In- library transport robot

Abstract

The utility model discloses the in -house transfer robot of transfer robot technical field, including frame, self -walking module sets up at the bottom of frame for drive frame movement, clamping module sets up on the frame, and the sliding setting along frame height direction, lifting module, lifting module has at least two groups, and each group lifting module includes fixed end and movable end, frame and adjacent lifting module fixed end connection, clamping module and adjacent lifting module movable end connection, and each group lifting module movable end and adjacent lifting module fixed end connection, visual module group is used for gathering the environmental image information and article information of robot front and back, can remove the hospital scattered material to distribution node, and the automatic identification article information of visual module group and processor module, record upload transfer data, replace artificial check, realize medical material transfer automation and whole process traceability.

Description

Technical Field

[0001] This utility model relates to the field of transfer robot technology, specifically to a warehouse transfer robot. Background Technology

[0002] Inside warehouses in hospitals, logistics centers, and other similar settings, the daily transfer of medical supplies (such as medicines, medical devices, and consumables) is a frequent and precise operation. Currently, common transfer methods mainly rely on manual operation or basic automated equipment, which presents the following pain points that urgently need to be addressed: Firstly, the existing process for information identification and verification is highly reliant on manual labor. Operators must collect scattered goods, visually inspect each item, and manually scan or enter identification codes (such as barcodes or QR codes) to obtain key information such as product name, specifications, batch number, and expiration date. This information is then manually verified against the transfer order. This method is not only cumbersome and inefficient, but also prone to human errors such as missed checks and incorrect checks in high-intensity, repetitive tasks, posing risks to the accuracy and security of medical supply management. Especially given the characteristics of multi-category, small-batch goods transfers within hospital warehouses, traditional manual methods struggle to balance efficiency and accuracy.

[0003] Secondly, in terms of operational processes and data traceability, existing technologies exhibit significant "information gaps." Manual transfers or simple handling equipment only physically move materials, while crucial data such as cargo information verification, transfer route records, operational time statistics, and operator information often require subsequent manual entry into the management system or are not effectively recorded at all. This results in an incomplete and untraceable information chain throughout the entire material flow process, failing to meet the demands of modern hospitals for refined and digitalized management of materials. Management struggles to grasp material dynamics, operational efficiency, and accountability in real time and accurately, hindering inventory optimization and process supervision.

[0004] Furthermore, existing automated transfer solutions often focus on the movement and handling functions themselves, failing to deeply integrate automatic identification, intelligent analysis, and seamless data integration capabilities. Their insufficient level of intelligence prevents them from replacing the aforementioned manual information processing steps, thus failing to fundamentally solve core problems such as high manual workload, susceptibility to information errors, and broken data chains.

[0005] Therefore, developing an intelligent warehouse transfer system and method that can automatically identify cargo information, replace manual verification, and automatically record and upload data throughout the entire transfer process is of urgent practical need and significant application value for improving the operational efficiency of hospital warehouses, ensuring the accuracy of material management, and achieving refined control with full traceability. Utility Model Content

[0006] The technical solution of this utility model is to provide an in-warehouse transfer robot that can move scattered hospital supplies to distribution nodes. Through a vision module and a processor module, it can automatically identify the information of the supplies, record and upload the transfer data, replace manual verification, and realize the automation of medical supply transfer and full-process traceability.

[0007] To achieve the above objectives, this utility model provides the following technical solution: an in-warehouse transfer robot, comprising a frame, characterized in that: The self-propelled module is located at the bottom of the rack and is used to drive the rack to move. The clamping module is mounted on the frame and slides along the height of the frame. A lifting module, wherein there are at least two sets of lifting modules, and each set of lifting modules includes a fixed end and a movable end; The frame is fixedly connected to the adjacent lifting module. The clamping module is connected to the movable end of the adjacent lifting module. Furthermore, the movable end of each lifting module is connected to the fixed end of the adjacent lifting module; The vision module is used to collect environmental image information and object information in front of and behind the robot.

[0008] As a further embodiment of this utility model, the clamping module includes: The mounting plate is slidably installed along the height of the frame. The clamping arms are symmetrically slidably mounted on the mounting plate, and the free end is provided with a protrusion; The spacing adjustment unit is installed between the clamping arms and the mounting plate to adjust the spacing between the clamping arms.

