provided to further illustrate the present invention and constitute a part of the present invention, illustrate exemplary embodiments of the present invention and are used to explain the present application, but do not constitute an undue limitation of the present invention.

[0036] In the attached diagram:

[0037] Figure 1This is a schematic diagram of the structure of a multi-directional moving cargo handling robot provided in an embodiment of this application;

[0038] Figure 2 yes Figure 1 A front view of a multi-directional moving cargo handling robot;

[0039] Figure 3 This is a schematic diagram of a warehousing system including a multi-directional moving cargo handling robot, provided in an embodiment of this application;

[0040] Figure 4 yes Figure 3 A top view of the warehouse system in the middle;

[0041] Figure 5 yes Figure 3 A front view of the warehousing system in the image;

[0042] Figure 6 yes Figure 3 A side view of the warehousing system.

[0043] Explanation of reference numerals in the attached figures:

[0044] 100 - Multi-directional moving chassis; 200 - Support frame; 300 - Telescopic forks; 400 - Lifting drive assembly; 500 - Longitudinal rails; 600 - Transverse rails; 700 - Steering unit;

[0045] 110 - Wheel body; 120 - Wheel drive motor; 130 - Steering assembly; 140 - Chassis body; 310 - Telescopic part;

[0046] 311-Cargo clamping assembly; 312-Connecting plate; 313-Fork arm; 314-Telescopic drive assembly;

[0047] 3111-Clamping part; 3112-Limiting plate; 3111a-Gripper drive assembly; 3111b-Gripper. Detailed Implementation

[0048] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of this application.

[0049] In the description of the embodiments of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0050] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0051] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0052] As the modern logistics industry rapidly develops towards automation and intelligence, warehousing systems are gradually being applied and becoming highly automated cargo storage and management systems. They achieve rapid storage, retrieval, preservation, and management of goods by using logistics equipment such as racks, stacker cranes, and shuttles.

[0053] In related technologies, warehousing systems include conveyor lines, elevators, shuttles, or other logistics equipment. During the storage of goods, the goods are transported via conveyor lines to elevators, which lift the goods to the target height. Then, shuttles transport the goods to designated storage locations.

[0054] However, this type of warehousing system has a wide variety of logistics equipment, which can easily cause problems during the flow of goods between different logistics equipment, and the retrieval and placement efficiency of this type of warehousing system is low.

[0055] To address the aforementioned issues, this application provides a multi-directional moving cargo handling robot and warehousing system. The solution provided by this application will be described in detail below with reference to the accompanying drawings.

[0056] Figure 1 This is a schematic diagram of the structure of a multi-directional moving cargo handling robot provided in an embodiment of this application; Figure 2 yes Figure 1 A front view of a multi-directional moving cargo handling robot.

[0057] Firstly, referring to Figure 1 and Figure 2 As shown, a multi-directional moving goods handling robot includes a multi-directional moving chassis 100, a support frame 200, a telescopic fork 300, and a lifting drive assembly 400. The multi-directional moving chassis 100 is used for steering and can move along a track; the support frame 200 is mounted on the multi-directional moving chassis 100, and the telescopic fork 300 is movably mounted on the support frame 200, capable of handling goods; the lifting drive assembly 400 drives the telescopic fork 300 to rise and fall. During the process of goods leaving or entering the warehouse, the multi-directional moving chassis 100 can adjust its direction of movement, for example, switching from moving along the transverse track 600 to moving along the longitudinal track 500, and then moving to a designated position. The lifting drive assembly 400 drives the telescopic fork 300 to rise and fall to the designated height to pick up and place goods. In other words, this multi-directional moving goods handling robot can independently and directly complete the picking and placing of goods between two locations without the need for other logistics equipment, avoiding the problems of goods falling and low conveying efficiency that can easily occur when goods are transferred between multiple logistics devices.

[0058] Continue to refer to Figure 1 and Figure 2 As shown, in some examples, the multi-directional moving chassis 100 includes a wheel 110, a wheel drive motor 120, a steering assembly 130, and a chassis body 140. The wheel 110 is connected to the output shaft of the wheel drive motor 120, which drives the wheel 110 to rotate. The wheel 110 is mounted on the chassis body 140 via the steering assembly 130, which adjusts the direction of movement of the wheel 110. Exemplarily, the wheel drive motor 120 is fixed to a motor mounting bracket, and the wheel 110 is connected to the output end of the wheel drive motor 120. The steering assembly 130 is disposed on the upper surface of the chassis body 140, passes through the chassis body 140, and connects to the motor mounting bracket, thereby selectively driving the motor mounting bracket to rotate, thus causing the wheel 110 to rotate and adjusting the direction of movement. In other examples, the wheel 110 and the wheel drive motor 120 are integrated, i.e., configured as an integrated drive wheel with a drive mechanism. In these examples, the integrated drive wheel is fixedly connected to the motor mounting bracket, and the steering assembly 130 is connected to the motor mounting bracket, thereby driving the integrated drive wheel to steer.

