A transfer robot

Abstract

The utility model relates to a material moving robot, including coding identification mechanism, the material disc conveying mechanism of conveying and loading the material disc of material, and the adjusting mechanism of the encoding on the material wall is adjusted to the uniform horizontal direction of orientation, and the mounting frame of providing the installation site of material disc conveying mechanism, adjusting mechanism and coding identification mechanism, coding identification mechanism is equipped with three and is respectively configured as the encoding of identifying horizontal direction and downward and upward, adjusting mechanism is located the top of material disc conveying mechanism, adjusting mechanism includes the vertical setting of suction nozzle pipe, the suction nozzle body of being located the lower extreme of suction nozzle pipe, the rotation module of driving suction nozzle pipe fixed axle rotation and the lifting module of driving rotation module lifting and XY two -axis horizontal moving module of driving lifting module horizontal movement, when working, through the cooperation of adjusting mechanism and three coding identification mechanisms, the quick identification of the material of the encoding position upward or to horizontal or downward can be realized.

Description

Technical Field

[0001] This utility model relates to the field of automation equipment technology, and in particular to a material transfer robot. Background Technology

[0002] In warehousing equipment, racking is a storage facility specifically designed for storing goods, playing a crucial role in logistics, warehousing, and intelligent storage. Because floor-level storage occupies a large area and has a low volume ratio, warehouse space is significantly limited. Racking not only saves storage space but also keeps goods organized for easier management. With the rapid development of modern industrial technology, the demand for intelligent storage places higher requirements on the automation and mechanization of racking.

[0003] In actual goods management, it is often necessary to transfer goods between two adjacent shelves. During this transfer, to facilitate traceability and prevent confusion, the equipment used for the transfer operation needs to have a barcode scanning function to upload the information carried by the code of each item to the back-end management system. Since goods are placed in pallets, the side with the printed code may face upwards or horizontally. To control costs and avoid redundancy, multiple barcode scanners cannot be installed horizontally. Currently, most existing material transfer equipment addresses this problem by manually aligning the coded side of the goods to a uniform direction initially. However, this method is time-consuming and requires further improvement in production efficiency. Therefore, it is necessary to propose a new device to solve the aforementioned problem. Utility Model Content

[0004] The purpose of this invention is to address the shortcomings of existing technologies by providing a material transfer robot that can effectively solve the aforementioned problems.

[0005] To achieve the above requirements, the technical solution adopted by this utility model to solve its technical problem is as follows: A material handling robot is provided, comprising: The tray conveying mechanism is configured to reciprocate along the X-axis direction to transport a tray loaded with material. The coding and identification mechanism has three parts, one of which is configured to identify materials with the coding position facing horizontally, another is configured to identify materials with the coding position facing upward, and the third is configured to identify materials with the coding position facing downward. An adjustment mechanism is configured to align the coding on the sidewall of the material towards a uniform horizontal direction, and the adjustment mechanism is located above the material tray conveying mechanism; The mounting bracket is configured to provide mounting positions for the tray conveying mechanism, the adjustment mechanism, and the coding identification mechanism; The adjustment mechanism includes a vertically arranged suction tube, a suction body located at the lower end of the suction tube, a rotating module that drives the suction tube to rotate on a fixed axis, a lifting module that drives the rotating module to move up and down, and an XY-axis transverse module that drives the lifting module to move horizontally.

[0006] The material handling robot of this utility model includes a conveying channel on the mounting frame for the feeding tray to reciprocate along the X-axis; one of the three coding and identification mechanisms is located above the discharge end of the conveying channel, another is located on the left or right side of the feed end of the conveying channel, and the third is located on the lower side of the conveying channel.

[0007] The material transfer robot of this utility model has a U-shaped mounting frame with both ends facing upwards. The top surfaces of both ends of the mounting frame are provided with first sliding positions along the X-axis for the adjustment mechanism to reciprocate. The two arms of the mounting frame are each provided with second sliding positions on opposite sidewalls for the material tray to reciprocate.

[0008] In the material transfer robot of this utility model, the adjustment mechanism is located above the conveying channel and between the two coding and recognition mechanisms on the horizontal plane.