[0009] As a further embodiment of this utility model, the spacing adjustment part includes: The adjustable slide rail is fixedly mounted on the mounting plate. An adjustable slide block is symmetrically slidably mounted on an adjustable slide rail, and the clamping arm is mounted on the adjustable slide block; Adjustable rollers are arranged in pairs and both rotate on the mounting plate. Adjustable belt, fitted between adjustable wheels; There are at least two connecting pieces, which are fixedly installed on the adjustable slide block. The adjustable slide block is installed on the upper and lower sides of the adjustable belt through the connecting pieces. The adjustable pitch motor is fixedly mounted on the mounting plate and is used to drive the adjustable pitch wheel to rotate.

[0010] As a further embodiment of this utility model, each set of lifting modules includes a bracket, a lifting slide rail, a lifting slide block, a lifting screw, a bushing, and a lifting motor; The lifting slide block is slidably engaged with the lifting slide rail; The lifting motor is used to drive the lifting screw to rotate, and the lifting screw is rotatably mounted on the bracket. The bushing is threadedly connected to the lifting screw. A mounting base is provided between adjacent lifting modules, and the two sides of the mounting base are respectively fixed to the lifting slide and the bracket, so that the lifting modules can slide relative to each other; The bracket of the first lifting module is fixedly installed on the frame; The lifting slide of the last lifting module is connected to the clamping module.

[0011] As a further embodiment of this utility model, the vision module includes a scanning radar, a depth camera, and a microwave detector; The scanning radar is located on one side of the self-propelled module's forward direction and is used for remote detection, providing basic data for environmental map construction. The depth cameras are positioned at both ends of the self-propelled module's movement direction for close-range detection, thereby improving the accuracy of environmental map construction. The microwave detectors are positioned around the self-propelled module to detect environmental information around the robot.

[0012] As a further embodiment of this utility model, the self-propelled module includes a base, the bottom of which is provided with omnidirectional wheels arranged in a dot matrix pattern and a drive wheel elastically slidably arranged with an elastic element, and anti-collision strips are provided at both ends of the base in the direction of movement.

[0013] As a further embodiment of this utility model, it also includes a power supply module, which includes a rechargeable battery and a charging interface. The rechargeable battery is disposed inside the self-propelled module, and the charging interface is disposed at the bottom of the self-propelled module.

[0014] As a further embodiment of this utility model, it also includes a positioning and identification module, which includes a barcode scanner and is signal-connected to the processor module.

[0015] Compared with the prior art, the beneficial effects of this utility model are: In this invention, only scattered goods need to be moved to the distribution node, eliminating the need for manual sorting and information entry. The visual module collects the identification code on the surface of the goods and transmits it to the processor module. The processor module automatically reads key information such as the category, specifications, expiration date, and batch number of the goods (such as medicines, medical devices, and consumables) through a parsing algorithm, replacing the manual verification process and significantly reducing the amount of manual operation. This avoids the problems of missed or incorrect verification that are prone to occur during manual verification, and is especially suitable for the transportation needs of multi-category, small-batch goods in hospital warehouses. At the same time, after the goods are placed, the processor module automatically records key data such as the information of the goods transported, the location of the distribution node and the receiving node, the transportation time, and the operator's associated information, and uploads it to the hospital warehouse management system in real time, forming a complete medical supplies transportation data link. This enables full-process information traceability and query, helping hospitals to achieve refined management of supplies. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, 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.

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the clamping module and its connection structure of the present invention; Figure 3 This utility model Figure 2 Enlarged structural diagram at point A in the middle; Figure 4 This utility model Figure 2 Enlarged structural diagram at point B; Figure 5 This utility model Figure 2 Enlarged structural diagram at point C; Figure 6 This is a schematic diagram showing the connection between the lifting module and the frame of this utility model; Figure 7 This is a schematic diagram of the connection structure of the lifting module of this utility model; Figure 8 This is a schematic diagram of the mounting plate and its connection structure of the present invention; Figure 9 This is a schematic cross-sectional view of the self-propelled module of this utility model; Figure 10 This is a schematic diagram of the self-propelled module structure of this utility model; The attached diagram lists the components represented by each number as follows: 1. Frame; 11. Positioning and Recognition Module; 12. Processor Module; 2. Self-propelled Module; 21. Base; 22. Casters; 23. Drive Wheels; 24. Anti-collision Strips; 3. Clamping Module; 31. Mounting Plate; 32. Clamping Arm; 4. Spacing Adjustment Unit; 41. Adjustable Spacing Rail; 42. Adjustable Spacing Slide; 43. Adjustable Spacing Wheel; 44. Adjustable Spacing Belt; 45. Connector; 46. Adjustable Spacing Motor; 5. Lifting Module; 51. Lifting Rail; 52. Lifting Slide; 53. Lifting Screw; 54. Bushing; 55. Lifting Motor; 56. Mounting Base; 6. Vision Module; 61. Scanning Radar; 62. Depth Camera; 63. Microwave Detector; 71. Rechargeable Battery; 72. Charging Interface. Detailed Implementation

