Lifting mechanism, carrying robot and warehousing system

Abstract

The embodiment of the application provides a lifting mechanism, a carrying robot and a warehouse system, which comprise: a first connecting rod having a first hinged part and a second hinged part, wherein the first hinged part is configured to be hinged with a carrying mechanism of the carrying robot; a second connecting rod having a third hinged part and a fourth hinged part, wherein the third hinged part is hinged with the second hinged part, and the fourth hinged part is configured to be hinged with a chassis mechanism of the carrying robot; and a driving structure connected to any one of the first hinged part, the second hinged part, the third hinged part and the fourth hinged part, so as to drive any one of the first hinged part, the second hinged part, the third hinged part and the fourth hinged part to move, so that one of the first connecting rod and the second connecting rod rotates relative to the other, thereby increasing or reducing the distance between the first hinged part and the fourth hinged part, which can simplify the structure of the lifting mechanism, thereby reducing the occupied size of the lifting mechanism on the carrying robot.

Description

Technical Field

[0001] This application belongs to the field of warehousing and logistics technology, and in particular relates to a lifting mechanism, a handling robot and a warehousing system. Background Technology

[0002] With the rapid development of logistics robot chassis technology, various types of handling robots have emerged. These robots can dock with carriers (or other robots; hereinafter, we will only use carriers as an example) to transfer items (such as containers) between them. For instance, a handling robot uses a lifting mechanism to raise and lower a carrying mechanism, adjusting it to the corresponding height of the carrier, thus enabling the transfer of items between the carrying mechanism and the carrier.

[0003] The lifting mechanism in related technologies is usually a scissor fork. Each end of the scissor fork has a sliding hinge point and a fixed hinge point. During the rotation of the scissor fork arm, the sliding hinge point slides towards or away from the fixed hinge point to achieve the lifting and lowering of the scissor fork.

[0004] However, the aforementioned lifting mechanism has a complex structure and occupies a large space. Utility Model Content

[0005] This application provides a lifting mechanism, a handling robot, and a warehousing system, which can simplify the structure of the lifting mechanism and thereby reduce the space occupied by the lifting mechanism on the handling robot.

[0006] On one hand, embodiments of this application provide a lifting mechanism, including:

[0007] The first link has a first hinge portion and a second hinge portion, the first hinge portion being configured to hinge with the load-bearing mechanism of the handling robot;

[0008] The second link has a third hinge and a fourth hinge, the third hinge being hinged to the second hinge, and the fourth hinge being configured to be hinged to the chassis mechanism of the handling robot.

[0009] A driving structure is connected to any one of the first hinge, second hinge, third hinge, and fourth hinge to drive any one of the first hinge, second hinge, third hinge, and fourth hinge to move, causing one of the first link and second link to rotate relative to the other, thereby increasing or decreasing the distance between the first hinge and the fourth hinge.

[0010] On the other hand, embodiments of this application provide a handling robot, including:

[0011] The chassis mechanism is configured to drive the movement of the transport robot.

[0012] The carrying mechanism is configured to carry items;

[0013] The lifting mechanism described above has its first hinge joint hinged to the load-bearing mechanism, and its fourth hinge joint hinged to the chassis mechanism.

[0014] The driving structure of the lifting mechanism is configured to drive one of the first link and the second link to rotate relative to the other, thereby increasing or decreasing the distance between the first hinge and the fourth hinge, thus causing the load-bearing mechanism to rise or fall relative to the chassis mechanism.

[0015] Furthermore, embodiments of this application provide a warehousing system, including:

[0016] Vehicles, configured to carry items;

[0017] workstation;

[0018] The above-mentioned transport robot is configured to transfer items between a vehicle and a workstation.

[0019] The lifting mechanism, handling robot, and warehousing system provided in this application embodiment, by setting the lifting mechanism as a linkage structure, wherein the first link of the linkage structure is hinged to the carrying mechanism of the handling robot through a first hinge portion, the fourth hinge portion of the second link is hinged to the chassis mechanism of the handling robot, the second hinge portion of the first link is hinged to the third hinge portion of the second link, and a drive structure is connected to any one of the first, second, third, and fourth hinge portions to drive any one of the first, second, third, and fourth hinge portions to move, causing one of the first and second links to rotate relative to the other, thereby increasing the included angle between the first and second links or The distance between the first hinge and the fourth hinge is reduced, thereby increasing or decreasing the distance between them, thus realizing the lifting mechanism's lifting. In this way, while ensuring that the load-bearing mechanism can move away from or closer to the chassis mechanism under the drive of the lifting mechanism, the ends of the linkage structure do not need to be slidably mounted on the load-bearing mechanism or the chassis mechanism. Compared with the lifting mechanism configuration of related technologies, in this embodiment, the first hinge in the first linkage is fixed in position on the load-bearing mechanism, and the fourth hinge in the second linkage is fixed in position on the chassis mechanism, which can realize the lifting of the load-bearing mechanism without the need for a guide mechanism or a limiting mechanism. This simplifies the structure of the lifting mechanism and the handling robot, and improves the assembly efficiency of the lifting mechanism and the handling robot.

[0020] Furthermore, by connecting the drive structure to any one of the first, second, third, and fourth hinge parts to drive the movement of any one of them, on the one hand, the drive structure directly drives the hinge part of the linkage structure, which can directly and efficiently transmit the driving force to the corresponding link, ensuring that the first link and the second link can move relative to each other efficiently, reducing the force transmission path and energy loss. On the other hand, it also facilitates the drive structure to precisely control the movement of the first or second link, ensuring the lifting height of the lifting mechanism can be achieved. On the one hand, it can better meet the actual working needs; on the other hand, setting the drive structure at the hinge can reduce the uneven force distribution on the first or second link, reduce the risk of deformation, breakage and other damage to the link due to excessive force, and improve the overall mechanical strength and reliability of the link structure; furthermore, setting the drive structure at the hinge of the link structure, compared to setting it in the load-bearing mechanism or chassis mechanism, makes the lifting mechanism structure more compact, easier to install, and can save space in the load-bearing mechanism, chassis mechanism and the middle area of ​​the first or second link, providing more installation space for the layout of other components. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the structure of a warehousing system provided in one embodiment of this application;

[0023] Figure 2 This is a scene diagram of a warehousing system provided in an embodiment of this application;

[0024] Figure 3 This is a schematic diagram of the structure of a storage area provided in an embodiment of this application. Figure 1 ;

[0025] Figure 4 This is a schematic diagram of the structure of a storage area provided in an embodiment of this application. Figure 2 ;

[0026] Figure 5 This is a schematic diagram of the structure of a workstation provided in an embodiment of this application;

[0027] Figure 6 This is a schematic diagram of one embodiment of the handling robot provided in this application;

[0028] Figure 7This is a schematic diagram of the first state of docking between the handling robot and the carrier according to an embodiment of this application;

[0029] Figure 8 This is a schematic diagram of the second state of docking between the handling robot and the carrier according to an embodiment of this application;

[0030] Figure 9 This is a schematic diagram of another structure of the handling robot provided in one embodiment of this application;

[0031] Figure 10 This is a structural diagram of a handling robot in related technologies;

[0032] Figure 11 This is a partial schematic diagram of a material handling robot in related technologies; Figure 12 yes Figure 6 Partial structural diagram Figure 1 ;

[0033] Figure 13 yes Figure 6 Partial structural diagram Figure 2 ;

[0034] Figure 14 This is another structural schematic diagram of the handling robot provided in one embodiment of this application;

[0035] Figure 15 This is a schematic diagram of the lifting mechanism at a first height according to an embodiment of this application;

[0036] Figure 16 This is a schematic diagram of the lifting mechanism at a second height according to an embodiment of this application;

[0037] Figure 17 This is a partial structural diagram of a lifting mechanism provided in one embodiment of this application. Figure 1 ;

[0038] Figure 18 This is a schematic diagram of the structure of a tripod arm provided in one embodiment of this application;

[0039] Figure 19 This is a side view of a lifting mechanism provided in an embodiment of this application.

[0040] Explanation of reference numerals in the attached figures:

[0041] 10-Storage area; 11-Carrier; 101-Storage location; 102-Buffer location; 11a-Fixed rack; 11b-Movable rack; 111-Pick; 112-Pick gap; 13-Aisle; 14-Railway;

[0042] 20 - First robot; 21 - Motion mechanism; 211 - Frame; 212 - Walking structure; 22 - Picking and placing mechanism; 23 - Chassis;

[0043] 30-Transporting robot; 31-First transporting robot; 32-Second transporting robot; 310-Lifting mechanism; 310a-Link structure; 311-First link; 311a-First hinge; 311b-Second hinge; 3111b-Second sub-hinge; 3112b-First mounting notch; 312-Second link; 312a-Third hinge; 312b-Fourth hinge; 313-Third link; 313a-Fifth hinge; 313b-Sixth hinge; 3131b-Sixth sub-hinge; 3132b-Second mounting notch; 314-Fourth link; 314a- 314b - Seventh hinge; 315 - Eighth hinge; 316 - First connector; 317 - Second connector; 317 - Drive structure; 317a - Joint motor; 318 - Trident arm; 318a - First arm; 318b - Second arm; 318c - Third arm; 320 - Loading mechanism; 321 - Comb structure; 3211 - Loading part; 3212 - Support part; 320a - Loading surface; 322 - Picking and placing structure; 3221 - Picking and placing component; 3222 - Telescopic component; 330 - Chassis mechanism; 331 - Drive wheel; 310b - Scissor fork structure; 311b - Scissor fork arm; 311c - Guide structure;

[0044] 40-Workstation; 41-Container handling device; 411-Item handling mechanism; 412-Transverse guide rail; 413-Vertical guide rail; 42-Workbench; 43-Conveyor line. Detailed Implementation

[0045] 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.

[0046] It should be noted that many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of this application is not limited to the specific embodiments disclosed below.

[0047] In the description of this application, it should be understood that the terms "upper," "lower," "horizontal," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. In this application, unless otherwise expressly specified and limited, the first feature being "upper" or "lower" than the second feature can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium.

[0048] In this application, unless otherwise expressly specified and limited, the terms "connected," "linked," and "fixed," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral unit; 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. However, specifying a direct connection indicates that the two entities connected are not linked by an intermediate structure, but are simply connected to form a whole. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0049] In this application, the use of terms such as "first," "second," etc., is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features.

[0050] Figure 1 This is a schematic diagram of the structure of a warehousing system provided in one embodiment of this application. Figure 2 This is a scene diagram of a warehousing system provided in one embodiment of this application. Figure 3 This is a schematic diagram of the structure of a storage area provided in an embodiment of this application. Figure 1 , Figure 4 This is a schematic diagram of the structure of a storage area provided in an embodiment of this application. Figure 2 . Reference Figures 1 to 4 As shown in the figure, this application embodiment provides a storage system including a carrier 11, which is configured to place an item P.

[0051] Exemplarily, the carrier 11 may include multiple storage locations. These storage locations can be used to place items P. It should be noted that items P may include, but are not limited to, containers (e.g., bins), goods, original boxes containing goods, or logistics parcels. This application embodiment does not limit this; the following embodiment uses the use of storage locations for placing containers as an example for illustrative purposes.

[0052] For example, the cargo space can be a rectangular prism-shaped storage space, and multiple cargo spaces on the vehicle 11 can be neatly arranged along the length, width and height of the vehicle 11.

[0053] Reference Figure 2 As shown, in some examples, the carrier 11 can be a shelf, a turnover cart, a cage cart, etc. For example, the carrier 11 can be a fixed shelf 11a or a movable shelf 11b. For example, a first warehouse is equipped with a movable shelf 11b, and a second warehouse is equipped with a fixed shelf 11a. The shelf includes at least one partition, which divides the carrier 11 into at least two layers. At least one storage location is provided on the partition of the carrier 11, and each storage location can accommodate at least one container. The container placed in each storage location can be a box or a pallet; this application embodiment does not limit this. It should be noted that the carrier 11 includes, but is not limited to, partition shelves, container shelves, picking shelves, movable shelves 11b, etc. The carrier 11 provided in this application embodiment can refer to any carrier 11 used to place containers.

[0054] It is understood that the carrier 11 can be a storage carrier 11 such as a shelf in the storage area 10, or a turnover vehicle or cage car in the packing and unloading area. The embodiments of this application do not limit the type of carrier 11 or its position in the warehousing system.

[0055] In some examples, the carrier 11 can be either a high-density storage rack or a low-density storage rack. When the carrier 11 is a high-density storage rack, the gaps between containers are smaller. For example, the carrier 11 can be parked in a rack area, which can be either a high-density storage area 10 or a low-density storage area 10. The rack area can include multiple storage locations, which can be neatly arranged in rows and columns, and each storage location can be used to park one carrier 11.

[0056] In some examples, the carrier 11 can be a single-sided carrier 11, a double-sided carrier 11, or a four-sided carrier 11 (i.e., containers can be retrieved from four sides). This application embodiment does not limit this; this application embodiment uses a double-sided carrier 11 as an example for illustrative purposes. For example, when the carrier 11 is a double-sided shelf, partitions can be provided between multiple storage locations along the vertical direction; each side of the carrier 11 can have one storage location, and both sides can have a total of one storage location. This application embodiment does not limit the type of carrier 11 or the number of storage locations it includes; this is merely an illustrative example. The warehousing system of this application embodiment may also include a workstation 40 and a handling robot 30. The handling robot 30 can transfer items P between the carrier 11 and the workstation 40. Item P may include, but is not limited to, containers or goods as described in the above examples, and may also include movable shelves 11b or pallets, etc.

[0057] Figure 5 This is a schematic diagram of the structure of a workstation provided in an embodiment of this application. (Refer to...) Figure 1 and Figure 5 As shown, in some examples, workstation 40 can be configured to pick or sort items P. For example, workstation 40 is equipped with a workbench 42 or a conveyor line 43. The workbench 42 can be a temporary storage workbench 42 with different storage locations, heights, and layers that can be flexibly configured as needed. Picking or sorting operators can pick, sort, or pack target goods at the temporary storage table or conveyor line 43. A docking area can be provided on the other side of workstation 40, which can be used to dock a handling robot 30 (e.g., a first handling robot 31) or a movable shelf 11b. The movable shelf 11b can be transported from storage area 10 to workstation 40 by the handling robot 30 (e.g., a second handling robot 32).

[0058] Reference Figure 5 As shown, workstation 40 is equipped with a container handling device 41, wherein the container handling device 41 includes a handling mechanism 411 (which may also be called a robotic arm or robotic hand in some examples). Typically, workstation 40 is equipped with a longitudinal guide rail 413, and the handling mechanism 411 is mounted on the longitudinal guide rail 413 and can move vertically along the longitudinal guide rail 413 under the drive of the longitudinal moving module. The longitudinal guide rail 413 is slidably connected to the transverse guide rail 412, that is, the longitudinal guide rail 413 can move horizontally along the transverse guide rail 412 under the drive of the transverse moving module, thereby driving the handling mechanism 411 to move horizontally, thereby docking with the movable shelf 11b parked on one side of workstation 40. The handling mechanism 411 transfers the target item P on the movable shelf 11b to workstation 40 for packaging, or the handling mechanism 411 transfers the target item P on the conveyor line 43 to the movable shelf 11b for storage.

[0059] In some examples, the retrieval mechanism 411 can also directly dock with the first transport robot 31 in the docking area to transfer the item P on the first transport robot 31 to the workbench 42 or conveyor line 43 on the side of the workstation 40, or to transfer the item P on the workstation 40 or conveyor line 43 to the first transport robot 31.

[0060] In some examples, when the handling robot 30 docks with the workstation 40, the lifting mechanism 310 of the handling robot 30 is configured to move the carrying mechanism 320 to the height of the conveyor line 43 or the work platform so that the carrying mechanism 320 docks with the conveyor line 43 or the work platform, thereby transferring the item P between the carrying mechanism 320 and the conveyor line 43 or the work platform.