[0009] The material handling robot of this utility model includes an XY dual-axis transverse movement module comprising a Y-axis transverse movement unit for driving the lifting module to move laterally, and an X-axis transverse movement unit for driving the Y-axis transverse movement unit to move laterally; two X-axis transverse movement units are provided and are respectively located on both sides of the conveying channel, and the Y-axis transverse movement unit is connected to the movable terminals of the two X-axis transverse movement units through a bracket.

[0010] The material handling robot of this utility model includes a lifting module comprising a vertically arranged first arm, a second arm slidably mounted on the first arm, a third arm slidably mounted on the second arm, a first belt rotatably mounted on the first arm, a second belt rotatably mounted on the second arm, and a belt motor driving the rotation of the first belt at its upper end; the longitudinal portion of the first belt is connected to the upper end of the second arm, the upper and lower ends of the second belt are rotatably connected to the second arm and the third arm respectively, and the two longitudinal portions of the second belt are connected to the lower end of the first arm and the upper end of the third arm respectively; the suction nozzle is located at the lower end of the third arm.

[0011] The material handling robot of this utility model includes a horizontal mounting plate on the third arm; the rotating module includes a rotating joint mounted longitudinally on the mounting plate and a rotating motor that drives the lower end of the rotating joint to rotate; the upper and lower ends of the rotating joint are respectively provided with an air pipe connector and a suction nozzle, and the rotating motor is located on the lower surface of the mounting plate.

[0012] The material handling robot of this utility model includes a tray conveying mechanism comprising a tray picking module for picking up trays and a tray driving module for driving the tray picking module to reciprocate along the X-axis; a material transfer window is provided through the conveying channel from top to bottom, and a conveyor belt mechanism is provided below the material transfer window along the Y-axis.

[0013] The material handling robot of this utility model includes a tray-retrieving module comprising a base slidably connected to the mounting frame along the X-axis, a snap-fit ​​arm rotatably connected to the base along the Y-axis, and a drive motor for driving the snap-fit ​​arm to rotate; both ends of the rotating shaft of the snap-fit ​​arm pass through both ends of the base, and both ends of the rotating shaft are provided with the snap-fit ​​arm.

[0014] The material handling robot of this utility model includes a conveyor belt mechanism comprising a conveyor belt horizontally arranged along the Y-axis, a transmission motor for driving the conveyor belt to rotate, and a U-shaped trough support located at the bottom of the mounting frame; the inner cavity of the U-shaped trough support is arranged along the Y-axis, the conveyor belt is located inside the inner cavity of the U-shaped trough support, and the material transfer window is located above the conveyor belt.

[0015] The beneficial effects of this utility model are as follows: During operation, the XY-axis lateral movement module of the adjustment mechanism drives the lifting module to move above the material tray and directly face the material. Once in position, the lifting module activates and drives the suction tube and suction body to descend, adsorbing the material through the suction body. After adsorption stabilizes, the lifting module drives the suction tube a certain distance to remove the material from the tray. Then, the rotation module drives the suction tube and suction body to rotate horizontally synchronously, rotating the coded end of the material horizontally until it is recognized by the horizontally set coding recognition mechanism. After recognition, the lifting module activates again and resets the material back into the tray, keeping the coded end facing the same direction. During the process, if the coded end faces up or down, it is identified by two additional coding recognition mechanisms arranged vertically. Through the cooperation of the two coding recognition mechanisms and the adjustment mechanism, the coding of multiple materials in the tray can be identified. Compared with the traditional processing method that requires manual intervention in the early stage, this solution can significantly improve efficiency. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the utility model will be further described below in conjunction with the accompanying drawings and embodiments. The drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Figure 1 This is a side view of the overall assembly of this utility model and the shelf.

[0017] Figure 2 This is a bird's-eye view from the front after the material tray of this utility model has been removed.

[0018] Figure 3 This is a front-view bottom view of the present invention. Figure 4 A bird's-eye view of the rear side of this utility model.

[0019] Figure 5 A bird's-eye view of the front side of the adjustment mechanism of this utility model.