[0018] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0019] Please see Figures 1-10 This utility model provides a technical solution: an in-warehouse transfer robot, including a frame 1; the frame 1 is made of aluminum alloy profiles spliced ​​together, forming an overall frame structure, which combines lightweight and structural strength, and can bear the weight of components such as the clamping module 3 and the lifting module 5. The frame 1 has a reserved sliding guide space in the height direction, providing an installation base for the lifting and sliding of the clamping module 3; The self-propelled module 2 is located at the bottom of the frame 1 and is used to drive the frame 1 to move; the bottom of the frame 1 and the self-propelled module 2 are fixedly connected by bolts to ensure the overall assembly stability; The clamping module 3 is mounted on the frame 1 and is slidably mounted along the height direction of the frame 1. The lifting module 5 is provided in at least two sets, and each set of the lifting module 5 includes a fixed end and a movable end. The frame 1 is fixedly connected to the adjacent lifting module 5. The clamping module 3 is connected to the movable end of the adjacent lifting module 5. Furthermore, the movable end of each lifting module 5 is connected to the fixed end of the adjacent lifting module 5; The vision module 6 is located at both ends of the self-walking module 2 and is used to collect environmental image information and object information in front of and behind the robot. Also includes: The positioning and identification module 11 is located at the bottom of the self-propelled module 2 and is used to identify the ground markings of the allocation nodes in order to confirm the horizontal position of the allocation nodes. The processor module 12 is electrically connected to the vision module 6, the self-propelled module 2, the lifting module 5 and the clamping module 3 respectively. It is used to receive image information collected by the vision module 6, process the image information and identify key points of objects and the environment. At the same time, it controls the collaborative operation of each module according to the identification results and the position information of the positioning identification module 11. The power supply module is located inside the self-propelled module 2 and supplies power to each module. When the processor module 12 receives the cargo transfer instruction from the host system, it immediately retrieves the pre-stored warehouse environment map. At the same time, it combines the current location of the charging area and the coordinate information of the allocation node where the cargo to be transferred is located, and plans an optimal driving path from the charging area to the allocation node through the built-in path planning algorithm. This path avoids the position coordinates of fixed obstacles in the warehouse and other robots, ensuring movement efficiency and safety. After the path planning is completed, the processor module 12 sends a drive command to the self-walking module 2 to control the self-walking module 2 to drive the robot to move along the planned path to the assigned node; During the robot's movement, the vision module 6 is in continuous operation, collecting environmental images and detection data in real time and transmitting them to the processor module 12. The processor module 12 analyzes the real-time data through image processing algorithms. When it detects temporary obstacles in the path, such as scattered cardboard boxes or temporarily piled materials, it immediately calculates the detour path and sends a fine-tuning command to the self-walking module 2 to control the robot to slightly adjust its driving direction or speed, thereby achieving dynamic obstacle avoidance and preventing collisions.