[0061] For example, the first handling robot 31 can also directly transfer items P, such as containers containing goods, to the conveyor line 43 or workbench 42 on one side of the workstation 40 for picking or sorting goods. Alternatively, containers on the workbench 42 or conveyor line 43 can be directly transferred to the first handling robot 31 and transported by the first handling robot 31 to the storage area 10 for shelving.

[0062] In some examples, the handling robot 30 of the warehousing system may also include a third handling robot (not shown in the figure), which can dock with the workstation 40 to transfer the picked goods to the seed wall or turnover vehicle for subsequent packaging and outbound delivery.

[0063] It is understandable that in this example, the seeding wall or the turnover vehicle can be understood as the aforementioned vehicle 11.

[0064] Figure 6 This is a schematic diagram of one possible structure of a handling robot provided in an embodiment of this application. Figure 7 This is a schematic diagram of the first state of docking between the handling robot and the carrier according to an embodiment of this application. Figure 8 This is a schematic diagram of the second state of docking between the handling robot and the carrier, according to an embodiment of this application. (Refer to...) Figures 6 to 8 As shown, in some examples, the transport robot 30 may include a chassis mechanism 330, a load-bearing mechanism 320, and a lifting mechanism 310.

[0065] The chassis mechanism 330 is configured to drive the transport robot 30 to move. For example, the chassis mechanism 330 is configured to support itself on a work surface. The chassis mechanism 330 can also drive the transport robot 30 to move on the work surface. The chassis mechanism 330 may be equipped with drive wheels 331 and / or casters that cooperate with the drive wheels 331. The drive wheels 331 and the casters work together to drive the transport robot 30 to move straight and turn on the work surface, so as to facilitate the subsequent transfer of containers by the transport robot 30.

[0066] The carrying mechanism 320 is positioned above the chassis mechanism 330 and is configured to carry an article P, such as a container. The lifting mechanism 310 is positioned between the chassis mechanism 330 and the carrying mechanism 320 and is configured to raise or lower the carrying mechanism 320 relative to the chassis mechanism 330 to lift or lower the container supported above the carrying mechanism 320.

[0067] The lifting mechanism 310 allows the height of the carrying mechanism 320 in the handling robot 30 to be adjusted according to the actual docking height of the cargo location, so that the item P can be efficiently transferred between the handling robot 30 and cargo locations with different docking heights, thereby improving the applicability of the handling robot 30.

[0068] Reference Figure 6 As shown, in some examples, the carrying mechanism 320 can be a comb structure 321. For example, the comb structure 321 can be connected to the corresponding insert tooth 111 structure on the carrier 11 to realize the docking and transfer of the item P. For example, the carrying mechanism 320 may include a carrying part 3211 and a plurality of support parts 3212. The plurality of support parts 3212 are spaced apart on the side of the carrying part 3211 away from the chassis mechanism 330, and each support part 3212 extends upward in a direction away from the carrying part 3211. The plurality of support parts 3212 are used to support the item P, that is, the top surfaces of the plurality of support parts 3212 together form the carrying surface for carrying the item P.

[0069] Multiple support parts 3212 are configured to correspond and match the tooth gaps 112 on the carrier 11. During the docking process between the carrying mechanism 320 and the carrier 11, each support part 3212 extends into the corresponding tooth gap 112 on the carrier 11, and the support part 3212 is lifted and lowered by the lifting mechanism 310 to transfer the item P between the support part 3212 and the carrier 11.

[0070] For example, when it is necessary to remove item P from carrier 11, the carrying mechanism 320 of the handling robot 30 can be lowered to below the tooth 111 of carrier 11 by the lifting mechanism 310, and then the carrying mechanism 320 moves to the bottom of tooth 111 by the chassis mechanism 330 (see reference). Figure 7 (As shown), then the supporting mechanism 320 rises continuously under the drive of the lifting mechanism 310, so that each support part 3212 passes through the tooth gap 112 and lifts the item P, so that the item P is changed from being supported by the tooth 111 to being supported by the supporting mechanism 320 (see reference). Figure 8 As shown), the supporting mechanism 320 then moves horizontally out of the insert tooth 111 along the gap of the insert tooth 111 under the drive of the chassis mechanism 330, completing the removal of item P.

[0071] For example, when an item P needs to be placed on a carrier 11, the carrying mechanism 320 of the handling robot 30, upon reaching the tooth 111 structure of the carrier 11, first rises to the height of the tooth 111 structure under the drive of the lifting mechanism 310. Then, the chassis mechanism 330 drives the carrying mechanism 320 to move horizontally, so that each support part 3212 enters the tooth gap 112, allowing the item P on the support part 3212 to move above the tooth 111 structure. Then, the lifting mechanism 310 drives the carrying mechanism 320 to descend until the support part 3212 is lower than the tooth 111 structure. The item P is then switched from being supported by the carrying mechanism 320 to being supported by the tooth 111 structure, completing the return of item P.

[0072] In other examples, the carrying mechanism 320 includes a conveying structure or a flapping structure, which is at least configured to dock with the vehicle 11 under the action of the lifting mechanism 310 to deliver the item P onto the vehicle 11.

[0073] For example, the conveying structure may include a belt structure or a plurality of spaced rollers, the surface of which is configured as a bearing surface for carrying the article P. Thus, when the belt structure or rollers are docked with the carrier 11, the article P located on the belt structure or rollers can move in position as the belt structure or rollers rotate and is eventually transferred to the carrier 11.

[0074] In some examples, when the carrying mechanism 320 is a flap structure, the flap structure includes a base plate and a flap, one end of which is rotatably connected to the base plate. The surface of the flap facing away from the base plate is configured as a carrying surface to carry the item P. Thus, when the flap structure moves to the docking height with the carrier 11 under the drive of the lifting mechanism 310, the flap can rotate and lift relative to the base plate to deliver the item P on the flap to the storage position of the carrier 11.

[0075] In some examples, the bottom plate of the flap structure may be omitted. For example, one end of the flap can be directly rotatably connected to the lifting mechanism 310. When it is necessary to deliver item P, the flap can be flipped up to deliver item P to the cargo position of the carrier 11.

[0076] It is understandable that when the carrying mechanism 320 is a flip-up structure or a conveyor structure, the docking height can be higher than or equal to the height of the cargo position on the carrier 11.

[0077] Figure 9 This is a schematic diagram of another structure of the handling robot provided in one embodiment of this application. (Refer to...) Figure 9 As shown, in some examples, the carrying mechanism 320 may also include a carrying surface 320a and a pick-and-place structure 322 disposed on the carrying surface 320a. The pick-and-place structure 322 is configured to remove an item P from the carrier 11 or workstation 40 and transfer it to the carrying surface 320a, or to place the item P on the carrying surface 320a back to the carrier 11 or workstation 40.

[0078] For example, the pick-up and place structure 322 can have a pick-up and place component 3221 that can be a suction cup structure, a hook structure, a telescopic fork structure, or a magnetic structure, etc. The structure of the pick-up and place structure 322 is not restricted here, as long as it can pick up and place the item P from the carrier 11 or the workstation 40.

[0079] It is understood that the loading and unloading structure 322 may include a telescopic component 3222. The telescopic component 3222 may include, but is not limited to, a scissor fork structure, a telescopic rod, etc.

[0080] Reference Figure 3 As shown, in some examples, the carrier 11 may include a storage compartment 101. When the handling robot 30 picks up or places an item P on the side of the carrier 11, the lifting mechanism 310 of the handling robot 30 is configured to move the carrying mechanism 320 to the height of the storage compartment 101 so that the carrying mechanism 320 docks with the storage compartment 101, thereby transferring the item P between the carrying mechanism 320 and the storage compartment 101.

[0081] For example, the storage locations of the carrier 11, such as a shelf, may include a plurality of storage locations 101, which may be arranged along the length, width and height of the carrier 11.

[0082] The handling robot 30, such as the first handling robot 31, can directly dock with the storage position 101 of the shelf to retrieve the item P from the storage position 101, or place the item P in the storage position 101.

[0083] For example, when the warehousing system receives a picking task, the handling robot 30 can move to the target carrier 11 side of the storage area 10, and then the chassis mechanism 330 drives the entire handling robot 30 to move to the target column. The lifting mechanism 310 drives the carrying mechanism 320 to rise and fall to the target storage position 101. Then the carrying mechanism 320 extends into the target storage position 101 to retrieve the target item P on the target storage position 101. For example, the pick-and-place structure 322 of the carrying mechanism 320 extends into the target storage position 101 to retrieve the target item P. Then the lifting mechanism 310 drives the carrying mechanism 320 to fall to a low position, and the chassis mechanism 330 drives the entire handling robot 30 to move to the workstation 40 to perform the picking or sorting of the target item P.

[0084] After the target item P is picked, the remaining items P can be transported by the handling robot 30 to the target carrier 11 side of the storage area 10. Then, the chassis mechanism 330 drives the entire handling robot 30 to move to the target column. The lifting mechanism 310 drives the carrying mechanism 320 to lift and lower to the target storage position 101. Then, the carrying mechanism 320 transfers the target item P to the target storage position 101. For example, the pick-and-place structure 322 of the carrying mechanism 320 drives the target item P to extend to the target storage position 101 and places the target item P in the target storage position 101, completing the shelving of item P.

[0085] It is understood that the remaining items P include empty containers or containers filled with goods, and this application embodiment does not limit this.

[0086] In the above example, the handling robot 30 is located on the side of the carrier 11 and directly docks with the storage position 101 on the carrier 11 to pick up and put down items P. This reduces the number of types of handling robots 30 in the warehousing system and simplifies the scheduling process of the handling robots 30 in the entire warehousing system.

[0087] In some examples, the warehousing system may also include a first robot 20 configured to dock with storage location 101 to transfer item P between the first robot 20 and storage location 101.

[0088] When the transport robot 30, such as the first transport robot 31, picks up or places an item P on the side of the carrier 11, the lifting mechanism 310 of the transport robot 30 is configured to drive the carrying mechanism 320 to move to the height of the picking and placing mechanism 22 of the first robot 20, so that the carrying mechanism 320 docks with the picking and placing mechanism 22, thereby transferring the item P between the carrying mechanism 320 and the picking and placing mechanism 22.

[0089] In this example, the first robot 20 can dock with storage location 101 to retrieve item P from storage location 101 or place item P back into storage location 101. In some examples, the first robot 20 can be configured in multiple ways.

[0090] Reference Figure 3 As shown, in one configuration, the first robot 20 can walk along the aisle 13 on one side of the carrier 11. When it is necessary to dock with the carrier 11, the first robot 20 moves along the aisle 13 to the target row of the carrier 11. The picking and placing mechanism 22 of the first robot 20 is driven by the motion mechanism 21 and rises and falls along the gantry of the first robot 20 to the target layer of the carrier 11 to dock with the target cargo position of the carrier 11.

[0091] In this example, the first robot 20 may include a chassis 23, a motion mechanism 21 mounted on the chassis 23, and a pick-and-place structure 322 mounted on the motion mechanism 21. The chassis 23 can travel along the aisle 13, thereby driving the pick-and-place mechanism 22 to move along the length of the carrier 11 via the motion mechanism 21 to reach the target column.

[0092] The structure of the chassis 23 can be referenced from the chassis mechanism 330 of the transport robot 30 described above, and will not be repeated here.

[0093] In some examples, the motion mechanism 21 may include a stand 211 and a vertical drive structure disposed on the stand 211. The pick-and-place mechanism 22 is connected to the vertical drive structure and can slide on the stand 211. In this way, the vertical drive structure can drive the pick-and-place mechanism 22 to slide up and down along the stand 211 so that the drive structure 317 reaches the target layer of the shelf.

[0094] For example, the support frame 211 can be formed by a single column or by two horizontally spaced columns. The two sides of the picking and placing mechanism 22 are slidably mounted on the two columns to improve the lifting stability of the picking and placing mechanism 22. A horizontal connecting member can be provided between the two columns to stabilize them.

[0095] In some examples, the vertical drive structure may include, but is not limited to, a pulley drive structure, a rack and pinion drive structure, etc., as long as the vertical drive structure can drive the pick-up and place mechanism 22 to move up and down along the height direction of the carrier 11.

[0096] Taking a vertical drive structure with pulleys as an example, the vertical drive structure may include a drive motor and a pulley transmission component. The drive motor can be mounted on the chassis 23 or the upright frame 211. The drive wheel and driven wheel of the pulley transmission component are respectively mounted on the top and bottom of the upright frame 211. For example, the drive wheel is mounted on the bottom of the upright frame 211 and connected to the output shaft of the drive motor mounted on the chassis, while the driven wheel is mounted on the top of the upright frame 211. The transmission belt of the pulley transmission component is sleeved on the drive wheel and the driven wheel, and the pick-and-place mechanism 22 is connected to the transmission belt. In this way, the drive motor can drive the driven wheel and the transmission belt to move through the drive wheel. The transmission belt can rotate along the height direction of the upright frame 211, thereby driving the pick-and-place mechanism 22 to rise and fall along the height direction of the upright frame 211 until it reaches the target layer of the carrier 11. The pick-and-place mechanism 22 docks with the target storage position 101 to pick up and place the item P.

[0097] It should be noted that the pick-and-place mechanism 22 can be configured in the same way as the carrier mechanism 320 with pick-and-place structure 322 in the handling robot 30 in the above example, which will not be elaborated here.

[0098] Reference Figure 4 As shown, as another configuration, the first robot 20 can be mounted on the carrier 11 and can move laterally along the carrier 11 so that the first robot 20 moves to the target column of the carrier 11. The picking and placing mechanism 22 of the first robot 20 can move vertically along the carrier 11 under the drive of the motion mechanism 21 so that the picking and placing mechanism 22 moves to the target layer of the carrier 11 and docks with the target cargo location. The picking and placing mechanism 22 is located on the motion mechanism 21, or it can be decoupled from the motion mechanism 21.

[0099] In this example, the motion mechanism 21 of the first robot 20 can be mounted on the carrier 11 and can move along the length of the carrier 11 to drive the pick-and-place mechanism 22 to move to the target column of the carrier 11. For example, a walking structure 212 can be mounted on the upright frame 211 of the motion mechanism 21, and a horizontal track 14 can be mounted on the carrier 11. The walking structure 212 can move along the horizontal track 14, thereby driving the entire motion mechanism 21 to move along the length of the carrier 11.

[0100] For example, the walking structure 212 may include a drive motor and walking wheels. The walking wheels can roll along the horizontal track 14 under the drive of the drive motor, thereby realizing the horizontal movement of the motion mechanism 21.

[0101] In some examples, the pick-up and place mechanism 22 may be located on the motion mechanism 21, that is, the pick-up and place mechanism 22 is located on the motion mechanism 21 in both working and non-working states, and when it is necessary to pick up or return item P, the motion mechanism 21 drives the pick-up and place mechanism 22 to move in the height direction of the vehicle 11 so that the pick-up and place mechanism 22 reaches the target layer of the vehicle 11.

[0102] In other examples, the pick-and-place mechanism 22 can be decoupled from the motion mechanism 21. In other words, the pick-and-place mechanism 22 can be separated from the motion mechanism 21 and can travel along the working surface, such as the ground, after separation to dock with the handling robot 30 at different positions. This can reduce the travel path of the handling robot 30 and improve the docking efficiency between the first robot 20 and the handling robot 30.

[0103] For example, when it is necessary to retrieve item P from storage location 101, the pick-and-place mechanism 22 climbs onto the motion mechanism 21 on the carrier 11 and rises to the target layer under the drive of the motion mechanism 21. Then, the pick-and-place mechanism 22 docks with the target storage location 101 and retrieves item P. Next, the pick-and-place mechanism 22 carries item P down along the motion mechanism 21 and eventually decouples from the motion mechanism 21, walks along the ground to the transport robot 30, transfers item P to the carrying mechanism 320 of the transport robot 30, and finally the transport robot 30 transfers item P to the workstation 40.

[0104] When it is necessary to transfer the item P from the handling robot 30 to the storage position 101, the pick-and-place mechanism 22 walks along the ground to the handling robot 30, takes the item P from the handling robot 30, and then the pick-and-place mechanism 22 carries the item P up to the motion mechanism 21. The motion mechanism 21 drives the pick-and-place mechanism 22 to rise to the target layer, and finally the pick-and-place mechanism 22 places the item P on the target storage position 101.