[0059] like Figure 1 and Figure 2As shown, this multi-directional cargo handling robot is equipped with four wheels 110, four wheel drive motors 120, and four steering components 130. The wheels 110, wheel drive motors 120, and steering components 130 are arranged in a one-to-one correspondence, and the four wheels 110 are rectangularly distributed on the chassis body 140. When direction adjustment is needed, the four steering components 130 simultaneously drive the four wheels 110 to rotate by the same angle. When the chassis body 140 needs to move, the four wheel drive motors 120 simultaneously drive the four wheels 110 to rotate at the same speed.

[0060] For example, the steering assembly 130 is configured as a steering drive motor, which is vertically disposed on the upper surface of the chassis body 140, and its output shaft passes through the chassis body 140 and is fixedly connected to the motor mounting bracket via a coupling.

[0061] In some examples, the cargo handling robot includes a telescopic fork 300, which comprises two telescopic sections 310. These two sections 310 are arranged opposite to each other and slidably mounted on the support frame 200. Exemplarily, the two telescopic sections 310 are slidably mounted on the support frame 200 via slide rails or pulleys, and are movable along the support frame 200. Specifically, the support frame 200 may be a vertically arranged column.

[0062] The lifting drive assembly 400 drives the two telescopic parts 310 to rise and fall simultaneously, so that they are always positioned relative to each other, thereby clamping goods. For example, each of the telescopic parts 310 is provided with a goods clamping assembly 311; the goods clamping assembly 311 is used to clamp goods.

[0063] For example, the telescopic part 310 further includes a connecting plate 312, a fork arm 313, and a telescopic drive assembly 314; the connecting plate 312 is slidably mounted on the support frame 200 via a slide rail or pulley, the fork arm 313 is mounted on the connecting plate 312, and the telescopic drive assembly 314 is mounted on the connecting plate 312 and connected to the fork arm 313, the telescopic drive assembly 314 being used to drive the fork arm 313 to extend or retract. Figure 1 and Figure 2 As shown, for example, the telescopic drive assembly 314 is configured as a synchronous belt assembly, and the fork arm 313 is configured as a single-stage bidirectional fork arm 313 or a multi-stage bidirectional fork arm 313. The telescopic drive assembly 314 drives the fork arm 313 to extend outward or retract.

[0064] For example, the cargo clamping assembly 311 includes a clamping part 3111; the clamping part 3111 is connected to the fork arm 313, and the clamping part 3111 selectively extends toward the cargo to clamp the cargo. Specifically, the clamping part 3111 can be directly disposed on each fork arm 313, or it can be disposed on the fork arm 313 via a limiting plate 3112. It should be noted that the cargo has clamping grooves on both sides that cooperate with the clamping part 3111. For example, when the cargo is placed in the bin, the clamping parts 3111 on the two oppositely disposed fork arms 313 clamp the sides of the bin respectively. When handling the bin, the fork arms 313 of the two telescopic parts 310 in the telescopic fork 300 extend to the sides of the bin respectively, and the clamping parts 3111 clamp the sides of the bin respectively. Next, the lifting drive assembly 400 drives the telescopic forks 300 to raise the height, causing the bin to detach from the shelf or a bin stacked with it. Then, the telescopic drive assembly 314 drives the fork arms 313 to retract, at which point the bin is placed into the support frame 200. Finally, the multi-directional moving chassis 100 moves the entire assembly and the bin to the designated position.

[0065] For example, the clamping part 3111 is configured as a rotating clamping assembly, specifically including a gripper drive assembly 3111a and a gripper 3111b. In some examples, the gripper drive assembly 3111a is connected to the fork arm 313, and the gripper 3111b is connected to the gripper drive assembly 3111a. The gripper drive assembly 3111a drives the gripper 3111b to rotate horizontally, so that the gripper 3111b selectively clamps the goods. Specifically, the gripper drive assembly 3111a drives the gripper 3111b to rotate horizontally toward the goods, and the gripper 3111b clamps the goods. The gripper drive assembly 3111a drives the gripper 3111b to rotate horizontally in the opposite direction toward the goods, and the gripper 3111b disengages from the goods.

[0066] like Figure 1 and Figure 2 As shown, the gripper drive assembly 3111a is mounted on the fork arm 313 via a limiting plate 3112. Specifically, the limiting plate 3112 is fixedly mounted on the fork arm 313, and the gripper drive assembly 3111a is located on the side of the limiting plate 3112 facing away from the cargo. The limiting plate 3112 has a through hole for the gripper 3111b to pass through, and the gripper 3111b is located in the through hole. The gripper drive assembly 3111a drives the gripper 3111b to rotate horizontally, and the gripper 3111b selectively protrudes from the surface of the limiting plate 3112 to grip or release the cargo. It can be understood that the limiting plate 3112 can limit the swinging of the cargo gripped by the gripper 3111b. For example, the gripper drive assembly 3111a can be configured to drive a servo motor.