[0020] When the robot moves to the assigned node area, the positioning and recognition module 11, located at the bottom of the self-propelled module 2, quickly reads the corresponding horizontal position information by recognizing preset markings on the ground, such as QR code markings, and feeds the position data back to the processor module 12. Based on the position data, the processor module 12 controls the self-propelled module 2 to adjust the robot's posture and position, enabling the robot to enter the designated horizontal position. Subsequently, the vision module 6 acquires images of identification codes, such as QR codes and barcodes, on the surface of the goods and uploads the image information to the processor module 12. The processor module 12 uses an identification code parsing algorithm to read basic information such as the category, weight, and specifications of the goods, while simultaneously locating the coordinates of the goods' gripping position. After the cargo position is confirmed, the processor module 12 sends a position calibration command to the self-propelled module 2. The self-propelled module 2 drives the robot to adjust its position so that the preset gripping position of the gripping module 3 completely overlaps with the gripping position of the cargo. After the position calibration is completed, the processor module 12 controls the gripping module 3 to clamp the cargo. The processor module 12 sends a lifting command to the lifting module 5 so that the gripping module 3 moves upward along the height direction of the frame 1 until the cargo is completely lifted off the ground, avoiding the cargo from scraping against the ground during the movement. After the goods leave the ground, the processor module 12 replans the travel path from the distribution node to the target receiving node and controls the self-propelled module 2 to drive the robot towards the receiving node. During the movement, the vision module 6 and the positioning and recognition module 11 continue to work to ensure the robot's accurate and safe movement. When the robot reaches the target receiving node, the processor module 12 sends a descent command to the lifting module 5, causing the gripping module 3 to move downwards along the height direction of the frame 1 until the bottom of the goods contacts the preset placement surface of the receiving node. After the goods touch the ground, the processor module 12 controls the gripping module 3 to release the goods. After the goods are placed, the processor module 12 automatically records key information for this transfer, including goods information, allocation node location, receiving node location, and transfer time. This information is then uploaded to the warehouse management system in real time, enabling information statistics and traceability of the transferred goods. This completes a single in-warehouse transfer operation. If there are continuous transfer instructions, the processor module 12 will repeat the above steps until all transfer tasks are completed. If there are no transfer instructions, the processor module 12 will plan a path back to the charging area and control the robot to automatically return to the charging area for standby.

[0021] In summary, by simply moving scattered goods to the distribution nodes, manual sorting and data entry are no longer required. The visual module 6 collects the surface identification codes of the goods and transmits them to the processor module 12. The processor module 12 automatically reads key information such as the category, specifications, expiration date, and batch number of goods, such as medicines, medical devices, and consumables, through a parsing algorithm. This replaces the manual verification process, significantly reducing the amount of manual work and avoiding the omissions and errors that are prone to occur during manual verification. It is especially suitable for the transportation needs of multi-category, small-batch goods in hospital warehouses. At the same time, after the goods are placed, the processor module 12 automatically records key data such as the goods information, the location of the distribution and receiving nodes, the transportation time, and the operator's associated information for this transportation. This data is uploaded to the hospital warehouse management system in real time, forming a complete medical supplies transportation data link. This enables full-process information traceability and querying, helping hospitals achieve refined management of supplies.

[0022] As a further embodiment of this utility model, the clamping module 3 includes: Mounting plate 31 is slidably installed along the height direction of frame 1; The clamping arm 32 is symmetrically slidably mounted on the mounting plate 31, and a protrusion is provided at its free end; the protrusion can restrict the material from sliding down from the free end of the clamping arm 32. The spacing adjustment unit 4 is installed between the clamping arm 32 and the mounting plate 31 to adjust the spacing between the clamping arms 32; by adjusting the spacing between the clamping arms 32 through the spacing adjustment unit 4, materials of different sizes can be clamped.

[0023] As a further embodiment of this utility model, the spacing adjustment part 4 includes: Adjustable slide rail 41 is fixedly mounted on mounting plate 31; The adjustable slide block 42 is symmetrically slidably mounted on the adjustable slide rail 41, and the clamping arm 32 is mounted on the adjustable slide block 42; Adjustable rollers 43 are arranged in pairs and are both rotatably mounted on the mounting plate 31; Adjustable belt 44 is fitted between adjustable wheels 43; There are at least two connectors 45, which are fixedly installed on the adjustable slide 42 respectively. The adjustable slide 42 is installed on the upper and lower sides of the adjustable belt 44 respectively through the connectors 45. The pitch-adjusting motor 46 is fixedly mounted on the mounting plate 31 and is used to drive the pitch-adjusting wheel 43 to rotate. When the material coincides with the preset clamping position of the clamping module 3, the adjustable distance motor 46 starts and drives the adjustable distance wheel 43 to rotate. The adjustable distance wheel 43 drives the adjustable distance belt 44 fitted on it to rotate synchronously. The adjustable distance belt 44, through the connecting parts 45 connected to its upper and lower sides respectively, drives the two connecting parts 45 to move closer to each other, thereby driving the adjustable distance slide block 42, which is fixedly connected to the connecting parts 45, to slide towards each other along the adjustable distance slide rail 41. The adjustable distance slide block 42 drives the clamping arm 32, which is fixed to it, to move closer to each other synchronously. When the clamping arm 32 is in contact with and clamps the side wall of the material, the adjustable distance motor 46 stops running, completing the clamping action of the material. Conversely, the adjustable distance motor 46 drives the adjustable distance wheel 43 to rotate in the opposite direction. The adjustable distance wheel 43 drives the adjustable distance belt 44 to drive the two adjustable distance slide blocks 42 to slide away from each other along the adjustable distance slide rail 41 through the connecting parts 45 on its upper and lower sides. The adjustable distance slide blocks 42 drive the clamping arm 32 to move away from each other until the clamping arm 32 is completely detached from the side wall of the material, completing the unloading action of the material.