[0105] By setting the pick-and-place mechanism 22 to be decoupled from the motion mechanism 21, the motion mechanism 21 can be moved to the target column of the vehicle 11 before the pick-and-place mechanism 22 climbs onto the motion mechanism 21. This reduces the power consumption and motion stability of the motion mechanism 21 moving along the length of the vehicle 11.

[0106] It should be noted that when the handling robot 30, such as the first handling robot 31, docks with the pick-and-place mechanism 22, regardless of whether the pick-and-place mechanism 22 is mounted on the motion mechanism 21 or moves on the ground, the carrying mechanism 320 of the first handling robot 31 needs to be adjusted to a height that can dock with the pick-and-place mechanism 22, so that the item P on the carrying mechanism 320 can be transferred to the carrying mechanism 22 via the pick-and-place component of the pick-and-place mechanism 22, or the item P can be transferred to the carrying mechanism 320 via the pick-and-place component of the pick-and-place mechanism 22.

[0107] Of course, in some examples, when the carrying mechanism 320 of the first handling robot 31 includes a pick-and-place component 3221, the pick-and-place component 3221 of the carrying mechanism 320 can also be used to transfer the item P it carries to the pick-and-place mechanism 22, or to transfer the item P on the pick-and-place mechanism 22 to its own carrying surface 322a. The embodiments of this application do not limit the docking method between the first handling robot 31 and the pick-and-place mechanism 22.

[0108] Reference Figure 3 As shown, in some examples, vehicle 11 may also include a cache bit 102 located below storage bit 101.

[0109] For example, the lowest cargo location of vehicle 11 can be used as a cache location 102, which is configured to cache item P, and the cargo locations other than the lowest location can be used as storage locations 101.

[0110] In some examples, the first robot 20 is configured to transfer item P between storage location 101 and cache location 102. When the handling robot 30 picks up or places item P on the carrier 11 side, the lifting mechanism 310 of the handling robot 30 is configured to move the carrying mechanism 320 to the height of cache location 102 so that the carrying mechanism 320 docks with the cache location 102, thereby transferring item P between the carrying mechanism 320 and the cache location 102.

[0111] For example, when the warehousing system receives a picking task, the first robot 20 can first transfer the item P on the storage position 101 to the buffer position 102. For example, the motion mechanism 21 of the first robot 20 drives the pick-and-place mechanism 22 to move to the target storage position 101 side, and retrieves the item P through the pick-and-place mechanism 22. Then, the motion mechanism 21 drives the pick-and-place mechanism 22 to move to the buffer position 102, and the pick-and-place mechanism 22 transfers the item P to the buffer position 102. Then, the transport robot 30 moves to the buffer position 102 and docks with the buffer position 102 to retrieve the item P from the buffer position 102. Then, the transport robot 30 carries the item P to the workstation 40 for picking.

[0112] When the warehousing system receives a shelving task, the handling robot 30 can transfer the item P to be shelved to one side of the idle buffer position 102 of the carrier 11, and then dock with the idle buffer position 102 to transfer the item P to the idle buffer position 102. The first robot 20 then takes the item P from the buffer position 102 and transfers it to the storage position 101 to complete the shelving.

[0113] It should be noted that the process of docking the handling robot 30 with the buffer position 102 can be directly referred to the above-mentioned docking of the comb structure 321 of the handling robot 30 with the insert tooth 111 structure of the carrier 11, and will not be repeated here.

[0114] By setting a buffer position 102 on the carrier 11 to temporarily store the item P retrieved from the storage position 101, or to temporarily store the item P put into storage by the handling robot 30, the first robot 20 and the handling robot 30 can be directly docked without the first robot 20 and the handling robot 30 having to wait for each other, thereby improving the working efficiency of the entire warehousing system.

[0115] Based on the above, when the handling robot 30 docks with the workstation 40 or the cargo position on the carrier 11, it needs to raise and lower the carrying mechanism 320 through the lifting mechanism 310 to adjust the height of the carrying mechanism 320, so that the carrying mechanism 320 can be adapted to dock with cargo positions of different heights, thereby improving the adaptability of the handling robot 30 in different scenarios.

[0116] Figure 10 This is a structural diagram of a handling robot in related technologies. Figure 11 This is a partial schematic diagram of a handling robot in related technologies. (Refer to...) Figure 10 and Figure 11 As shown, in related technologies, the lifting mechanism 310 is typically a scissor fork structure 310b. For example, the scissor fork structure 310b includes two scissor arms 311b that are hinged to each other. The bottom end of one of the two scissor arms 311b is slidably hinged to the chassis mechanism 330, and the top end of the other one is fixedly hinged to the bearing mechanism 320. The bottom end of the other scissor arm 311b is fixedly hinged to the chassis mechanism 330, and the top end of the other one is slidably hinged to the bearing mechanism 320.

[0117] It should be noted that a sliding hinge means that one end of the scissor arm 311b can slide along the chassis mechanism 330 or the load-bearing mechanism 320, and can also rotate relative to the chassis mechanism 330 or the load-bearing mechanism 320. A fixed hinge means that one end of the scissor arm 311b can rotate relative to the chassis mechanism 330 or the load-bearing mechanism 320, but the position of one end of the scissor arm 311b on the chassis mechanism 330 or the load-bearing mechanism 320 is fixed. Thus, during the rotation of one scissor arm 311b relative to the other scissor arm 311b by the drive member of the scissor fork structure 310b, the bottom end of one scissor arm 311b can move closer to or away from the bottom end of the other scissor arm 311b, while the top end of the other scissor arm 311b can move closer to or away from the top end of one scissor arm 311b, thereby increasing or decreasing the distance between the top and bottom ends of the two scissor arms 311b, thus realizing the lifting and lowering of the load-bearing mechanism 320 relative to the chassis mechanism 330.

[0118] Understandably, in the above example, the sliding hinge point at the top or bottom of the scissor fork structure 310b needs to move relative to the chassis mechanism 330 or the carrying mechanism 320. In practice, to guide and limit the movement of the sliding hinge point, a guide structure 312b and a limiting structure are provided on the chassis mechanism 330 or the carrying mechanism 320. The sliding hinge point moves along the guide structure 312b to prevent it from deviating from the preset direction during movement. In addition, when the sliding hinge point moves to its limit position, it can be stopped by the limiting structure to prevent it from moving out of the preset position, ensuring the normal lifting and lowering of the scissor fork structure 310b. This makes the entire scissor fork mechanism and the handling robot 30 complex in structure, with many parts and low assembly efficiency.

[0119] This application provides a lifting mechanism 310, a handling robot 30, and a warehousing system. The lifting mechanism 310 is configured as a linkage structure 310a. The first link 311 of the linkage structure 310a is hinged to the carrying mechanism 320 of the handling robot 30 via a first hinge portion 311a. The fourth hinge portion 312b of the second link 312 is hinged to the chassis mechanism 330 of the handling robot 30. The second hinge portion 311b of the first link 311 is connected to the second link 31... The third hinge portion 312a of 2 is hinged, and the drive structure 317 is connected to any one of the first hinge portion 311a, the second hinge portion 311b, the third hinge portion 312a, and the fourth hinge portion 312b, so as to drive any one of the first hinge portion 311a, the second hinge portion 311b, the third hinge portion 312a, and the fourth hinge portion 312b to move, causing one of the first link 311 and the second link 312 to rotate relative to the other, so that the first link The angle between the first hinge 311 and the second connecting rod 312 increases or decreases, thereby increasing or decreasing the distance between the first hinge portion 311a and the fourth hinge portion 312b, realizing the lifting mechanism 310. In this way, while ensuring that the bearing mechanism 320 can move away from or near the chassis mechanism 330 under the drive of the lifting mechanism 310, the end of the connecting rod structure 310a does not need to be slidably set on the bearing mechanism 320 or the chassis mechanism 330. Compared with the setting method of the lifting mechanism in related technologies, in the embodiment of this application, the first hinge portion 311a in the first connecting rod 311 is fixed in the setting position on the bearing mechanism 320, and the fourth hinge portion 312b in the second connecting rod 312 is fixed in the setting position on the chassis mechanism 330, so that the lifting mechanism 320 can be lifted without setting a guide mechanism or a limiting mechanism, simplifying the structure of the lifting mechanism 310 and the handling robot 30, and improving the assembly efficiency of the lifting mechanism 310 and the handling robot 30.

[0120] The following detailed description, in conjunction with the accompanying drawings, describes the specific structure of the lifting mechanism 310, the handling robot 30, and the warehousing system provided in the embodiments of this application.

[0121] Figure 12 yes Figure 6 Partial structural diagram Figure 1 , Figure 13 yes Figure 6 Partial structural diagram Figure 2 , Figure 14 This is another structural schematic diagram of the handling robot provided in one embodiment of this application. Figure 15 This is a schematic diagram of the lifting mechanism at a first height according to an embodiment of this application. Figure 16 This is a structural schematic diagram of a lifting mechanism at a second height according to an embodiment of this application. (Refer to...) Figure 6 , Figures 12 to 16As shown, this application embodiment provides a lifting mechanism 310, including a linkage structure 310a and a drive structure 317. The linkage structure 310a includes a first link 311 and a second link 312. The first link 311 has a first hinge portion 311a and a second hinge portion 311b. The first hinge portion 311a is configured to hinge with the carrying mechanism 320 of the handling robot 30.

[0122] In some examples, the first link 311 is a rod-shaped member, and the two opposite ends of the first link 311 along the length direction form a first hinge portion 311a and a second hinge portion 311b, respectively. That is, one end of the first link 311 along the length direction forms the first hinge portion 311a, and the other end along the length direction forms the second hinge portion 311b.

[0123] Of course, in other examples, the first link 311 can also be a plate-like member, with a first hinge portion 311a and a second hinge portion 311b formed at opposite ends along one of the directions, such as the length direction. The embodiments of this application do not limit the structure of the first link 311.

[0124] In some examples, the hinge between the first hinge portion 311a of the first link 311 and the carrying mechanism 320 of the handling robot 30 can be understood as the first hinge portion 311a being rotatably connected to the carrying mechanism 320.

[0125] It should be noted that the rotation direction of the first hinge 311a and the first connecting rod 311 is vertical (refer to...). Figure 12 As shown in the z-direction), for example, in a direction perpendicular to the bearing mechanism 320, during the vertical rotation of the first hinge 311a and the first connecting rod 311, the vertical distance between the second hinge 311b and the first hinge 311a of the first connecting rod 311 (refer to...) Figure 12 (As shown in H) increases or decreases.

[0126] For example, when the first hinge portion 311a and the first connecting rod 311 rotate upward relative to the bearing mechanism 320, the second hinge portion 311b moves upward, thereby reducing the vertical distance between the second hinge portion 311b and the first hinge portion 311a; when the first hinge portion 311a and the first connecting rod 311 rotate downward relative to the bearing mechanism 320, the second hinge portion 311b rotates downward, thereby increasing the vertical distance between the second hinge portion 311b and the first hinge portion 311a.

[0127] In some examples, the first hinge 311a and the first link 311 can rotate along any plane perpendicular to the bearing mechanism 320, as long as the vertical distance between the second hinge 311b and the first hinge 311a changes.

[0128] It is understandable that the rotation trajectory of the second hinge 311b and the first connecting rod 311 is an arc-shaped trajectory, that is, the second hinge 311b rotates in the horizontal direction (refer to...). Figure 12 It has components in both the x-direction (as shown in the middle) and the vertical direction.

[0129] One possible transmission method is that the rotation of the second hinge portion 311b drives the first connecting rod 311 and the first hinge portion 311a to rotate relative to the bearing mechanism 320. Another possible transmission method is that the rotation of the first hinge portion 311a drives the first connecting rod 311 and the second hinge portion 311b to rotate relative to the bearing mechanism 320. The embodiments of this application do not limit the transmission path.

[0130] For example, the first hinge portion 311a and the support mechanism 320 can be connected by a hinge so that the first hinge portion 311a can rotate relative to the support mechanism 320, thereby causing the first hinge portion 311a to drive the entire first link 311 to rotate relative to the support mechanism 320.

[0131] For example, the first hinge portion 311a is provided with a rotating ball head, and the first hinge portion 311a is rotatably connected to the support mechanism 320 through the rotating ball head. For example, the rotating ball head may include a housing for fixing to the support mechanism 320, and a ball head rotatably disposed within the housing. One end of the ball head may be connected to the first hinge portion 311a, for example, through a sleeve shaft. For example, one end of the ball head may be fixedly connected to one end of the sleeve shaft, and the other end of the sleeve shaft may be fixedly connected to the first hinge portion 311a. Since the ball head can rotate freely 360° within the housing, the first hinge portion 311a can rotate freely relative to the support mechanism 320 through the sleeve shaft connected to the ball head, thereby achieving dynamic adjustment of the first connecting rod 311.

[0132] This application embodiment does not limit the hinge method between the first hinge portion 311a and the supporting mechanism 320, as long as the first hinge portion 311a can rotate relative to the supporting mechanism 320. The second link 312 has a third hinge portion 312a and a fourth hinge portion 312b. The third hinge portion 312a is hinged to the second hinge portion 311b, and the fourth hinge portion 312b is configured to be hinged to the chassis mechanism 330 of the handling robot 30.

[0133] In some examples, the second link 312 is arranged in a similar manner to the first link 311. For example, the second link 312 is a rod-shaped member, and the two opposite ends of the second link 312 along the length direction form a third hinge portion 312a and a fourth hinge portion 312b, respectively. That is, one end of the second link 312 along the length direction forms a third hinge portion 312a, and the other end along the length direction forms a fourth hinge portion 312b.

[0134] In this configuration, the second link 312 is connected to the second hinge portion 311b of the first link 311 via the third hinge portion 312a. This allows for force transmission between the third hinge portion 312a and the second hinge portion 311b, enabling relative rotation between the second link 312 and the first link 311. For example, the second link 312 can drive the third hinge portion 312a to rotate via the second hinge portion 311b, thereby causing the second link 312 to rotate relative to the first link 311 and the chassis mechanism 330. This changes the horizontal angle between the first link 311 and the second link 312, thus changing the distance between the first hinge portion 311a and the fourth hinge portion 312b. It is understood that if the distance increases, the load-bearing mechanism 320 rises relative to the chassis mechanism 330; if the distance decreases, the load-bearing mechanism 320 descends relative to the chassis mechanism 330.

[0135] It should be noted that the horizontal angle between the first link 311 and the second link 312 is referenced. Figure 11 As shown in α, this is the angle pointing towards the horizontal direction.

[0136] In some examples, the hinge method between the second hinge portion 311b and the third hinge portion 312a, and the hinge method between the fourth hinge portion 312b and the chassis mechanism 330 can be similar to the hinge method between the first hinge portion 311a and the load-bearing mechanism 320, and will not be described in detail here.

[0137] Reference Figure 12 and Figure 14 As shown, the drive structure 317 is connected to any one of the first hinge portion 311a, the second hinge portion 311b, the third hinge portion 312a, and the fourth hinge portion 312b to drive any one of the first hinge portion 311a, the second hinge portion 311b, the third hinge portion 312a, and the fourth hinge portion 312b to move, causing one of the first connecting rod 311 and the second connecting rod 312 to rotate relative to the other, increasing or decreasing the distance between the first hinge portion 311a and the fourth hinge portion 312b, thereby causing the bearing mechanism 320 to rise or fall relative to the chassis mechanism 330.

[0138] Reference Figure 14 As shown, in some examples, the drive structure 317 is connected to the first hinge 311a, so that the first hinge 311a can drive the first hinge 311a to rotate relative to the bearing mechanism 320, causing the first link 311 to rotate about the first hinge 311a. At the same time, the second link 312 is driven to rotate through the second hinge 311b and the third hinge 312a, so that the horizontal angle between the second link 312 and the first link 311 (refer to...) Figure 14The distance between the first hinge portion 311a and the fourth hinge portion 312b is increased or decreased as shown in β.