[0067] In some other examples, the clamping part 3111 may also be configured as a telescopic clamping part 3111, specifically including a telescopic cylinder and a clamping block. The telescopic cylinder is fixedly mounted on the limiting plate 3112, and the clamping block is fixedly mounted on the movable end of the telescopic cylinder. When the telescopic cylinder extends, the clamping block clamps the side of the goods.

[0068] Reference Figure 1 and Figure 2 As shown, in some examples, there are two telescopic forks 300, which are slidably connected to the support frame 200 and arranged side by side. Additionally, there are two lifting drive assemblies 400, each located on top of the support frame 200 and connected to one of the two telescopic forks 300 respectively. That is, one lifting drive assembly 400 drives the lifting of its corresponding telescopic fork 300, meaning both telescopic parts 310 lift simultaneously. In a rackless storage system, bins are stacked sequentially. When picking up a bin in the middle of the stack, the upper telescopic fork 300 picks up the bin above the target bin and lifts it, detaching it from the target bin; then, the lower telescopic fork 300 picks up the target bin and retracts it into the support frame 200; finally, the upper telescopic fork 300 places the picked-up bin onto the stack. Understandably, the process of placing the bin in the middle of the bin stack is the reverse of the process described above.

[0069] For example, the lifting drive assembly 400 is configured as a synchronous belt assembly, which is prior art and will not be described in detail here.

[0070] Figure 3 This is a schematic diagram of a warehousing system including a multi-directional moving cargo handling robot, provided in an embodiment of this application; Figure 4 yes Figure 3 A top view of the warehouse system in the middle; Figure 5 yes Figure 3 A front view of the warehousing system in the image; Figure 6 yes Figure 3 A side view of the warehousing system.

[0071] Reference Figures 3 to 6 As shown, in a second aspect, embodiments of this application also provide a warehousing system, including a longitudinal track 500, a transverse track 600, and a cargo handling robot as described in any of the first aspects. The longitudinal track 500 and the transverse track 600 are arranged alternately, and the cargo is placed on one side of the transverse track 600. A steering part 700 is provided at the intersection of the longitudinal track 500 and the transverse track 600, and the steering part 700 is used to switch the cargo handling robot between longitudinal movement and transverse movement.

[0072] like Figure 3 andFigure 4 As shown, exemplarily, this warehousing system is provided with multiple transverse tracks 600, with each pair of transverse tracks 600 forming a group. The distance between the two transverse tracks 600 in each group is the same as the distance between two wheels 110 in the width direction on the multi-directional moving chassis 100 of the cargo handling robot, thereby enabling each wheel 110 to engage with the transverse track 600. Goods are stacked on one side of the longitudinal track 500, and the multi-directional moving cargo handling robot moves along the transverse track 600 to reach a designated location to pick up or place goods. Multiple longitudinal tracks 500 are staggered with the transverse tracks 600, again with each pair of longitudinal tracks 500 forming a group. The distance between the two longitudinal tracks 500 is the same as the distance between two wheels 110 in the length direction on the multi-directional moving chassis 100 of the cargo handling robot. In addition, a turning part 700 is provided at each intersection of a longitudinal track 500 and each transverse track 600. That is, a total of four turning parts 700 are provided at each intersection of a group of longitudinal tracks 500 and each group of transverse tracks 600. For example, in this warehousing system, multiple boxes are stacked sequentially on the side of the transverse track 600 to form a box stack. It is understood that this type of warehousing system does not use shelving, thus maximizing storage space and reducing costs. In other examples, shelving may be installed on the side of the transverse track 600, with goods or boxes placed in each shelf location.

[0073] When the cargo handling robot needs to change its lateral track 600, the four wheels 110 on its multi-directional chassis 100 move to their respective steering units 700, and all four wheels 110 rotate 90 degrees simultaneously. The cargo handling robot then transitions from moving along the lateral track 600 to moving along the longitudinal track 500. When the cargo handling robot moves along the longitudinal track 500 to the steering unit 700 that intersects with the target lateral track 600, the four wheels 110 rotate 90 degrees there, thus switching from moving along the longitudinal track 500 to moving along the target lateral track 600. Finally, the cargo handling robot moves along the lateral track 600 to the designated location to unload goods. Furthermore, since this warehousing system includes the cargo handling robot from any of the above technical solutions, it possesses all the beneficial effects of the cargo handling robot from any of the above technical solutions, which will not be elaborated further here.