[0024] As a further embodiment of this utility model, each lifting module 5 includes a bracket, a lifting slide rail 51, a lifting slide block 52, a lifting screw 53, a bushing 54, and a lifting motor 55. The lifting slide block 52 is in sliding engagement with the lifting slide rail 51; The lifting motor 55 is used to drive the lifting screw 53 to rotate, and the lifting screw 53 is mounted on the bracket. Bushing 54 is threadedly connected to lifting screw 53; A mounting base 56 is provided between adjacent lifting modules 5. The two sides of the mounting base 56 are fixedly installed to the lifting slide 52 and the bracket, respectively, so that the lifting modules 5 can slide relative to each other. The bracket of the first lifting module 5 is fixedly installed on the frame 1; The lifting slide 52 of the last lifting module 5 is connected to the clamping module 3; The bracket and lifting slide rail 51 are the fixed ends of the lifting module 5; the lifting slide block 52 is the movable end of the lifting module 5. When materials need to be lifted, the lifting motor 55 starts and drives the lifting screw 53 to rotate. The lifting screw 53 drives the bushing 54, which is threaded to it, to rise along the axial direction of the lifting screw 53. The bushing 54 drives the lifting slide 52, which is fixed to it, to rise synchronously along the lifting slide rail 51. The lifting slide 52 of the first lifting module 5 drives the bracket of the next set of lifting modules 5 adjacent to it to rise synchronously. In this way, the multi-stage lifting modules 5 are linked in sequence. Finally, the lifting slide 52 of the last lifting module 5 drives the clamping module 3 to rise, thereby smoothly lifting the clamped materials off the ground.

[0025] When materials need to be returned, the lifting motor 55 drives the lifting screw 53 to rotate in the opposite direction. The lifting screw 53 drives the bushing 54 to descend along the axial direction of the lifting screw 53. The bushing 54 drives the lifting slide 52 to descend synchronously along the lifting slide rail 51. The lifting slide 52 of the first lifting module 5 drives the bracket of the adjacent rear lifting module 5 to descend synchronously. In this way, the lifting slide 52 of the last lifting module 5 drives the clamping module 3 to descend until the bottom of the materials touches the ground, completing the unloading action.

[0026] In summary, the clamping module 3 can achieve a significant increase in height through the multi-stage linkage of multiple lifting modules 5, effectively increasing the operating height range of the clamping module 3. This allows it to adapt to the gripping and transfer needs of multi-layer stacked materials, reduce the requirements for goods placement, and increase the amount of materials that can be stored in the warehouse.

[0027] As a further embodiment of this utility model, the vision module 6 includes a scanning radar 61, a depth camera 62, and a microwave detector 63. The scanning radar 61 is set on one side of the self-propelled module 2 in the direction of travel for remote detection, providing basic data for environmental map construction; Depth cameras 62 are positioned at both ends of the self-propelled module 2 in the direction of movement to perform close-range detection and improve the accuracy of environmental map construction. Microwave detectors 63 are set around the self-propelled module 2 to detect environmental information around the robot; Specifically, during the robot's movement within the warehouse, the vision module 6 remains continuously operational, with each component working collaboratively to achieve environmental perception: the scanning radar 61 continuously and remotely detects the robot's direction of movement and its surroundings, accurately collecting positional data of fixed obstacles such as shelves and medical carts, as well as other robots; the microwave detector 63 is deployed omnidirectionally around the self-propelled module 2, detecting nearby obstacles such as scattered consumables and temporarily placed medical supplies in real time, achieving comprehensive early warning; the depth camera 62 simultaneously captures detailed environmental information along the path, such as the edges of ground markings and gaps between shelves, further enhancing the accuracy of environmental perception. All the collected environmental images, distance data, and obstacle information are transmitted in real time to the processor module 12 via signal lines, providing data support for path fine-tuning and dynamic obstacle avoidance.