[0139] For example, when the first link 311 rotates upward around the first hinge 311a, the horizontal angle between the second link 312 and the first link 311 decreases, thus reducing the distance between the first hinge 311a and the fourth hinge 312b, thereby lowering the load-bearing mechanism 320. When the first link 311 rotates downward around the first hinge 311a, the horizontal angle between the second link 312 and the first link 311 increases, thus increasing the distance between the first hinge 311a and the fourth hinge 312b, thereby raising the load-bearing mechanism 320.

[0140] Reference Figure 12 As shown, in some other examples, the drive structure 317 is connected to the third hinge 312a, so that the third hinge 312a can rotate about the second hinge under the drive of the drive structure 317, thereby causing the second link 312 to rotate relative to the first link 311, such that the horizontal angle between the second link 312 and the first link 311 (refer to...) Figure 12 The distance between the first hinge portion 311a and the fourth hinge portion 312b is increased or decreased as shown in α.

[0141] For example, when the drive structure 317 drives the third hinge portion 312a to rotate upward around the second hinge portion 311b, the second connecting rod 312 rotates upward around the third hinge portion 312a, and the horizontal angle between the second connecting rod 312 and the first connecting rod 311 decreases, thereby reducing the distance between the first hinge portion 311a and the fourth hinge portion 312b, thus lowering the bearing mechanism 320. When the drive structure 317 drives the third hinge portion 312a to rotate downward around the second hinge portion 311b, the second connecting rod 312 rotates downward around the third hinge portion 312a, and the horizontal angle between the second connecting rod 312 and the first connecting rod 311 increases, thereby increasing the distance between the first hinge portion 311a and the fourth hinge portion 312b, thus raising the bearing mechanism 320.

[0142] For example, the drive structure 317 includes a fixed part and a power part, wherein the power part is movable relative to the fixed part. The power part is connected to one of the hinge parts of the linkage structure 310a. For example, the power part is connected to any one of the first hinge part 311a, the second hinge part 311b, the third hinge part 312a, and the fourth hinge part 312b, so as to drive the entire linkage structure 310a to move through one of the hinge parts, so that the first link 311 and the second link 312 rotate relative to each other, thereby realizing the change of distance between the first hinge part 311a and the fourth hinge part 312b.

[0143] In some examples, the drive structure 317 may include a rotary motor and a gear engagement structure. For example, when the drive structure 317 is used to drive the first hinge portion 311a, a gear may be connected to the first hinge portion 311a. The output shaft of the rotary motor is provided with external teeth that mesh with the gear. Thus, the output shaft of the rotary motor can drive the gear to rotate during rotation, causing the first hinge portion 311a to rotate under the drive of the gear, thereby driving the first connecting rod 311 and the second connecting rod 312 to move.

[0144] It is understood that in the above example, the part of the rotary motor other than the output shaft can be understood as the fixed part of the drive structure 317, and the power output shaft and gear of the rotary motor can be understood as the power part of the drive structure 317. The power part rotates relative to the fixed part to drive the first hinge part 311a to rotate relative to the bearing mechanism 320, thereby making the first link 311 and the second link 312 linked together.

[0145] In other examples, the drive structure 317 may include a joint motor 317a, one of the outer ring and the inner ring of the joint motor 317a being configured as a fixing part of the drive structure 317, and the other of the outer ring and the inner ring being configured as a power part of the drive structure 317.

[0146] For example, the joint motor 317a may include a brushless motor, a drive controller, a gear set, and a slewing bearing assembly. The drive controller is electrically connected to the brushless motor, the output shaft of the brushless motor is driven to the input end of the gear set, and the output end of the gear set is connected to the slewing bearing assembly, so as to control the movement of the slewing bearing assembly through the drive controller.

[0147] The slewing bearing is a crossed roller slewing bearing. The outer ring of the crossed roller slewing bearing serves as the power unit of the drive structure 317 and is connected to the output end of the gear set and any one of the hinge parts (e.g., the first hinge part 311a). The inner ring of the crossed roller slewing bearing serves as the fixing part of the drive structure 317 and can be connected to other structures (e.g., the load-bearing mechanism 320) except for the hinge part connected to the outer ring. Thus, the drive controller controls the brushless motor to rotate forward or backward. The brushless motor drives the outer ring of the slewing bearing to rotate forward or backward relative to the inner ring through the gear set, thereby controlling the movement of the hinge part connected to the slewing bearing, such as the first hinge part 311a, to realize the change of the horizontal angle between the first link 311 and the second link 312, so that the distance between the first hinge part 311a and the fourth hinge part 312b increases or decreases, thereby realizing the lifting and lowering of the load-bearing mechanism 320.

[0148] In this embodiment, the lifting mechanism 310 is configured as a linkage structure 310a, and a driving structure 317 is connected to any one of the first hinge portion 311a, the second hinge portion 311b, the third hinge portion 312a, and the fourth hinge portion 312b of the linkage structure 310a. This drives any one of the first hinge portion 311a, the second hinge portion 311b, the third hinge portion 312a, and the fourth hinge portion 312b to move, causing one of the first linkage 311 and the second linkage 312 to rotate relative to the other. This increases or decreases the angle between the first linkage 311 and the second linkage 312, thereby increasing or decreasing the distance between the first hinge portion 311a and the fourth hinge portion 312b, thus achieving the lifting and lowering of the lifting mechanism 310. Therefore, while ensuring that the bearing mechanism 320 can move away from or near the chassis mechanism 330 under the drive of the lifting mechanism 310, the end of the link structure 310a does not need to be slidably mounted on the bearing mechanism 320 or the chassis mechanism 330. Compared with the setting method of the lifting mechanism 310 in related technologies, in the embodiment of this application, the first hinge part 311a in the first link 311 is fixed in the setting position on the bearing mechanism 320, and the fourth hinge part 312b in the second link 312 is fixed in the setting position on the chassis mechanism 330. This can realize the lifting of the bearing mechanism 320 without the need to set a guide mechanism or a limiting mechanism, which simplifies the structure of the lifting mechanism 310 and the handling robot 30 and improves the assembly efficiency of the lifting mechanism 310 and the handling robot 30.

[0149] Furthermore, by connecting the drive structure 317 to any one of the first hinge portion 311a, the second hinge portion 311b, the third hinge portion 312a, and the fourth hinge portion 312b to drive the movement of any one of the first hinge portion 311a, the second hinge portion 311b, the third hinge portion 312a, and the fourth hinge portion 312b, on the one hand, by directly driving the hinge portion of the link structure 310a through the drive structure 317, the driving force can be directly and efficiently transmitted to the corresponding link, ensuring that the first link 311 and the second link 312 can move relative to each other efficiently, which can reduce the force transmission path and energy loss. On the other hand, it is also convenient for the drive structure 317 to accurately control the movement of the first link 311 or the second link 312, ensuring that the lifting height of the lifting mechanism 310 can better meet the actual working requirements.

[0150] On the other hand, by placing the drive structure 317 at the hinge, the uneven force distribution on the first link 311 or the second link 312 can be reduced, thereby reducing the risk of deformation, breakage, or other damage to the link due to excessive force and improving the overall mechanical strength and reliability of the link structure 310a.

[0151] On the other hand, by setting the drive structure 317 at the hinge of the link structure 310a, compared to setting it in the load-bearing mechanism 320 or the chassis mechanism 330, the structure of the lifting mechanism 310 is more compact and easier to install. It also saves space in the middle area of ​​the load-bearing mechanism 320, the chassis mechanism 330 and the first link 311 or the second link 312, providing more installation space for the layout of other components.

[0152] In addition, in this embodiment of the application, the drive structure 317 is set as a joint motor 317a. Because the joint motor 317a is small in size and light in weight, it will not bring too much extra burden to the linkage structure 310a, nor will it require extra space to arrange transmission components. This helps to achieve miniaturization and weight reduction of the lifting mechanism 310, and is particularly suitable for use in the handling robot 30 with high requirements for space and weight.

[0153] In addition, the joint motor 317a integrates the drive and transmission functions, reducing mechanical transmission links and eliminating the need for a complex gear transmission system. This avoids faults such as gear wear, tooth surface scuffing, and tooth breakage, reducing the probability of mechanical failures and improving the reliability and stability of the entire lifting mechanism 310, while reducing maintenance costs and downtime.

[0154] Secondly, the articulated motor 317a possesses high control precision and a fast response speed. It can precisely control the rotation angle and speed of the first link 311 and the second link 312, enabling precise adjustments of minute angles, thereby improving the positioning accuracy of the lifting mechanism 310. Simultaneously, the articulated motor 317a's fast response speed allows it to quickly react to control signals, achieving rapid start-stop and speed changes, thus improving the working efficiency of the handling robot 30.

[0155] Furthermore, the drive mechanism of the joint motor 317a enables smooth movement, reducing vibration and impact during operation. It can adjust the output torque in real time according to the load, ensuring stable lifting and lowering of the linkage structure 310a and preventing goods from falling or being damaged due to vibration. This makes it suitable for handling operations requiring high stability.

[0156] In addition, the joint motor 317a typically employs advanced motor design and control technology, enabling more efficient conversion of electrical energy into mechanical energy. It can adjust the motor's output power in real time according to actual load requirements, avoiding unnecessary energy loss, improving energy utilization efficiency, and extending the battery life of the handling robot 30.

[0157] The drive structure 317 of this application embodiment can be set at any hinge position of the link structure 310a. The following describes the cooperation between the drive structure 317 and the link structure 310a with two examples.

[0158] Reference Figure 12 As shown, as one type of connection, the drive structure 317 can be disposed at the second hinge portion 311b and the third hinge portion 312a; wherein, the fixing portion of the drive structure 317 is connected to one of the second hinge portion 311b and the third hinge portion 312a, and the power portion of the drive structure 317 is connected to the other of the second hinge portion 311b and the third hinge portion 312a.

[0159] It is understandable that the second hinge part 311b is a key connection point on the first link 311, and it is hinged to the third hinge part 312a of the second link 312, so that the first link 311 and the second link 312 can rotate relative to each other, thereby realizing the movement of the lifting mechanism 310.

[0160] The third hinge portion 312a is located on the second connecting rod 312 and is connected to the second hinge portion 311b of the first connecting rod 311. It is an important part that forms a rotating pair between the two connecting rods.

[0161] The fixing part of the drive structure 317 is used to fix itself to one of the second hinge part 311b and the third hinge part 312a to provide a support base for the drive. The power part is connected to the other hinge part and can generate power to drive relative movement between the two hinge parts, thereby driving the first link 311 and the second link 312 to rotate relative to each other to realize the lifting function.

[0162] For example, when the drive structure 317 is a joint motor 317a, the brushless motor, drive controller, speed gear set, and inner ring of the slewing bearing of the joint motor 317a are set on the second hinge part 311b, and the outer ring of the slewing bearing is set on and connected to the third hinge part 312a. In this way, the brushless motor can rotate forward or reverse under the control of the drive controller, so as to drive the outer ring to rotate relative to the inner ring through the speed gear set, thereby causing the third hinge part 312a to rotate relative to the second hinge, so as to increase or decrease the horizontal angle between the second link 312 and the first link 311, thereby realizing the lifting and lowering of the bearing mechanism 320 relative to the chassis mechanism 330.

[0163] Reference Figure 15 and Figure 16 As shown, the working process of the handling robot 30 is illustrated below:

[0164] Initial state: The lifting mechanism 310 is in the initial position, the first link 311 and the second link 312 maintain a specific angle, and the carrying mechanism 320 of the handling robot 30 is at the corresponding height.

[0165] Drive start: When the lifting and lowering of the load-bearing mechanism 320 is required, the drive structure 317 starts to work. Taking the fixed part of the drive structure 317 connected to the second hinge part 311b and the power part connected to the third hinge part 312a as an example, the power part generates driving force to drive the third hinge part 312a to move relative to the second hinge part 311b.

[0166] Linkage rotation: Due to the relative movement of the second hinge portion 311b and the third hinge portion 312a, the first link 311 and the second link 312 begin to rotate relative to each other. For example, if the power unit drives the third hinge portion 312a away from the second hinge portion 311b, the included angle between the first link 311 and the second link 312 increases, the distance between the first hinge portion 311a and the fourth hinge portion 312b increases, and the bearing mechanism 320 rises; conversely, if the power unit drives the third hinge portion 312a closer to the second hinge portion 311b, the included angle decreases, the distance between the first hinge portion 311a and the fourth hinge portion 312b decreases, and the bearing mechanism 320 descends.

[0167] Reaching the target position: When the bearing mechanism 320 reaches the target height, the drive structure 317 stops working, the power unit no longer generates driving force, the first link 311 and the second link 312 remain in their current state, and the bearing mechanism 320 is stable at the target position.

[0168] In this embodiment, by placing the drive structure 317 at the second hinge portion 311b and the third hinge portion 312a, the force transmission path is relatively short and direct. Because these two hinge portions are the direct connection points of the first link 311 and the second link 312, the force generated by the drive structure 317 can directly act near the rotation center of the link, reducing force loss and deformation during transmission. For example, when handling heavy goods, the drive structure 317 located at the second hinge portion 311b and the third hinge portion 312a can more effectively transmit power to the first link 311 and the second link 312, making the lifting process smoother and reducing energy waste.

[0169] Furthermore, by placing the drive structure 317 at the second hinge portion 311b and the third hinge portion 312a, the structural stability of the entire lifting mechanism 310 can be enhanced. Since the drive structure 317 acts directly on the connection point of the two links, it can better control the relative movement between the links and reduce the swaying and swinging of the links during movement.

[0170] For example, during rapid lifting and lowering, the drive structure 317 provided in the second hinge portion 311b and the third hinge portion 312a can make the movement of the linkage smoother and prevent the goods from falling due to shaking.

[0171] Furthermore, the drive structure 317 is located at the second hinge portion 311b and the third hinge portion 312a, which enables more precise control of the relative rotation angle between the first link 311 and the second link 312, thereby achieving more flexible lifting and lowering movements. The lifting height and speed of the bearing mechanism 320 can be quickly adjusted according to different working requirements.

[0172] For example, this setup allows for more precise adjustments when minor height changes are required, improving the operational accuracy of the handling robot 30.

[0173] Furthermore, by placing the drive structure 317 between the second hinge portion 311b and the third hinge portion 312a, the space occupied by the lifting mechanism 310 in other directions is not increased. Since the drive structure 317 acts directly on the connection point of the two links, there is no need to arrange additional drive devices near other hinge portions, making the structure of the entire lifting mechanism 310 more compact and facilitating installation and use in limited spaces.

[0174] For example, in some space-constrained warehouse environments, this compact design allows the handling robot 30 to operate more flexibly in narrow aisles.

[0175] In some examples, the second hinge portion 311b of the first link 311 and the third hinge portion 312a of the second link 312 can be directly hinged. For example, the second hinge portion 311b and the third hinge portion 312a can be directly hinged via a hinge to simplify the link structure 310a. In some examples, the lifting mechanism 310 also includes a first connecting member 315; the second hinge portion 311b is hinged to a first position of the first connecting member 315, and the third hinge portion 312a is hinged to a second position of the first connecting member 315. The first position and the second position may be the same as or different from each other.

[0176] The fixed part of the drive structure 317 is connected to the first connector 315, providing stable support for the drive structure 317. The power part of the drive structure 317 is connected to either the second hinge part 311b or the third hinge part 312a, providing driving force to either the second hinge part 311b or the third hinge part 312a to drive the corresponding hinge part to move, thereby driving the entire lifting mechanism 310 to move.

[0177] Reference Figure 13 As shown, exemplarily, the first connector 315 serves as an intermediate connecting component, the second hinge portion 311b can be hinged to the first position A of the first connector 315, and the third hinge portion 312a is hinged to the second position B of the first connector 315. The first position and the second position can be the same or different, thereby providing a flexible way for the connection and movement of the two links.

[0178] For example, when the first position and the second position are the same, the second hinge portion 311b and the third hinge portion 312a can be hinged to the same position of the first connector 315 by a hinge shaft passing through the first connector 315, so as to improve the assembly efficiency of the second hinge portion 311b and the third hinge portion 312a on the first connector 315.