[0020] Figure 6 This is a bird's-eye view of the front side of this utility model.

[0021] Figure 7 This is another bird's-eye view of the adjustment mechanism of this utility model.

[0022] Figure 8 This is a partial enlarged view of the tray-retrieving module of this utility model.

[0023] Figure 9 This is a rear-view bottom view of the overall structure of this utility model and the shelf.

[0024] Figure 10 This is a bird's-eye view from the front side after the loading tray of this utility model is installed. Detailed Implementation

[0025] The terms "first," "second," "third," and "fourth," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0026] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0027] "Multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0028] Furthermore, the terms indicating orientation, such as "up," "down," "left," "right," "upper end," "lower end," and "longitudinal," are all based on the posture and position of the device or equipment described in this solution during normal use.

[0029] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, a clear and complete description will be provided below in conjunction with the technical solutions in the embodiments of this utility model. Obviously, the described embodiments are some, but not all, embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0030] The preferred embodiment of this utility model describes a material transfer robot specifically used for material transfer between two adjacent shelves 500. In conjunction with a lifting platform 600, it can transfer a pallet from one shelf 500 to an adjacent shelf 500. Figure 1-10 As shown, the material handling robot includes: The tray conveying mechanism 10 is configured to reciprocate along the X-axis direction to transport a tray 400 loaded with material 300. The coding and identification mechanism 20 has three parts, one of which is configured to identify materials with the coding position facing horizontally, another is configured to identify materials with the coding position facing upward, and the third is configured to identify materials with the coding position facing downward; specifically, the coding and identification mechanism 20 can be any one of a CCD camera, an infrared scanning head, or a laser scanning image; The adjustment mechanism 30 is configured to adjust the coding on the side wall of the material to face a uniform horizontal direction, so that the coding ends of the materials in the tray 400 whose coding is located on the vertical side wall are all facing the coding recognition mechanism 20 which is configured to recognize the coding position in a horizontal direction; specifically, the adjustment mechanism is located above the tray conveying mechanism 10. Mounting bracket 40 is configured to provide mounting positions for tray conveying mechanism 10, adjustment mechanism 30 and coding identification mechanism 20; The adjustment mechanism 30 includes a vertically arranged suction tube 31, a suction body 32 located at the lower end of the suction tube 31, a rotating module 33 that drives the suction tube 31 to rotate on a fixed axis, a lifting module 34 that drives the rotating module 33 to rise and fall, and an XY two-axis transverse module 35 that drives the lifting module 34 to move horizontally; specifically, the X-axis direction is the front-back direction, and the Y-axis direction is the left-right direction.

[0031] During operation, the XY-axis horizontal movement module 35 of the adjustment mechanism 30 drives the lifting module 34 to move above the material tray 400 and face the material. After reaching the position, the lifting module 34 moves and drives the suction pipe 31 and the suction body 32 to descend and adsorb the material through the suction body 32. After the adsorption is stable, the lifting module 34 drives the suction pipe 31 to move a certain distance so that the material leaves the material tray 400. Then, the rotation module 33 drives the suction pipe 31 and the suction body 32 to rotate horizontally in sync, rotating the end of the material with the code horizontally until it is recognized by the horizontally set code recognition mechanism 20. After recognition, the lifting module 34 moves again and resets the material into the material tray 400, keeping the code end facing the same direction. During the process, if the code is facing up or down, it is recognized by two other code recognition mechanisms 20 arranged vertically. Through the cooperation of the two code recognition mechanisms 20 and the adjustment mechanism 30, the code recognition of multiple materials in the material tray 400 can be realized. Compared with the traditional processing method that requires manual intervention in the early stage, this solution can significantly improve efficiency.

[0032] In this embodiment, the mounting frame 40 is provided with a conveying channel 401 on which the feeding tray 400 reciprocates along the X-axis, so as to facilitate movement from one end to the other; three coding identification mechanisms 20 are provided, one above the discharge end of the conveying channel 401, another on the conveying channel 4, another on the left or right side of the feed end of the lower side 01 of the conveying channel, and the third on the lower side of the conveying channel 4. When the feeding tray is opened, the coding identification mechanism on the lower side can identify the code at the bottom of the material on the suction nozzle body.