[0074] It is readily understood that, based on the several embodiments provided in this application, those skilled in the art can combine, split, or reorganize the embodiments of this application to obtain other embodiments, none of which exceed the protection scope of this application.

[0075] The above detailed embodiments further illustrate the purpose, technical solution, and beneficial effects of the embodiments of this application. It should be understood that the above are merely specific embodiments of the embodiments of this application and are not intended to limit the protection scope of the embodiments of this application. Any modifications, equivalent substitutions, improvements, etc., made on the basis of the technical solutions of the embodiments of this application should be included within the protection scope of the embodiments of this application.

Claims

1. A multi-directional moving cargo handling robot, characterized in that, include: A multi-directional moving chassis (100) for steering and moving along tracks; A support frame (200) is mounted on the multi-directional mobile chassis (100); Telescopic forks (300), movably mounted on the support frame (200), are used for handling goods; A lifting drive assembly (400) is used to drive the telescopic forks (300) to lift.

2. The multi-directional moving cargo handling robot according to claim 1, characterized in that, The multi-directional mobile chassis (100) includes wheels (110), wheel drive motors (120), steering components (130), and chassis body (140); The support frame (200) is fixedly connected to the chassis body (140); The wheel (110) is connected to the wheel drive motor (120), and the wheel drive motor (120) is used to drive the wheel (110) to rotate; The wheel (110) is mounted on the chassis body (140) via the steering assembly (130), and the steering assembly (130) is used to adjust the moving direction of the wheel (110).

3. The multi-directional moving cargo handling robot according to claim 2, characterized in that, The wheel (110), the wheel drive motor (120) and the steering assembly (130) are each configured with four wheels. The wheel (110), the wheel drive motor (120) and the steering assembly (130) are arranged in a one-to-one correspondence, and the four wheels (110) are distributed in a rectangular shape on the chassis body (140).

4. The multi-directional moving cargo handling robot according to claim 2, characterized in that, The wheel body (110) and the wheel body drive motor (120) are integrally formed; And / or, the steering assembly (130) is configured as a steering drive motor.

5. The multi-directional moving cargo handling robot according to claim 2, characterized in that, The telescopic fork (300) includes two telescopic parts (310), which are arranged opposite to each other and respectively disposed on the support frame (200); Each of the telescopic parts (310) is provided with a cargo clamping assembly (311); The cargo clamping assembly (311) is used to clamp cargo.

6. The multi-directional moving cargo handling robot according to claim 5, characterized in that, The telescopic part (310) also includes a connecting plate (312), a fork arm (313), and a telescopic drive assembly (314); The connecting plate (312) is slidably disposed on the support frame (200), the fork arm (313) is disposed on the connecting plate (312), the telescopic drive assembly (314) is disposed on the connecting plate (312) and connected to the fork arm (313), and the telescopic drive assembly (314) is used to drive the fork arm (313) to extend or retract. And / or, the telescopic drive assembly (314) is configured as a synchronous belt assembly.

7. The multi-directional moving cargo handling robot according to claim 6, characterized in that, The cargo clamping assembly (311) includes a clamping part (3111); The clamping part (3111) is connected to the fork arm (313), and the clamping part (3111) selectively extends toward the cargo to clamp the cargo.

8. The multi-directional moving cargo handling robot according to claim 7, characterized in that, The clamping part (3111) is configured as a rotating clamping assembly, including a jaw drive assembly (3111a) and a jaw (3111b); The gripper drive assembly (3111a) is connected to the fork arm (313), and the gripper (3111b) is connected to the gripper drive assembly (3111a). The gripper drive assembly (3111a) drives the gripper (3111b) to rotate horizontally so that the gripper (3111b) selectively grips the goods. And / or, the cargo clamping assembly (311) further includes a limiting plate (3112) disposed on the fork arm (313), the gripper driving assembly (3111a) disposed on the side of the limiting plate (3112) facing away from the cargo, the gripper driving assembly (3111a) driving the gripper (3111b) to rotate horizontally so that the gripper (3111b) protrudes from the surface of the limiting plate (3112).

9. The multi-directional moving cargo handling robot according to claim 5, characterized in that, The telescopic forks (300) are two in number, and the lifting drive assembly (400) is two in number; Two telescopic forks (300) are slidably connected to the support frame (200) respectively, and two lifting drive assemblies (400) are connected to the two telescopic forks (300) one by one; And / or, the lifting drive assembly (400) is configured as a synchronous belt assembly.

10. A warehousing system, characterized in that, The system includes a longitudinal track (500), a transverse track (600), and a cargo handling robot as described in any one of claims 1-9. A steering unit (700) is provided at the intersection of the longitudinal track (500) and the transverse track (600), and the steering unit (700) is used to switch the cargo handling robot between longitudinal and transverse movement.

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