[0179] For example, when the first position and the second position are different, the second hinge part 311b can be hinged by a hinge shaft passing through the first connector 315 at the first position, and the third hinge part 312a can be hinged by a hinge shaft passing through the first connector 315 at the second position.

[0180] For example, the first position may be located above the second position to facilitate the transmission of force between the second hinge portion 311b and the third hinge portion 312a via the first connector 315.

[0181] Of course, this application embodiment does not exclude examples where the first position and the second position are aligned in the horizontal direction, or where the first position is lower than the second position.

[0182] The following is an illustrative description of the working process of the handling robot 30:

[0183] Initial state: The lifting mechanism 310 is at the initial height, the first link 311, the second link 312 and the first connector 315 remain relatively stationary, and the carrying mechanism 320 of the handling robot 30 is in a specific position.

[0184] Drive start: When a lifting operation is required, the drive structure 317 starts to work. Taking the power unit of the drive structure 317 connected to the second hinge part 311b as an example, the power unit generates a driving force, driving the second hinge part 311b to move relative to the first connecting member 315.

[0185] The connecting rod and the connecting member move in tandem: Since the second hinge portion 311b is hinged to the first connecting member 315, the movement of the second hinge portion 311b drives the movement of the first connecting member 315. Simultaneously, the third hinge portion 312a also moves in conjunction with the second hinge portion 311b through the first connecting member 315. Under the action of the first connecting member 315, the first connecting rod 311 and the second connecting rod 312 begin to rotate relative to each other, causing a change in the distance between the first hinge portion 311a and the fourth hinge portion 312b.

[0186] Lifting mechanism: If the distance between the first hinge 311a and the fourth hinge 312b increases, the supporting mechanism 320 rises; if the distance decreases, the supporting mechanism 320 descends. When the supporting mechanism 320 reaches the target height, the drive structure 317 stops working, and the lifting mechanism 310 remains stable.

[0187] In this embodiment, the second hinge portion 311b and the third hinge portion 312a are hinged to the first connecting member 315, significantly improving the flexibility of movement. Since the first position and the second position can be different, two different hinge points are formed between the first link 311 and the second link 312, providing more degrees of freedom and variation for the movement of the two links. By adjusting the relative relationship between the two hinge positions on the first connecting member 315, different motion trajectories and angle changes can be achieved.

[0188] For example, in some handling tasks that require multi-angle and multi-directional adjustments, the lifting mechanism 310 with the first connector 315 can more flexibly adapt to different work requirements, such as the precise placement of goods in a confined space.

[0189] In addition, the first connector 315 serves to distribute and transmit force. The force generated by the drive structure 317 is transmitted to the second hinge 311b and the third hinge 312a through the first connector 315, allowing the force to be distributed more evenly on the two connecting rods. This helps reduce the stress on individual hinge points, lowers the risk of hinge point damage, and extends the service life of the lifting mechanism 310.

[0190] For example, when moving heavy goods, the lifting mechanism 310 with the first connector 315 can better bear and distribute the load, ensuring the stability and reliability of the lifting process.

[0191] Furthermore, the first connecting member 315 increases the structural stability of the entire lifting mechanism 310. It connects the first link 311 and the second link 312 together, forming a more stable structural system. During movement, the first connecting member 315 can limit excessive swinging and swaying of the first link 311 and the second link 312, making the lifting movement smoother.

[0192] For example, when lifting rapidly or encountering external vibrations, the lifting mechanism 310 with the first connector 315 can better maintain balance and reduce the risk of goods falling.

[0193] Furthermore, the drive structure 317 is connected to the first connector 315, facilitating drive control. The movement of the two linkages can be indirectly controlled by controlling the movement of the first connector 315, simplifying the design and control logic of the drive system.

[0194] For example, in an automated handling system, the lifting mechanism 310 with the first connector 315 can be more easily integrated with the control system to achieve precise lifting control.

[0195] Reference Figures 12 to 16As shown, in some examples, the lifting mechanism 310 further includes a third link 313 and a fourth link 314. The third link 313 has a fifth hinge portion 313a and a sixth hinge portion 313b. The fifth hinge portion 313a is configured to hinge with the load-bearing mechanism 320, and the sixth hinge portion 313b is hinged with the third position C of the first connecting member 315 (see reference). Figure 13 (as shown)

[0196] The fourth link 314 has a seventh hinge portion 314a and an eighth hinge portion 314b. The seventh hinge portion 314a is hinged to the fourth position D of the first connecting member 315 (see reference). Figure 13 As shown), the eighth hinge part 314b is configured to hinge with the chassis mechanism 330.

[0197] The third position may be the same as or different from the fourth position.

[0198] For example, the third link 313 can be a rod-shaped member with a fifth hinge portion 313a and a sixth hinge portion 313b at its opposite ends along its length. The fifth hinge portion 313a can be hinged to the bearing mechanism 320 via a hinge, hinge shaft, or other structure, so that the fifth hinge portion 313a drives the third link 313 to rotate relative to the bearing mechanism 320, and also allows the third link 313 to directly affect the movement of the bearing mechanism 320. The sixth hinge portion 313b can be hinged to the third position of the first connecting member 315 via a hinge shaft or other structure, so that the third link 313 can work in conjunction with the first connecting member 315.

[0199] It should be noted that the structure and arrangement of the third link 313 are similar to those of the first link 311, and will not be described in detail here.

[0200] For example, the fourth link 314 can be a rod-shaped member with a seventh hinge portion 314a and an eighth hinge portion 314b at its opposite ends along the length direction. The seventh hinge portion 314a can be hinged to the fourth position of the first connecting member 315 through a hinge shaft or other structure, and the eighth hinge portion 314b can be hinged to the chassis mechanism 330 through a hinge, hinge shaft, etc., providing support and a stable foundation for the entire lifting mechanism 310.

[0201] It should be noted that the structure and arrangement of the fourth link 314 are similar to those of the second link 312, and will not be described again here. The first connector 315, as an intermediate connecting component, in addition to the first and second positions mentioned above for connecting the first link 311 and the second link 312, also has a third and a fourth position, which are hinged to the third link 313 and the fourth link 314 respectively, and play the role of integrating the movement of each link.

[0202] The following is an illustrative description of the working process of the handling robot 30:

[0203] Initial state: The lifting mechanism 310 is at its initial height, all links and the first connecting member 315 are relatively stationary, and the carrying mechanism 320 of the handling robot 30 is in a specific position. Drive start: The drive structure 317 operates. Assuming the power unit of the drive structure 317 acts on the second hinge 311b, the second hinge 311b moves relative to the first connecting member 315. Since the first link 311 and the second link 312 are interconnected through the first connecting member 315, the first link 311 and the second link 312 begin to rotate relative to each other.

[0204] The movement of the first connecting member 315 is simultaneously transmitted to the third connecting member 313 and the fourth connecting member 314. Since the sixth hinge portion 313b of the third connecting member 313 and the seventh hinge portion 314a of the fourth connecting member 314 are both hinged to the first connecting member 315, the movement of the first connecting member 315 will cause the third connecting member 313 to rotate around the fifth hinge portion 313a, and the fourth connecting member 314 to rotate around the eighth hinge portion 314b.

[0205] Lifting is achieved by the coordinated rotation of each link, which changes the distance between the first hinge 311a and the fourth hinge 312b, and between the fifth hinge 313a and the eighth hinge 314b, thereby causing the bearing mechanism 320 to rise or fall. When the target height is reached, the drive structure 317 stops working, and each link remains in its current state.

[0206] Specifically, when the lifting mechanism 310 needs to descend, the power unit of the drive structure 317 moves along a first direction to drive one of the second hinge portion 311b and the third hinge portion 312a to rotate relative to the first connecting member 315, causing the first link 311 to rotate towards the second link 312, thereby reducing the distance between the first hinge portion 311a and the fourth hinge portion 312b. During the rotation of the first link 311 and the second link 312, the first connecting member 315 moves horizontally at least along a third direction to drive the third link 313 to rotate towards the fourth link 314.

[0207] Taking the connection between the power unit of the drive structure 317 and the third hinge 312a as an example, when the lifting mechanism 310 needs to descend, the power unit of the drive structure 317 moves in the first direction (e.g., counterclockwise, see reference). Figure 16The movement (indicated by arrow a) drives the third hinge 312a to rotate counterclockwise relative to the first connector 315, causing the second link 312 to rotate towards the first link 311, thereby reducing the distance between the first hinge 311a and the fourth hinge 312b. During the rotation of the first link 311 and the second link 312, the first connector 315 moves horizontally at least along a third direction (e.g., to the left, the opposite of the x-direction), thereby causing the third link 313 to rotate towards the fourth link 314, reducing the distance between the first hinge 311a and the fourth hinge 312b, and reducing the distance between the fifth hinge 313a and the eighth hinge 314b, thereby causing the bearing mechanism 320 to descend.

[0208] For example, when the lifting mechanism 310 needs to rise, the power unit of the drive structure 317 moves in the second direction to drive one of the second hinge portion 311b and the third hinge portion 312a to rotate relative to the first connecting member 315, causing the first link 311 to rotate away from the second link 312, thereby increasing the distance between the first hinge portion 311a and the fourth hinge portion 312b. The first connecting member 315 moves horizontally at least in the fourth direction during the rotation of the first link 311 and the second link 312, thereby driving the third link 313 to rotate away from the fourth link 314.

[0209] Continuing with the example of the connection between the power unit of the drive structure 317 and the third hinge 312a, when the lifting mechanism 310 needs to rise, the power unit of the drive structure 317 moves in the second direction (e.g., clockwise, see reference). Figure 15 The movement (indicated by arrow b) drives the third hinge 312a to rotate clockwise relative to the first connector 315, causing the second link 312 to rotate away from the first link 311, thereby increasing the distance between the first hinge 311a and the fourth hinge 312b. During the rotation of the first link 311 and the second link 312, the first connector 315 moves horizontally at least along the fourth direction (e.g., to the right, the positive x-direction), thereby causing the third link 313 to rotate away from the fourth link 314, increasing the distance between the first hinge 311a and the fourth hinge 312b, and increasing the distance between the fifth hinge 313a and the eighth hinge 314b, thereby raising the bearing mechanism 320.

[0210] Among them, the first direction is opposite to the second direction, and the third direction is opposite to the fourth direction.

[0211] Furthermore, the third link 313 rotates in the same direction as the first link 311, and the fourth link 314 rotates in the same direction as the second link 312. For example, when the first link 311 rotates clockwise, the third link 313 also rotates clockwise, and when the second link 312 rotates clockwise, the fourth link 314 also rotates clockwise.

[0212] In some examples, during the lifting process of the lifting mechanism 310, the first link 311, the bearing mechanism 320, the third link 313 and the first connector 315 form a parallelogram structure, and the second link 312, the first connector 315, the fourth link 314 and the chassis mechanism 330 form a parallelogram structure.

[0213] In this embodiment, by adding a third link 313 and a fourth link 314, the load-bearing capacity of the lifting mechanism 310 is significantly improved. Multiple links share the weight of the load-bearing mechanism 320, allowing the force to be distributed more evenly across the links and the chassis mechanism 330.

[0214] For example, when moving heavy goods such as large machinery, a lifting mechanism 310 with four links can support and lift the goods more stably, while a structure with only two links may not be able to withstand such a large weight.

[0215] Furthermore, the four-link structure forms a more stable geometry, increasing the motion stability of the lifting mechanism 310. During lifting, the links restrain and cooperate with each other, reducing swaying and swinging. For example, during rapid lifting or encountering external vibrations, the four-link lifting mechanism 310 can better maintain balance, ensuring the safe transport of goods.

[0216] More links and hinge points provide greater motion constraints and adjustment space, enabling the lifting mechanism 310 to achieve more precise motion control. By rationally designing the length and hinge position of each link, the rising and falling height of the load-bearing mechanism 320 can be controlled more accurately. For example, in scenarios where goods need to be precisely placed at a specific height, such as the buffer position 102 of a shelf, the four-link lifting mechanism 310 can more accurately reach the target height, meeting high-precision work requirements.

[0217] The four-link structure can adapt to a wider range of working scenarios and load conditions. By adjusting the connection methods and motion parameters between the links, different motion trajectories and speeds can be achieved to meet diverse handling needs. For example, in the handling of goods of different shapes and sizes, the four-link lifting mechanism 310 can better adapt to the characteristics of the goods by adjusting its motion mode, thereby improving work efficiency.

[0218] In other examples, more links and connectors can be added to form more complex linkage mechanisms, enabling richer motion patterns and higher motion accuracy. For instance, in some high-precision industrial automation equipment, multi-stage linkage mechanisms may be used to achieve precise control of minute displacements; that is, more than two links can be set along the vertical direction.

[0219] For example, three or more lifting mechanisms 310 formed by two connecting rods and an intermediate connecting member can be set along the horizontal direction. For instance, a connecting member can be set on one side of the first connecting member 315, and the fifth and sixth connecting rods can be hinged to the connecting member respectively. Of course, it is also possible to not set up the connecting member and directly hinge the fifth and sixth connecting rods to the first connecting member 315.

[0220] In some examples, when the transport robot 30 needs to remove an item P from the side of the carrier 11, the carrying mechanism 320 of the transport robot 30 is configured to rise or fall to the height of the target docking position under the drive of the lifting mechanism 310, so as to dock with the target docking position and thereby remove the item P from the target docking position.

[0221] The carrying mechanism 320 of the handling robot 30 is configured to descend to the height of the target docking position under the drive of the lifting mechanism 310. This includes: the power unit of the driving structure 317 in the lifting mechanism 310 moves along a first direction to drive one of the second hinge part 311b and the third hinge part 312a to rotate relative to the first connecting member 315, causing the first link 311 to rotate towards the second link 312, thereby reducing the distance between the first hinge part 311a and the fourth hinge part 312b; the first connecting member 315 moves horizontally at least along a third direction during the rotation of the first link 311 and the second link 312, thereby driving the third link 313 to rotate towards the fourth link 314, causing the carrying mechanism 320 to move toward the chassis mechanism 330 until it descends to the height of the target docking position.

[0222] Taking the connection between the power unit of the drive structure 317 and the third hinge 312a as an example, when the handling robot 30 needs to descend, the power unit of the drive structure 317 moves along the first direction (e.g., counterclockwise, see reference). Figure 16The movement (indicated by arrow a) drives the third hinge 312a to rotate counterclockwise relative to the first connector 315, causing the second link 312 to rotate towards the first link 311, thereby reducing the distance between the first hinge 311a and the fourth hinge 312b. During the rotation of the first link 311 and the second link 312, the first connector 315 moves horizontally at least along a third direction (e.g., to the left, i.e., the opposite direction of the x direction), thereby causing the third link 313 to rotate towards the fourth link 314, reducing the distance between the first hinge 311a and the fourth hinge 312b, and reducing the distance between the fifth hinge 313a and the eighth hinge 314b, thereby causing the bearing mechanism 320 to descend until the bearing mechanism 320 descends to the height of the target docking position.

[0223] The carrying mechanism 320 of the handling robot 30 is configured to rise to the height of the target docking position under the drive of the lifting mechanism 310. This includes: the power unit of the drive structure 317 in the lifting mechanism 310 moves along a second direction to drive one of the second hinge portion 311b and the third hinge portion 312a to rotate relative to the first connecting member 315, causing the first link 311 to rotate away from the second link 312, thereby increasing the distance between the first hinge portion 311a and the fourth hinge portion 312b; the first connecting member 315 moves horizontally at least along a fourth direction during the rotation of the first link 311 and the second link 312, thereby driving the third link 313 to rotate away from the fourth link 314, causing the carrying mechanism 320 to move away from the chassis mechanism 330 until it rises to the height of the target docking position.