[0033] In this embodiment, the mounting frame 40 is U-shaped with both ends facing upwards. The top surfaces of both ends of the mounting frame 40 are provided with first sliding positions 402 along the X-axis direction for the adjustment mechanism 30 to reciprocate. The two arms of the mounting frame 40 are provided with second sliding positions 403 on opposite side walls for the feeding disc 400 to reciprocate. Specifically, both the first sliding position 402 and the second sliding position 403 are steps.

[0034] Furthermore, the coding and identification mechanism 20 located above the conveying channel is fixed by the U-shaped frame 100. The two ends of the U-shaped frame face downward and are respectively fixed to the rear of the left and right ends of the mounting frame 40. The corresponding coding and identification mechanism 20 is located on the lower surface of the connecting section of the two arms of the U-shaped frame.

[0035] In this embodiment, the adjustment mechanism 30 is located above the conveying channel 401 and between the two coding and identification mechanisms 20 on the horizontal plane, so as to avoid the coding and identification mechanism 20 above causing obstruction during the process of adjusting the position of the material.

[0036] In this embodiment, the XY dual-axis transverse module 35 includes a Y-axis transverse unit 351 that drives the lifting module 34 to move laterally, and an X-axis transverse unit 352 that drives the Y-axis transverse unit 351 to move laterally. There are two X-axis transverse units 352, which are respectively located on both sides of the conveying channel 401. The Y-axis transverse unit 351 is connected to the movable terminals of the two X-axis transverse units 352 through the bracket 50. Specifically, both the X-axis transverse unit 352 and the Y-axis transverse unit 351 are guide rail-belt-motor modules. The XY dual-axis transverse module 35 can realize the adjustment mechanism 30 to gradually adjust the position of all materials in the tray 400.

[0037] In the X-axis transverse unit 352, the guide rail 3521 and belt 3522 are both arranged on the steps of the first sliding position 402. In order to avoid the overall volume from increasing in the lateral direction, the motor 3523 of the X-axis transverse unit 352 is located on the bottom surface of the rear end of the mounting frame 40 and is connected to the belt 3522 through the transmission shaft 60. In order to ensure the synchronization of the two ends of the Y-axis transverse unit 351, the guide rail 3521 and belt 3522 are provided on the first sliding positions 402 on both the left and right sides. The motor 3523 can share the motor at the lower rear end of the mounting frame 40 to reduce unnecessary redundancy.

[0038] Furthermore, the bracket 50 is U-shaped and its two ends are slidably connected to the guide rail 3521 of the X-axis transverse unit 352 through two sliders respectively; the guide rail 3511 and belt 3512 of the Y-axis transverse unit 351 are both located on the connecting section of the two arms at the top of the bracket 50, while its motor 3513 is located on the longitudinal part of one end of the bracket 50. The lifting module 34 of the adjustment mechanism 30 is slidably connected to the bracket 50 in the left and right directions through the slider and the guide rail 3511 of the Y-axis transverse unit 351.

[0039] In this embodiment, the lifting module 34 includes a vertically arranged first support arm 341, a longitudinally slidable second support arm 342 on the first support arm 341, a longitudinally slidable third support arm 343 on the second support arm 342, a longitudinally rotatable first belt 344 on the first support arm 341, and a longitudinally rotatable second belt 345 on the second support arm 342, as well as a belt motor 346 that drives the first belt 344 to rotate at its upper end; the two longitudinal portions of the first belt 344 are arranged side-by-side on the front side of the first support arm 341, the outer longitudinal portion of the first belt 344 is connected to the upper end of the second support arm 342, and both the upper and lower ends of the first belt 344 are rotatably connected to the upper and lower ends of the first support arm 341 through pulleys; the two longitudinal portions of the second belt 345 are arranged side-by-side on the front side of the first support arm 341. The second belt 345 is positioned in front of the second support arm 342. Its upper and lower ends are rotatably connected to the second support arm 342 and the third support arm 343, respectively. The two longitudinal sections of the second belt 345 are connected to the lower end of the first support arm 341 and the upper end of the third support arm 343, respectively. The pivot point of the lower end of the second belt 345 is located below the fixed connection point with the third support arm 343. The suction tube 31 is located at the lower end of the third support arm 343. Through the cooperation of the first belt 344, the second belt 345, the second support arm 342, and the third support arm 343, the extension and retraction control of the two support arms can be achieved by using only one belt motor 346. Compared with conventional linear mechanisms such as single-stroke cylinders or screw modules, the overall length of the lifting module in this solution is smaller after resetting.