[0224] Continuing with the example of the connection between the power unit of the drive structure 317 and the third hinge 312a, when the lifting mechanism 310 needs to rise, the power unit of the drive structure 317 moves in the second direction (e.g., clockwise, see reference). Figure 15 The movement (indicated by arrow b) drives the third hinge 312a to rotate clockwise relative to the first connector 315, causing the second link 312 to rotate away from the first link 311, thereby increasing the distance between the first hinge 311a and the fourth hinge 312b. During the rotation of the first link 311 and the second link 312, the first connector 315 moves horizontally at least along the fourth direction (e.g., to the right, the positive x-direction), thereby causing the third link 313 to rotate away from the fourth link 314, increasing the distance between the first hinge 311a and the fourth hinge 312b, and increasing the distance between the fifth hinge 313a and the eighth hinge 314b, thereby causing the bearing mechanism 320 to rise until the bearing mechanism 320 rises to the height of the target docking position.

[0225] It is understood that the target docking position on the side of the vehicle 11 includes the storage position 101, the buffer position 102 of the vehicle 11, or the location of the pick-and-place mechanism 22 of the first robot 20.

[0226] Reference Figure 14 As shown, in another configuration, the drive structure 317 is located at the first hinge portion 311a; wherein, the fixed portion of the drive structure 317 is configured to be connected to the bearing mechanism 320, and the power portion of the drive structure 317 is connected to the first hinge portion 311a to drive the first link 311 to rotate relative to the bearing mechanism 320, thereby increasing or decreasing the included angle between the first link 311 and the second link 312.

[0227] For example, when the lifting and lowering of the load-bearing mechanism 320 is required, the drive structure 317 begins to operate. The power unit generates a driving force, which acts on the first hinge portion 311a, causing the first link 311 to rotate relative to the load-bearing mechanism 320. The rotation of the first link 311 drives the second hinge portion 311b to move. Since the second hinge portion 311b is hinged to the third hinge portion 312a of the second link 312, the included angle between the first link 311 and the second link 312 changes. If the first link 311 rotates in a direction away from the second link 312, the included angle increases; conversely, the included angle decreases.

[0228] The change in the angle between the first link 311 and the second link 312 will cause a change in the distance between the first hinge portion 311a and the fourth hinge portion 312b. When the angle increases, the distance between the first hinge portion 311a and the fourth hinge portion 312b increases, and the load-bearing mechanism 320 rises; when the angle decreases, the distance decreases, and the load-bearing mechanism 320 descends.

[0229] In some examples, multiple drive structures 317 can be configured to act simultaneously on the first hinge portion 311a to improve the movement speed and load-bearing capacity of the lifting mechanism 310. For example, in large handling equipment, using multiple joint motors 317a to simultaneously drive the first hinge portion 311a can achieve the lifting of the load-bearing mechanism 320 more quickly.

[0230] In this embodiment, by placing the drive structure 317 in the first hinge portion 311a, the force transmission path is more direct, enabling more efficient transmission of driving force to the entire lifting mechanism 310. Because the first hinge portion 311a is directly connected to the bearing mechanism 320, the force generated by the drive structure 317 can directly drive the first connecting rod 311 to rotate relative to the bearing mechanism 320, reducing force loss during transmission. For example, when handling heavy goods, the drive structure 317 in the first hinge portion 311a can more easily lift and lower the bearing mechanism 320, requiring relatively less driving force and achieving higher energy efficiency.

[0231] The drive structure 317, located at the first hinge portion 311a, can more precisely control the lifting and lowering movement of the carrying mechanism 320. Because it directly acts on the first hinge portion 311a connected to the carrying mechanism 320, it can more accurately adjust the rotation angle of the first link 311, thereby more precisely controlling the angle change between the first link 311 and the second link 312, achieving precise adjustment of the height of the carrying mechanism 320. For example, in scenarios where goods need to be precisely placed at a specific height, the drive structure 317 located at the first hinge portion 311a can reach the target height more accurately with less error.

[0232] The drive structure 317 is connected to the support mechanism 320 and acts on the first hinge portion 311a, which helps to improve the structural stability of the entire lifting mechanism 310. The support mechanism 320 provides a stable support foundation for the drive structure 317, making the driving process smoother. For example, when lifting rapidly or encountering external vibrations, the lifting mechanism 310 located at the first hinge portion 311a can better maintain balance, reducing the risk of cargo swaying and falling.

[0233] The drive structure 317 is located at the first hinge portion 311a, facilitating maintenance and repair. Because the first hinge portion 311a is close to the load-bearing mechanism 320, the installation and disassembly of the drive structure 317 are relatively convenient, allowing maintenance personnel to more easily inspect, repair, and replace parts. For example, when the drive structure 317 malfunctions, the structure located at the first hinge portion 311a allows for faster repairs, reducing downtime and improving work efficiency.

[0234] In some examples, the fixing part of the drive structure 317 can be directly fixed to the side of the bearing mechanism 320 facing the connecting rod structure 310a.

[0235] In other examples, the lifting mechanism 310 also includes a second connector 316, which is configured to be mounted on the support mechanism 320. The fixing part of the drive structure 317 can also be fixed to the support mechanism 320 via the second connector 316. On the one hand, the installation process is more flexible when using the second connector 316. The second connector 316 can be customized according to the specific circumstances of the drive structure 317 and the support mechanism 320, and can adapt to drive structures 317 and support mechanisms 320 with different shapes, sizes, and installation position requirements. For example, if the mounting surface of the support mechanism 320 is uneven or has special structural limitations, the second connector 316 can serve as a transition and adaptation.

[0236] On the other hand, the second connector 316 provides more possibilities for adjusting the position of the drive structure 317. During installation, if it is found that the position of the drive structure 317 needs to be fine-tuned, the position of the drive structure 317 can be easily adjusted by adjusting the installation position or angle of the second connector 316.

[0237] On the other hand, the second connector 316 can disperse force. The drive structure 317 generates significant force during operation; through the second connector 316, this force can be distributed more evenly across the supporting mechanism 320, reducing the problem of excessive localized stress. For example, when the drive structure 317 drives the linkage mechanism, the second connector 316 can distribute the driving force over a larger area of ​​the supporting mechanism 320, reducing the risk of damage to the supporting mechanism 320.

[0238] In addition, the second connector 316 can also optimize the direction and method of force transmission. Designing a suitable structure for the second connector 316 based on the working requirements of the drive structure 317 and the load-bearing mechanism 320 can make force transmission smoother and more efficient.

[0239] In some examples, the second connector 316 can be configured as a buffer component to absorb and reduce vibrations and impacts generated during the operation of the drive structure 317. For example, the second connector 316 can be made of materials with elastic or damping properties, such as rubber or springs, which can effectively buffer and absorb vibration energy and reduce the impact on the load-bearing mechanism 320. For example, in some high-speed drive equipment, using a second connector 316 with rubber damping pads can significantly reduce vibration and noise.

[0240] In some examples, the lifting mechanism 310 also includes a third link 313 and a fourth link 314;

[0241] The third link 313 has a fifth hinge portion 313a and a sixth hinge portion 313b, the fifth hinge portion 313a being configured to hinge with the load-bearing mechanism 320.

[0242] The fourth link 314 has a seventh hinge portion 314a and an eighth hinge portion 314b. The seventh hinge portion 314a is hinged to the sixth hinge portion 313b, and the eighth hinge portion 314b is configured to be hinged to the chassis mechanism 330.

[0243] It is understandable that the structures of the third link 313 and the fourth link 314 can be directly referred to the structures of the third link 313 and the fourth link 314 in the above example, and will not be repeated here.

[0244] Unlike the previous example, in this example, the sixth hinge portion 313b and the seventh hinge portion 314a are independent of the second hinge portion 311b and the third hinge portion 312a. When a lifting operation is required, the drive structure 317 starts to work. The power unit acts on the first hinge portion 311a, causing the first link 311 to rotate relative to the load-bearing mechanism 320. The rotation of the first link 311 causes the load-bearing mechanism 320 to tend to move. Since the fifth hinge portion 313a of the third link 313 is hinged to the load-bearing mechanism 320, the movement of the load-bearing mechanism 320 drives the third link 313 to move. The movement of the third link 313, in turn, drives the fourth link 314 to rotate around the eighth hinge portion 314b through the connection between the sixth hinge portion 313b and the seventh hinge portion 314a of the fourth link 314.

[0245] Specifically, when the lifting mechanism 310 needs to descend, the power unit of the drive structure 317 moves in a first direction (e.g., clockwise, see reference). Figure 14 The movement (in the positive direction of arrow c) drives the first hinge 311a to rotate clockwise relative to the bearing mechanism 320, causing the first link 311 to rotate towards the second link 312, thereby reducing the distance between the first hinge 311a and the fourth hinge 312b. During the rotation of the first link 311 and the second link 312, the bearing mechanism 320 moves vertically at least in a third direction (e.g., downward) to drive the third link 313 to rotate towards the fourth link 314, thereby reducing the distance between the first hinge 311a and the fourth hinge 312b, and reducing the distance between the fifth hinge 313a and the eighth hinge 314b, thus realizing the descent of the lifting mechanism 310.

[0246] When the lifting mechanism 310 needs to rise, the power unit of the drive structure 317 moves in the second direction (e.g., counterclockwise, see reference). Figure 14 The movement (opposite to arrow c) drives the first hinge 311a to rotate counterclockwise relative to the bearing mechanism 320, causing the first link 311 to rotate away from the second link 312, thereby increasing the distance between the first hinge 311a and the fourth hinge 312b. During the rotation of the first link 311 and the second link 312, the bearing mechanism 320 moves vertically at least in the fourth direction (e.g., upward) to drive the third link 313 to rotate away from the fourth link 314, thereby increasing the distance between the first hinge 311a and the fourth hinge 312b, and increasing the distance between the fifth hinge 313a and the eighth hinge 314b, thus realizing the raising of the lifting mechanism 310.

[0247] Among them, the first direction is opposite to the second direction, and the third direction is opposite to the fourth direction.

[0248] Furthermore, the third link 313 rotates in the opposite direction to the first link 311, and the fourth link 314 rotates in the opposite direction to the second link 312. For example, during the upward movement of the lifting mechanism 310, the first link 311 rotates counterclockwise, the third link 313 rotates clockwise, the second link 312 rotates clockwise, and the fourth link 314 rotates counterclockwise, thereby reducing the vertical angle between the first link 311 and the third link 313, and also reducing the vertical angle between the second link 312 and the fourth link 314.

[0249] For example, during the descent of the lifting mechanism 310, the first link 311 rotates clockwise, the third link 313 rotates counterclockwise, the second link 312 rotates counterclockwise, and the fourth link 314 rotates clockwise, which increases the vertical angle between the first link 311 and the third link 313, and also increases the vertical angle between the second link 312 and the fourth link 314.

[0250] In some examples, the first hinge portion 311a and the fifth hinge portion 313a may be hinged at the same position or different positions of the bearing mechanism 320, and the embodiments of this application do not limit this.

[0251] For example, both the first hinge portion 311a and the fifth hinge portion 313a are hinged to the second connecting member 316, that is, they are hinged to the bearing mechanism 320 through the second connecting member 316, which facilitates the disassembly and replacement of the connecting rod structure 310a. For example, the first hinge portion 311a and the fifth hinge portion 313a may be hinged to the same position or different positions of the second connecting member 316.

[0252] In some examples, the fourth hinge portion 312b and the eighth hinge portion 314b are hinged on the same hinge axis of the chassis mechanism 330. For example, a hinge axis can be provided on the chassis mechanism 330, and the fourth hinge portion 312b and the eighth hinge portion 314b are rotatably sleeved on the hinge axis.

[0253] By sharing the same hinge axis between the fourth hinge portion 312b and the eighth hinge portion 314b, the entire lifting mechanism 310 occupies less space on the chassis mechanism 330. The single hinge axis design reduces the additional space required for axis spacing, resulting in a more compact structure. This is significant for space-constrained applications, such as small handling robots 30 or equipment in narrow workspaces, allowing for more flexible layout and operation within limited spaces. The compact structure also helps reduce the overall weight of the equipment, as eliminating one hinge axis and its associated support structure lightens the load on the chassis mechanism 330, improving the equipment's mobility and energy efficiency.

[0254] The shared hinge axis provides a common center of rotation for the fourth link 314 and the second link 312, resulting in better coordination between the two links during movement. During lifting and lowering, they rotate around the same axis, enabling more synchronized responses to the actions of the drive structure 317 and reducing swaying and instability caused by asynchronous movement. Compared to the case of different hinge axes, the single-hinged-axis structure reduces potential assembly errors and axis parallelism issues.

[0255] Furthermore, the two hinges are hinged to the same hinge axis, ensuring better synchronization between the fourth link 314 and the second link 312 during movement. When the drive structure 317 drives the first link 311, the fourth link 314 and the second link 312 will rotate simultaneously around the same axis through the interaction between the links, resulting in more consistent motion and more precise lifting and lowering functions.

[0256] For example, in applications requiring high lifting precision, such as high-precision cargo handling or material lifting in automated production lines, this motion synchronization ensures that the carrying mechanism 320 rises or falls smoothly, avoiding cargo tilting or positional deviation due to asynchronous linkage movements, thus improving work accuracy and efficiency.

[0257] Furthermore, sharing the same hinge axis reduces uncertainties during motion. When calculating and controlling the linkage's trajectory, only one rotation center needs to be considered, simplifying the kinematic model and making motion control of the lifting mechanism 310 more precise. Compared to different hinge axes, the single-hinged-axis structure reduces the decrease in motion accuracy caused by axis positional deviations and accumulated motion errors. This allows the lifting mechanism 310 to reach the target height more accurately, meeting higher operational requirements.

[0258] Of course, the embodiments of this application do not exclude examples in which the fourth hinge portion 312b and the eighth hinge portion 314b are respectively hinged to different hinge axes of the chassis mechanism 330.

[0259] In some examples, when the transport robot 30 needs to remove an item P from the side of the carrier 11, the carrying mechanism 320 of the transport robot 30 is configured to rise or fall to the height of the target docking position under the drive of the lifting mechanism 310, so as to dock with the target docking position and thereby remove the item P from the target docking position.

[0260] The carrying mechanism 320 of the handling robot 30 is configured to descend to the height of the target docking position under the drive of the lifting mechanism 310. This includes: the power unit of the driving structure 317 in the lifting mechanism 310 moves along a first direction to drive the first hinge 311a to rotate relative to the second connector 316, causing the first link 311 to rotate towards the second link 312, thereby reducing the distance between the first hinge 311a and the fourth hinge 312b; the second connector 316 moves vertically at least along a third direction during the rotation of the first link 311 and the second link 312, thereby driving the third link 313 to rotate towards the fourth link 314, causing the carrying mechanism 320 to move toward the chassis mechanism 330 until it descends to the height of the target docking position.

[0261] Specifically, when the handling robot 30 needs to descend, the power unit of the drive structure 317 moves along a first direction (e.g., clockwise) to drive the first hinge 311a to rotate clockwise relative to the bearing mechanism 320, causing the first link 311 to rotate towards the second link 312, thereby reducing the distance between the first hinge 311a and the fourth hinge 312b. During the rotation of the first link 311 and the second link 312, the bearing mechanism 320 moves vertically at least along a third direction (e.g., downward) to drive the third link 313 to rotate towards the fourth link 314, thereby reducing the distance between the first hinge 311a and the fourth hinge 312b, and reducing the distance between the fifth hinge 313a and the eighth hinge 314b, thus realizing the descent of the lifting mechanism 310 until it descends to the height of the target docking position.

[0262] The carrying mechanism 320 of the handling robot 30 is configured to rise to the height of the target docking position under the drive of the lifting mechanism 310, including: the power part of the drive structure 317 in the lifting mechanism 310 moves along the second direction to drive the first hinge part 311a to rotate relative to the second connector 316, so that the first link 311 rotates away from the second link 312, thereby increasing the distance between the first hinge part 311a and the fourth hinge part 312b; the second connector 316 moves vertically at least along the fourth direction during the rotation of the first link 311 and the second link 312, so as to drive the third link 313 to rotate away from the fourth link 314, so that the carrying mechanism 320 moves away from the chassis mechanism 330 until it rises to the height of the target docking position;

[0263] Specifically, when the carrying mechanism 320 of the handling robot 30 needs to rise, the power unit of the drive structure 317 moves along the second direction (e.g., counterclockwise) to drive the first hinge 311a to rotate counterclockwise relative to the carrying mechanism 320, causing the first link 311 to rotate away from the second link 312, thereby increasing the distance between the first hinge 311a and the fourth hinge 312b. During the rotation of the first link 311 and the second link 312, the carrying mechanism 320 moves vertically at least along the fourth direction (e.g., upward) to drive the third link 313 to rotate away from the fourth link 314, thereby increasing the distance between the first hinge 311a and the fourth hinge 312b, and increasing the distance between the fifth hinge 313a and the eighth hinge 314b, thus realizing the rise of the lifting mechanism 310 until it rises to the height of the target docking position.

[0264] The structure of each link and the hinge method at the hinge joint in the embodiments of this application can be various, which will be described in detail below.

[0265] Figure 17 This is a partial structural diagram of a lifting mechanism provided in one embodiment of this application. Figure 1 , Figure 18 This is a schematic diagram of the structure of a tripod arm provided in one embodiment of this application. Figure 19 This is a side view of a lifting mechanism provided in an embodiment of this application. (Refer to...) Figures 17 to 19 As shown, in some examples, the first link 311 can be a triangular arm 318. For example, the first link 311 includes a first arm 318a, a second arm 318b, and a third arm 318c that are angled to each other. One end of the second arm 318b and the third arm 318c are connected to one end of the first arm 318a. The other ends of the second arm 318b and the third arm 318c respectively form a first hinge portion 311a, and the other end of the first arm 318a forms a second hinge portion 311b, so as to be hinged to the third hinge portion 312a of the second link 312 or the first connector 315.

[0266] Understandably, one end of the second arm 318b forms a first hinge portion 311a and is hinged to the load-bearing mechanism 320, and one end of the third arm 318c forms a first hinge portion 311a and is hinged to the load-bearing mechanism 320. That is, one end of the first connecting rod 311 forms two first hinge portions 311a to hinge to two parts of the load-bearing mechanism 320. This improves the assembly stability between the first connecting rod 311 and the load-bearing mechanism 320 and also diversifies the force transmission path. Through these hinge points, the load can be more effectively transferred to other connecting rods and the chassis mechanism 330, thereby improving the load-bearing capacity of the entire lifting mechanism 310.

[0267] By configuring the first link 311 as a tripod arm 318, support can be provided to the load-bearing mechanism 320 from multiple directions. During lifting, when subjected to external forces from different directions, such as lateral forces and torsional forces, the tripod arm 318 can better disperse these forces and maintain structural stability. For example, when handling irregularly shaped goods, the center of gravity of the goods may shift, generating lateral forces. The tripod arm 318 can more effectively resist these lateral forces, preventing the lifting mechanism 310 from tilting or swaying. The load on the load-bearing mechanism 320 can also be more evenly distributed to each branch before being transferred to the chassis mechanism 330. For example, when handling heavy equipment, the tripod arm 318 can better handle larger loads and reduce the risk of damage due to excessive local stress.

[0268] In some examples, two second sub-hinges 3111b are formed on the first arm 318a of the first link 311, and a first mounting notch 3112b is formed between the two second sub-hinges 3111b. The third hinge 312a or the first connector 315 extends into the first mounting notch 3112b to hinge with the two second sub-hinges 3111b. In this way, the number of hinge points between the first arm 318a and the third hinge 312a or the first connector 315 can be increased, thereby improving the hinge stability between the first link 311 and the second link 312 or the first connector 315.

[0269] In other examples, the first arm 318a of the first link 311 is directly hinged to one side of the third hinge 312a or the first connector 315.

[0270] In other examples (not shown in the figures), there are two first links 311 arranged side by side, with one end of each first link 311 forming a first hinge portion 311a and the other end of each first link 311 forming a second hinge portion 311b. For example, two first links 311 are arranged side by side in a direction perpendicular to the plane of rotation to improve the support stability of the first links 311 on the load-bearing mechanism 320.

[0271] For example, the two second hinge portions 311b at one end of the two first connecting rods 311 can be respectively disposed on both sides of the third hinge portion 312a of the second connecting rod 312, and can be hinged by hinge shafts passing through the two second hinge portions 311b and the third hinge portion 312a.

[0272] For example, when the lifting mechanism 310 includes the first connecting member 315, the two second hinge portions 311b at the other ends of the two first connecting rods 311 are located on both sides of the first connecting member 315, and can be hinged by hinge shafts passing through the two second hinge portions 311b and the first connecting member 315.

[0273] In other examples (not shown in the figures), there may be one first link 311, and the second hinge portion 311b of the first link 311 has two opposing second sub-hinge portions. A first mounting notch is formed between the two second sub-hinge portions. The third hinge portion 312a or the first connector 315 extends into the first mounting notch to hinge with the two second sub-hinge portions. That is, the second hinge portion 311b of the second link 312 forms two branches, one branch serving as a second sub-hinge portion and the other branch serving as another second sub-hinge portion. The two second sub-hinge portions 3111b can be hinged to the third hinge portion 312a or the first connector 315 on both sides along the thickness direction, respectively. This increases the connection stability between the second hinge portion 311b and the third hinge portion 312a or the first connector 315, making the force transmission between the first link 311 and the second link 312 more efficient and stable.

[0274] In some examples (not shown in the figure), the third link 313 can be a triangular arm 318. For example, the third link 313 includes a first arm 318a, a second arm 318b, and a third arm 318c that are angled to each other. One end of the second arm 318b and the third arm 318c are connected to one end of the first arm 318a. The other ends of the second arm 318b and the third arm 318c respectively form the fifth hinge portion 313a of the third link 313. The other end of the first arm 318a forms the sixth hinge portion 313b, which is hinged to the seventh hinge portion 314a or the first connector 315.

[0275] Understandably, one end of the second arm 318b forms a fifth hinge portion 313a and is hinged to the load-bearing mechanism 320, and one end of the third arm 318c forms a fifth hinge portion 313a and is hinged to the load-bearing mechanism 320. That is, one end of the third link 313 forms two fifth hinge portions 313a to hinge to two parts of the load-bearing mechanism 320. This improves the assembly stability between the third link 313 and the load-bearing mechanism 320 and also diversifies the force transmission path. Through these hinge points, the load can be more effectively transferred to other links and the chassis mechanism 330, thereby improving the load-bearing capacity of the entire lifting mechanism 310.

[0276] By setting the third link 313 as a tripod arm 318, support can be provided to the load-bearing mechanism 320 from multiple directions. During the lifting process, when subjected to external forces from different directions, such as lateral forces and torsional forces, the tripod arm 318 can better disperse these forces and maintain the stability of the structure.

[0277] It should be noted that the hinge method of the three-pronged arm 318 of the third link 313 and its connection with the bearing mechanism 320 and the first connecting member 315 can be directly referred to the three-pronged arm 318 of the first link 311, and will not be repeated here.

[0278] Reference Figure 17 and Figure 19 As shown, in some other examples, the third link 313 includes two third links 313 arranged side by side, and one end of each third link 313 forms a fifth hinge portion 313a, and the other end of each third link 313 forms a sixth hinge portion 313b, and the two sixth hinge portions 313b are respectively located on both sides of the first connector 315.

[0279] For example, two third links 313 are arranged side by side along a direction perpendicular to the plane of rotation to improve the support stability of the third links 313 on the bearing mechanism 320.

[0280] For example, the two sixth hinge portions 313b at one end of the two third links 313 can be respectively disposed on both sides of the seventh hinge portion 314a of the fourth link 314, and can be hinged by hinge shafts passing through the two sixth hinge portions 313b and the seventh hinge portion 314a.

[0281] For example, when the lifting mechanism 310 includes the first connecting member 315, the two sixth hinge portions 313b at the other ends of the two third connecting rods 313 are located on both sides of the first connecting member 315, and can be hinged by hinge shafts passing through the two sixth hinge portions 313b and the first connecting member 315.

[0282] Reference Figure 14 As shown, in some other examples, the third link 313 can be a single link, the sixth hinge portion 313b of which has two opposing sixth sub-hinge portions 3131b, a second mounting notch 3132b formed between the two sixth sub-hinge portions 3131b, and a seventh hinge portion 314a or a first connector 315 extending into the second mounting notch 3132b to hinge with the two sixth sub-hinge portions 3131b. In other words, the sixth hinge portion 313b of the third link 313 forms two branches, one of which serves as a sixth sub-hinge portion 3131b and the other branch serves as another sixth sub-hinge portion 3131b. The two sixth sub-hinge portions 3131b can be hinged to the seventh hinge portion 314a or the first connecting member 315 on both sides along the thickness direction, respectively. This increases the connection stability between the sixth hinge portion 313b and the seventh hinge portion 314a or the first connecting member 315, making the force transmission between the third link 313 and the fourth link 314 more efficient and stable.

[0283] Reference Figure 14 and Figure 17As shown, in some examples, the second link 312 can be a triangular arm 318. For example, the second link 312 includes a first arm 318a, a second arm 318b, and a third arm 318c that are angled to each other. One end of the second arm 318b and the third arm 318c are connected to one end of the first arm 318a. The other ends of the second arm 318b and the third arm 318c respectively form a fourth hinge portion 312b, and the other end of the first arm 318a forms a third hinge portion 312a, so as to be hinged to the second hinge portion 311b of the first link 311 or the first connector 315.

[0284] Understandably, one end of the second arm 318b forms a fourth hinge portion 312b and is hinged to the chassis mechanism 330, and one end of the third arm 318c forms a fourth hinge portion 312b and is hinged to the chassis mechanism 330. That is, one end of the second connecting rod 312 forms two fourth hinge portions 312b to hinge to two parts of the chassis mechanism 330. This improves the assembly stability between the second connecting rod 312 and the chassis mechanism 330 and also diversifies the force transmission path. Through these hinge points, the load can be more effectively transferred to other connecting rods and the chassis mechanism 330, thereby improving the load-bearing capacity of the entire lifting mechanism 310.

[0285] By configuring the second link 312 as a tripod arm 318, support can be provided to the load-bearing mechanism 320 from multiple directions. During the lifting process, when subjected to external forces from different directions, such as lateral forces and torsional forces, the tripod arm 318 can better disperse these forces and maintain the stability of the structure.

[0286] In other examples (not shown in the figure), there are two second links 312 arranged side by side, with one end of each second link 312 forming a third hinge portion 312a and the other end of each second link 312 forming a fourth hinge portion 312b. For example, two second links 312 are arranged side by side in a direction perpendicular to the plane of rotation to improve the assembly stability between the second links 312 and the chassis mechanism 330.

[0287] For example, the two third hinge portions 312a at one end of the two second connecting rods 312 can be respectively disposed on both sides of the second hinge portion 311b of the first connecting rod 311, and can be hinged by hinge shafts passing through the two third hinge portions 312a and the second hinge portion 311b.

[0288] For example, when the lifting mechanism 310 includes the first connecting member 315, the two third hinge portions 312a at one end of the two second connecting rods 312 are located on both sides of the first connecting member 315, and can be hinged by hinge shafts passing through the two third hinge portions 312a and the first connecting member 315.

[0289] Reference Figure 14 As shown, in some examples, the fourth link 314 can be a triangular arm 318. For example, the fourth link 314 may include a first arm 318a, a second arm 318b, and a third arm 318c that are angled to each other. One end of the second arm 318b and the third arm 318c are connected to one end of the first arm 318a. The other ends of the second arm 318b and the third arm 318c respectively form an eighth hinge portion 314b, and the other end of the first arm 318a forms a seventh hinge portion 314a, so as to be hinged to the sixth hinge portion 313b of the third link 313 or the first connector 315.

[0290] Understandably, one end of the second arm 318b forms an eighth hinge portion 314b and is hinged to the chassis mechanism 330, and one end of the third arm 318c forms an eighth hinge portion 314b and is hinged to the chassis mechanism 330. That is, one end of the fourth link 314 forms two eighth hinge portions 314b to hinge to two parts of the chassis mechanism 330. This improves the assembly stability between the fourth link 314 and the chassis mechanism 330 and also diversifies the force transmission path. Through these hinge points, the load can be more effectively transferred to other links and the chassis mechanism 330, thereby improving the load-bearing capacity of the entire lifting mechanism 310.

[0291] Reference Figure 17 and Figure 19 As shown, in some other examples, the fourth link 314 includes two links arranged side by side, with one end of each link forming a seventh hinge portion 314a and the other end forming an eighth hinge portion 314b. For example, two fourth links 314 are arranged side by side in a direction perpendicular to the plane of rotation to improve the connection stability between one end of the fourth link 314 and the third link 313 or the first connecting member 315, and also to improve the connection stability between the other end of the fourth link 314 and the chassis mechanism 330.

[0292] For example, the two seventh hinge portions 314a at one end of the two fourth links 314 can be respectively disposed on both sides of the sixth hinge portion 313b of the third link 313, and can be hinged by hinge shafts passing through the two seventh hinge portions 314a and the sixth hinge portion 313b.

[0293] For example, when the lifting mechanism 310 includes the first connecting member 315, the two seventh hinge portions 314a at one end of the two fourth connecting rods 314 are located on both sides of the first connecting member 315, and can be hinged by hinge shafts passing through the two seventh hinge portions 314a and the first connecting member 315.

[0294] 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.

[0295] 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 lifting mechanism, characterized in that, include: The first link (311) has a first hinge (311a) and a second hinge (311b), the first hinge (311a) being configured to hinge with the load-bearing mechanism (320) of the handling robot (30); The second link (312) has a third hinge (312a) and a fourth hinge (312b), the third hinge (312a) being hinged to the second hinge (311b), and the fourth hinge (312b) being configured to be hinged to the chassis mechanism (330) of the handling robot (30). A drive structure (317) is connected to any one of the first hinge (311a), the second hinge (311b), the third hinge (312a), and the fourth hinge (312b) to drive any one of the first hinge (311a), the second hinge (311b), the third hinge (312a), and the fourth hinge (312b) to move, causing one of the first link (311) and the second link (312) to rotate relative to the other, thereby increasing or decreasing the distance between the first hinge (311a) and the fourth hinge (312b).

2. The lifting mechanism according to claim 1, characterized in that, The drive structure (317) includes a joint motor (317a), one of the outer ring and the inner ring of the joint motor (317a) is configured as a fixing part of the drive structure (317), and the other of the outer ring and the inner ring is configured as a power part of the drive structure (317). The power unit rotates relative to the fixed part, and the power unit is connected to any one of the first hinge part (311a), the second hinge part (311b), the third hinge part (312a), and the fourth hinge part (312b) to drive any one of the first hinge part (311a), the second hinge part (311b), the third hinge part (312a), and the fourth hinge part (312b) to move.

3. The lifting mechanism according to claim 1, characterized in that, The drive structure (317) is disposed at the second hinge portion (311b) and the third hinge portion (312a); The fixed part of the drive structure (317) is connected to one of the second hinge part (311b) and the third hinge part (312a), and the power part of the drive structure (317) is connected to the other of the second hinge part (311b) and the third hinge part (312a).

4. The lifting mechanism according to claim 3, characterized in that, The lifting mechanism also includes a first connecting member (315); The second hinge (311b) is hinged to the first connector (315) at a first position, and the third hinge (312a) is hinged to the first connector (315) at a second position. The first position may be the same as or different from the second position. The fixed part of the drive structure (317) is connected to the first connector (315), and the power part of the drive structure (317) is connected to either the second hinge part (311b) or the third hinge part (312a).

5. The lifting mechanism according to claim 4, characterized in that, The lifting mechanism also includes a third link (313) and a fourth link (314). The third link (313) has a fifth hinge (313a) and a sixth hinge (313b), the fifth hinge (313a) being configured to hinge with the bearing mechanism (320), and the sixth hinge (313b) being hinged with the first connector (315) at a third position. The fourth link (314) has a seventh hinge (314a) and an eighth hinge (314b), the seventh hinge (314a) being hinged to the first connector (315) at a fourth position, and the eighth hinge (314b) being configured to be hinged to the chassis mechanism (330). The third position may be the same as or different from the fourth position.