[0040] In this embodiment, a horizontal mounting plate 70 is provided on the third support arm 343; the rotating module 33 includes a rotating joint 331 longitudinally provided on the mounting plate 70, and a rotating motor 332 that drives the lower end of the rotating joint 331 to rotate; the upper and lower ends of the rotating joint 331 are respectively provided with an air pipe connector 80 and a suction pipe 31, the rotating motor 332 is provided on the lower surface of the mounting plate 70, and the outer side wall of the rotating joint 331 has circumferential toothed grooves that mesh with the toothed grooves on the inner side of the belt on the rotating shaft of the rotating motor 332. When the rotating motor 332 is activated, it can drive the suction pipe 31, the suction body 32, and the material to rotate synchronously; and the mounting plate 70 allows the rotating motor 332 and the suction pipe 31 to form an integral module, which can facilitate the overall replacement or disassembly in the future.

[0041] In this embodiment, the tray conveying mechanism 10 includes a tray picking module 11 for picking up the tray 400, and a tray driving module 12 for driving the tray picking module 11 to reciprocate along the X-axis; a material transfer window 4011 is provided through the conveying channel 401 from top to bottom, and a conveyor belt mechanism 90 is provided below the material transfer window 4011 along the Y-axis direction for classifying and sorting materials.

[0042] In this embodiment, the tray-retrieving module 11 includes a base 111 slidably connected to the mounting frame 40 along the X-axis, a locking arm 112 rotatably connected to the base 111 along the Y-axis, and a drive motor 113 for driving the locking arm 112 to rotate. Both ends of the rotating shaft of the locking arm 112 pass through both ends of the base 111, and both ends of the rotating shaft are provided with locking arms 112. The driving motor 113 drives the locking arm 112 to flip and keep it horizontally locked into the slot 41 on the side wall of the tray 400. The tray can then be dragged back and forth by the tray drive module 12 to realize the transfer of the tray 400 and the position adjustment and coding identification of the material.

[0043] The tray drive module 12 adopts the same implementation method as the X-axis transverse unit 352 and the Y-axis transverse unit 351, which is a guide rail-belt-motor module. The guide rail 121 of the tray drive module 12 is set on the second sliding position 403, and its drive motor 122 is set on the bottom surface of the rear end of the mounting bracket 40 and is connected to its belt 123 through another transmission shaft 120. Of course, a linear motor, a lead screw module or a cylinder can also be used.

[0044] In this embodiment, the conveyor belt mechanism 90 includes a conveyor belt 91 arranged horizontally along the Y-axis, a transmission motor 92 that drives the conveyor belt 91 to rotate, and a U-shaped trough support 130 located at the bottom of the mounting frame 40. The inner cavity of the U-shaped trough support 130 is arranged along the Y-axis, the conveyor belt 91 is located in the inner cavity of the U-shaped trough support 130, and the material transfer window 4011 is located above the conveyor belt 91, which is used for the lifting module 34 to transfer the materials that need to be classified onto the conveyor belt 91 for transport to other workstations.

[0045] Furthermore, the coding identification mechanism 20 for identifying the code at the bottom of the material is located on the upper part of the front side wall of the U-shaped trough support 130 and is inclined to the rear and upward. When the material tray is moved away, the code at the bottom of the material can be directly identified.