6. The lifting mechanism according to claim 5, characterized in that, When the lifting mechanism needs to descend, the power unit of the drive structure (317) moves along a first direction to drive one of the second hinge (311b) and the third hinge (312a) to rotate relative to the first connector (315), causing the first link (311) to rotate towards the second link (312), thereby reducing the distance between the first hinge (311a) and the fourth hinge (312b). During the rotation of the first link (311) and the second link (312), the first connector (315) moves horizontally at least along a third direction to drive the third link (313) to rotate towards the fourth link (314). When the lifting mechanism needs to rise, the power unit of the drive structure (317) moves along the second direction to drive one of the second hinge (311b) and the third hinge (312a) to rotate relative to the first connector (315), causing the first link (311) to rotate away from the second link (312), thereby increasing the distance between the first hinge (311a) and the fourth hinge (312b). During the rotation of the first link (311) and the second link (312), the first connector (315) moves horizontally at least along the fourth direction to drive the third link (313) to rotate away from the fourth link (314). Wherein, the first direction is opposite to the second direction, the third direction is opposite to the fourth direction, the rotation direction of the third link (313) is the same as that of the first link (311), and the rotation direction of the fourth link (314) is the same as that of the second link (312).

7. The lifting mechanism according to claim 1, characterized in that, The drive structure (317) is disposed at the first hinge (311a); The fixed part of the drive structure (317) is configured to be connected to the bearing mechanism (320), and the power part of the drive structure (317) is connected to the first hinge part (311a) to drive the first connecting rod (311) to rotate relative to the bearing mechanism (320), thereby increasing or decreasing the included angle between the first connecting rod (311) and the second connecting rod (312).

8. The lifting mechanism according to claim 7, characterized in that, The lifting mechanism also includes a third link (313) and a fourth link (314). The third link (313) has a fifth hinge (313a) and a sixth hinge (313b), the fifth hinge (313a) being configured to hinge with the load-bearing mechanism (320); The fourth link (314) has a seventh hinge (314a) and an eighth hinge (314b), the seventh hinge (314a) being hinged to the sixth hinge (313b), and the eighth hinge (314b) being configured to be hinged to the chassis mechanism (330).

9. The lifting mechanism according to claim 8, characterized in that, The fourth hinge (312b) and the eighth hinge (314b) are hinged to the same hinge axis of the chassis mechanism (330).

10. The lifting mechanism according to claim 8, characterized in that, The lifting mechanism further includes a second connector (316), which is configured to be disposed on the bearing mechanism (320). The first hinge portion (311a) and the fifth hinge portion (313a) are both hinged to the second connector (316), and the fixing portion of the drive structure (317) is connected to the second connector (316).

11. The lifting mechanism according to claim 8, characterized in that, When the lifting mechanism needs to descend, the power unit of the drive structure (317) moves along the first direction to drive the first hinge (311a) to rotate relative to the bearing mechanism (320), causing the first link (311) to rotate towards the second link (312), thereby reducing the distance between the first hinge (311a) and the fourth hinge (312b). During the rotation of the first link (311) and the second link (312), the bearing mechanism (320) moves vertically at least along the third direction to drive the third link (313) to rotate towards the fourth link (314). When the lifting mechanism needs to rise, the power unit of the drive structure (317) moves along the second direction to drive the first hinge (311a) to rotate relative to the bearing mechanism (320), causing the first link (311) to rotate away from the second link (312), thereby increasing the distance between the first hinge (311a) and the fourth hinge (312b). During the rotation of the first link (311) and the second link (312), the bearing mechanism (320) moves vertically at least along the fourth direction to drive the third link (313) to rotate away from the fourth link (314). Wherein, the first direction is opposite to the second direction, the third direction is opposite to the fourth direction, the rotation directions of the third link (313) and the first link (311) are opposite, and the rotation directions of the fourth link (314) and the second link (312) are opposite.

12. The lifting mechanism according to any one of claims 1-11, characterized in that, The first connecting rod (311) includes a first arm (318a), a second arm (318b), and a third arm (318c) that are at an included angle to each other. One end of the second arm (318b) and the third arm (318c) are each connected to one end of the first arm (318a). The other ends of the second arm (318b) and the third arm (318c) respectively form the first hinge portion (311a), and the other end of the first arm (318a) forms the second hinge portion (311b); or, The first link (311) includes two links, which are arranged side by side, and one end of each link (311) forms the first hinge portion (311a), and the other end of each link (311) forms the second hinge portion (311b); or, The second hinge portion (311b) of the first link (311) has two opposing second sub-hinge portions (3111b), and a first mounting notch (3112b) is formed between the two second sub-hinge portions (3111b). The third hinge portion (312a) or the first connector (315) extends into the first mounting notch (3112b) to hinge with the two second sub-hinge portions (3111b).

13. The lifting mechanism according to claim 12, characterized in that, Two second sub-hinges (3111b) are formed on the first arm (318a) of the first link (311), and a first mounting notch (3112b) is formed between the two second sub-hinges (3111b). The third hinge (312a) or the first connector (315) extends into the first mounting notch (3112b) to hinge with the two second sub-hinges (3111b).

14. The lifting mechanism according to claim 12, characterized in that, When the first link (311) includes two, and the lifting mechanism includes a first connector (315), the two second hinge portions (311b) at the other ends of the two first links (311) are respectively located on both sides of the first connector (315).

15. The lifting mechanism according to claim 5, characterized in that, The third link (313) includes a first arm (318a), a second arm (318b), and a third arm (318c) that are angled together. One end of the second arm (318b) and the third arm (318c) are connected to one end of the first arm (318a). The other ends of the second arm (318b) and the third arm (318c) respectively form the fifth hinge portion (313a) of the third link (313), and the other end of the first arm (318a) forms the sixth hinge portion (313b); or, The third link (313) includes two links, which are arranged side by side. One end of each link forms the fifth hinge (313a), and the other end forms the sixth hinge (313b). The two sixth hinges (313b) are located on both sides of the first connector (315); or, The sixth hinge portion (313b) of the third link (313) has two opposing sixth sub-hinge portions (3131b), and a second mounting notch (3132b) is formed between the two sixth sub-hinge portions (3131b). The seventh hinge portion (314a) or the first connector (315) extends into the second mounting notch (3132b) to hinge with the two sixth sub-hinge portions (3131b).

16. The lifting mechanism according to any one of claims 1-11, characterized in that, The second link (312) includes a first arm (318a), a second arm (318b), and a third arm (318c) that are angled together. One end of the second arm (318b) and the third arm (318c) are connected to one end of the first arm (318a). The other ends of the second arm (318b) and the third arm (318c) respectively form the fourth hinge portion (312b), and the other end of the first arm (318a) forms the third hinge portion (312a); or, The second link (312) includes two links, which are arranged side by side, and one end of each link (312) forms the third hinge portion (312a), and the other end of each link (312) forms the fourth hinge portion (312b).

17. The lifting mechanism according to claim 5, characterized in that, The fourth link (314) includes a first arm (318a), a second arm (318b), and a third arm (318c) that are angled together. One end of the second arm (318b) and the third arm (318c) are connected to one end of the first arm (318a). The other ends of the second arm (318b) and the third arm (318c) respectively form the eighth hinge portion (314b), and the other end of the first arm (318a) forms the seventh hinge portion (314a); or, The fourth link (314) includes two links, which are arranged side by side. One end of each link forms the seventh hinge (314a), and the other end of each link forms the eighth hinge (314b).

18. A transport robot, characterized in that, include: The chassis mechanism (330) is configured to drive the transport robot (30) to move; The carrying mechanism (320) is configured to carry items; The lifting mechanism (310) as described in any one of claims 1-17, wherein the first hinge portion (311a) of the lifting mechanism (310) is hinged to the bearing mechanism (320), and the fourth hinge portion (312b) of the lifting mechanism (310) is hinged to the chassis mechanism (330); The drive structure (317) of the lifting mechanism (310) is configured to drive one of the first link (311) and the second link (312) to rotate relative to the other, thereby increasing or decreasing the distance between the first hinge (311a) and the fourth hinge (312b), thereby causing the bearing mechanism (320) to rise or fall relative to the chassis mechanism (330).

19. The handling robot according to claim 18, characterized in that, The supporting mechanism (320) includes a supporting part (3211) and a plurality of supporting parts (3212). The plurality of supporting parts (3212) are spaced apart on the side of the supporting part (3211) facing away from the chassis mechanism (330), and each of the supporting parts (3212) extends upward in a direction away from the supporting part (3211). The plurality of supporting parts (3212) are used to support the article. The plurality of support portions (3212) are configured to correspond to and match the tooth gaps (112) on the carrier (11). During the docking process between the carrying mechanism (320) and the carrier (11), each support portion (3212) extends into the corresponding tooth gap (112) on the carrier (11) and is driven to rise and fall by the lifting mechanism (310) to transfer items between the support portion (3212) and the carrier (11).

20. The handling robot according to claim 18, characterized in that, The carrying mechanism (320) includes a conveying structure or a flip-up structure, which is at least configured to dock with the vehicle (11) under the drive of the lifting mechanism (310) to deliver the item onto the vehicle (11).

21. A warehousing system, characterized in that, include: The vehicle (11) is configured to hold items; Workstation (40); The transport robot (30) as claimed in any one of claims 18-20 is configured to transfer items between the carrier (11) and the workstation (40).

22. The warehousing system according to claim 21, characterized in that, The carrier (11) includes a storage compartment (101). When the transport robot (30) picks up or places items on the side of the carrier (11), the lifting mechanism (310) of the transport robot (30) is configured to drive the carrying mechanism (320) to move to the height of the storage compartment (101) so that the carrying mechanism (320) docks with the storage compartment (101) and thereby transfers items between the carrying mechanism (320) and the storage compartment (101).

23. The warehousing system according to claim 22, characterized in that, The warehousing system also includes a first robot (20) configured to dock with the storage location (101) to transfer items between the first robot (20) and the storage location (101); When the transport robot (30) picks up and places items on the side of the carrier (11), the lifting mechanism (310) of the transport robot (30) is configured to drive the carrying mechanism (320) to move to the height of the picking and placing mechanism (22) of the first robot (20) so that the carrying mechanism (320) docks with the picking and placing mechanism (22) and thus transfers items between the carrying mechanism (320) and the picking and placing mechanism (22).

24. The warehousing system according to claim 23, characterized in that, The vehicle (11) also includes a buffer (102) located below the storage position (101), and the first robot (20) is configured to transfer items between the storage position (101) and the buffer (102); When the transport robot (30) picks up and places items on the side of the carrier (11), the lifting mechanism (310) of the transport robot (30) is configured to drive the carrying mechanism (320) to move to the height of the buffer position (102) so that the carrying mechanism (320) docks with the buffer position (102) and thereby transfers items between the carrying mechanism (320) and the buffer position (102).

25. The warehousing system according to claim 23, characterized in that, The first robot (20) walks along the aisle (13) on one side of the vehicle (11), and when docking with the vehicle (11) is required, the first robot (20) moves along the aisle (13) to the target row of the vehicle (11), and the picking and placing mechanism (22) of the first robot (20) is lifted and lowered along the gantry of the first robot (20) to the target layer of the vehicle (11) under the drive of the motion mechanism (21) to dock with the target cargo position of the vehicle (11); or, The first robot (20) is mounted on the carrier (11) and can move laterally along the carrier (11) so that the first robot (20) moves to the target column of the carrier (11). The picking and placing mechanism (22) of the first robot (20) can move vertically along the carrier (11) under the drive of the motion mechanism (21) so that the picking and placing mechanism (22) moves to the target layer of the carrier (11) and docks with the target cargo location. The picking and placing mechanism (22) is located on the motion mechanism (21) or can be decoupled from the motion mechanism (21).

26. The warehousing system according to claim 21, characterized in that, The workstation (40) includes a conveyor line (43) or a work platform; When the handling robot (30) docks with the workstation (40), the lifting mechanism (310) of the handling robot (30) is configured to move the carrying mechanism (320) to the height of the conveyor line (43) or the work platform so that the carrying mechanism (320) docks with the conveyor line (43) or the work platform, thereby transferring items between the carrying mechanism (320) and the conveyor line (43) or the work platform.

27. The warehousing system according to any one of claims 21-26, characterized in that, When the transport robot (30) needs to remove an item from the side of the carrier (11), the carrying mechanism (320) of the transport robot (30) is configured to rise or fall to the height of the target docking position under the drive of the lifting mechanism (310) so as to dock with the target docking position and thereby remove the item from the target docking position. The carrying mechanism (320) of the transport robot (30) is configured to descend to the height of the target docking position under the drive of the lifting mechanism (310), including: the power unit of the driving structure (317) in the lifting mechanism (310) moves along a first direction to drive one of the second hinge (311b) and the third hinge (312a) to rotate relative to the first connector (315), causing the first link (311) to rotate towards the second link (312), thereby reducing the distance between the first hinge (311a) and the fourth hinge (312b); the first connector (315) moves horizontally at least along a third direction during the rotation of the first link (311) and the second link (312), thereby driving the third link (313) to rotate towards the fourth link (314), causing the carrying mechanism (320) to move toward the chassis mechanism (330) until it descends to the height of the target docking position; The carrying mechanism (320) of the transport robot (30) is configured to rise to the height of the target docking position under the drive of the lifting mechanism (310), including: the power part of the driving structure (317) in the lifting mechanism (310) moves along the second direction to drive one of the second hinge part (311b) and the third hinge part (312a) to rotate relative to the first connector (315), causing the first link (311) to rotate away from the second link (312), thereby increasing the distance between the first hinge part (311a) and the fourth hinge part (312b), and the first connector (315) moves horizontally at least along the fourth direction during the rotation of the first link (311) and the second link (312), thereby driving the third link (313) to rotate away from the fourth link (314), causing the carrying mechanism (320) to move away from the chassis mechanism (330) until it rises to the height of the target docking position; Wherein, the first direction is opposite to the second direction, the third direction is opposite to the fourth direction, the rotation direction of the third link (313) is the same as that of the first link (311), and the rotation direction of the fourth link (314) is the same as that of the second link (312).

28. The warehousing system according to any one of claims 21-26, characterized in that, When the transport robot (30) needs to remove an item from the side of the carrier (11), the carrying mechanism (320) of the transport robot (30) is configured to rise or fall to the height of the target docking position under the drive of the lifting mechanism (310) so as to dock with the target docking position and thereby remove the item from the target docking position. The carrying mechanism (320) of the transport robot (30) is configured to descend to the height of the target docking position under the drive of the lifting mechanism (310), including: the power part of the driving structure (317) in the lifting mechanism (310) moves along a first direction to drive the first hinge (311a) to rotate relative to the second connector (316), so that the first link (311) rotates towards the second link (312), thereby reducing the distance between the first hinge (311a) and the fourth hinge (312b); the second connector (316) moves vertically at least along a third direction during the rotation of the first link (311) and the second link (312), so as to drive the third link (313) to rotate towards the fourth link (314), so that the carrying mechanism (320) moves toward the chassis mechanism (330) until it descends to the height of the target docking position; The carrying mechanism (320) of the transport robot (30) is configured to rise to the height of the target docking position under the drive of the lifting mechanism (310), including: the power part of the driving structure (317) in the lifting mechanism (310) moves along the second direction to drive the first hinge (311a) to rotate relative to the second connector (316), causing the first link (311) to rotate away from the second link (312), thereby increasing the distance between the first hinge (311a) and the fourth hinge (312b); the second connector (316) moves vertically at least along the fourth direction during the rotation of the first link (311) and the second link (312), thereby driving the third link (313) to rotate away from the fourth link (314), causing the carrying mechanism (320) to move away from the chassis mechanism (330) until it rises to the height of the target docking position; Wherein, the first direction is opposite to the second direction, the third direction is opposite to the fourth direction, the rotation directions of the third link (313) and the first link (311) are opposite, and the rotation directions of the fourth link (314) and the second link (312) are opposite.

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