[0046] It should be understood that those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A material handling robot, characterized in that, include: The tray conveying mechanism is configured to reciprocate along the X-axis direction to transport a tray loaded with material. The coding and identification mechanism has three parts, one of which is configured to identify materials with the coding position facing horizontally, another is configured to identify materials with the coding position facing upward, and the third is configured to identify materials with the coding position facing downward. An adjustment mechanism is configured to align the coding on the sidewall of the material towards a uniform horizontal direction, and the adjustment mechanism is located above the material tray conveying mechanism; The mounting bracket is configured to provide mounting positions for the tray conveying mechanism, the adjustment mechanism, and the coding identification mechanism; The adjustment mechanism includes a vertically arranged suction tube, a suction body located at the lower end of the suction tube, a rotating module that drives the suction tube to rotate on a fixed axis, a lifting module that drives the rotating module to move up and down, and an XY-axis transverse module that drives the lifting module to move horizontally.

2. The material handling robot according to claim 1, characterized in that, The mounting frame is provided with a conveying channel in which the feeding tray reciprocates along the X-axis; one of the three coding and identification mechanisms is located above the discharge end of the conveying channel, another is located on the left or right side of the feed end of the conveying channel, and the third is located on the lower side of the conveying channel.

3. The material handling robot according to claim 2, characterized in that, The mounting frame is U-shaped with both ends facing upwards. The top surfaces of both ends of the mounting frame are provided with first sliding positions along the X-axis for the adjustment mechanism to reciprocate. The two arms of the mounting frame are provided with second sliding positions on opposite side walls for the material tray to reciprocate.

4. The material handling robot according to claim 3, characterized in that, The adjustment mechanism is located above the conveying channel and between the two coding and recognition mechanisms on the same horizontal plane.

5. The material handling robot according to claim 4, characterized in that, The XY dual-axis transverse movement module includes a Y-axis transverse movement unit that drives the lifting module to move laterally, and an X-axis transverse movement unit that drives the Y-axis transverse movement unit to move laterally. There are two X-axis transverse movement units, which are respectively located on both sides of the conveying channel. The Y-axis transverse movement unit is connected to the movable terminals of the two X-axis transverse movement units through a bracket.

6. The material handling robot according to claim 1, characterized in that, The lifting module includes a vertically arranged first arm, a second arm slidably mounted on the first arm, a third arm slidably mounted on the second arm, a first belt rotatably mounted on the first arm, a second belt rotatably mounted on the second arm, and a belt motor that drives the first belt to rotate at its upper end; the longitudinal portion of the first belt is connected to the upper end of the second arm, the upper and lower ends of the second belt are rotatably connected to the second arm and the third arm respectively, and the two longitudinal portions of the second belt are connected to the lower end of the first arm and the upper end of the third arm respectively; the suction nozzle is located at the lower end of the third arm.

7. The material handling robot according to claim 6, characterized in that, The third arm is provided with a horizontal mounting plate; the rotating module includes a rotating joint that is longitudinally provided on the mounting plate, and a rotating motor that drives the lower end of the rotating joint to rotate; the upper and lower ends of the rotating joint are respectively provided with an air pipe connector and the suction pipe, and the rotating motor is provided on the lower surface of the mounting plate.

8. The material handling robot according to claim 2, characterized in that, The material tray conveying mechanism includes a tray picking module for picking up material trays and a tray driving module for driving the tray picking module to reciprocate along the X-axis; the conveying channel is provided with a material transfer window extending downwards, and a conveyor belt mechanism is provided below the material transfer window along the Y-axis.

9. The material handling robot according to claim 8, characterized in that, The tray retrieval module includes a base slidably connected to the mounting bracket along the X-axis, a locking arm rotatably connected to the base along the Y-axis, and a drive motor for driving the locking arm to rotate; both ends of the rotating shaft of the locking arm pass through both ends of the base, and the locking arm is provided at both ends of the rotating shaft.

10. The material handling robot according to claim 8, characterized in that, The conveyor belt mechanism includes a conveyor belt horizontally arranged along the Y-axis, a transmission motor for driving the conveyor belt to rotate, and a U-shaped trough support located at the bottom of the mounting frame; the inner cavity of the U-shaped trough support is arranged along the Y-axis, the conveyor belt is located inside the inner cavity of the U-shaped trough support, and the material transfer window is located above the conveyor belt.

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