[0028] As a further embodiment of this invention, the self-propelled module 2 includes a base 21, which serves as the mounting carrier for the self-propelled module 2. The base 21 has several omnidirectional wheels 22 arranged in a dot-matrix pattern on its bottom to ensure the robot can flexibly adjust its direction of movement. Drive wheels 23 are also elastically slidably mounted on the bottom of the base 21 via elastic elements. These elastic elements buffer ground bumps, ensuring the drive wheels 23 remain in close contact with the ground to prevent slippage and guarantee movement stability. Simultaneously, anti-collision strips 24 are provided at both ends of the base 21 along the direction of movement, providing cushioning protection in the event of accidental collisions and reducing the risk of damage to equipment and materials.

[0029] As a further embodiment of this utility model, the power supply module includes a rechargeable battery 71 and a charging interface 72. The rechargeable battery 71 is built into and fixed in the cavity of the base 21 of the self-propelled module 2, providing a stable power supply for all electrical components such as the processor module 12, the vision module 6, the drive components of the self-propelled module 2, the lifting module 5, and the clamping module 3. The charging interface 72 is embedded in the bottom of the base 21 of the self-propelled module 2 and can be precisely matched with the docking terminal of the ground charging base station. When the power of the rechargeable battery 71 is lower than the preset threshold, the processor module 12 can automatically plan a path and control the robot to return to the charging area to complete automatic power replenishment without manual intervention.

[0030] As a further embodiment of this invention, the positioning and identification module 11 includes a barcode scanner, which is fixedly embedded in the bottom of the base 21 of the self-propelled module 2. The scanning window faces the ground and has a protective structure to prevent dust and debris from obstructing the recognition accuracy. The barcode scanner is stably connected to the processor module 12 via a wired signal link, enabling it to quickly identify pre-set QR codes, barcodes, and other markings on the ground, collect information such as the corresponding horizontal column position and node number in real time, and transmit the data to the processor module 12. This provides core positional information for robot positioning and attitude adjustment, ensuring that the robot can accurately enter the designated areas of the assigned and receiving nodes.

Claims

1. A warehouse transfer robot, comprising a frame (1), characterized in that: The self-propelled module (2) is located at the bottom of the frame (1) and is used to drive the frame (1) to move; The clamping module (3) is mounted on the frame (1) and is slidably mounted along the height direction of the frame (1); The lifting module (5) has at least two sets, and each set of lifting modules (5) includes a fixed end and a movable end; The frame (1) is fixedly connected to the adjacent lifting module (5). The clamping module (3) is connected to the movable end of the adjacent lifting module (5). Furthermore, the movable end of each lifting module (5) is connected to the fixed end of the adjacent lifting module (5); The vision module (6) is used to collect environmental image information and object information in front of and behind the robot.

2. The warehouse transfer robot according to claim 1, characterized in that: The clamping module (3) includes: Mounting plate (31) is slidably installed along the height direction of frame (1); The clamping arm (32) is symmetrically slidably disposed on the mounting plate (31), and the free end is provided with a protrusion; The spacing adjustment part (4) is installed between the clamping arm (32) and the mounting plate (31) for adjusting the spacing between the clamping arms (32).

3. The warehouse transfer robot according to claim 2, characterized in that: The spacing adjustment unit (4) includes: Adjustable slide rail (41) is fixedly mounted on mounting plate (31); The adjustable slide block (42) is symmetrically slidably mounted on the adjustable slide rail (41), and the clamping arm (32) is mounted on the adjustable slide block (42); Adjustable rollers (43) are arranged in pairs and are both rotatably mounted on the mounting plate (31). Adjustable belt (44) is fitted between adjustable wheels (43); There are at least two connectors (45), which are fixedly installed on the adjustable slide (42) respectively. The adjustable slide (42) is installed on the upper and lower sides of the adjustable belt (44) respectively through the connectors (45); The pitch motor (46) is fixedly mounted on the mounting plate (31) and is used to drive the pitch wheel (43) to rotate.

4. The warehouse transfer robot according to claim 1, characterized in that: Each lifting module (5) includes a bracket, a lifting slide rail (51), a lifting slide block (52), a lifting screw (53), a bushing (54), and a lifting motor (55). The lifting slide block (52) is slidably engaged with the lifting slide rail (51); The lifting motor (55) is used to drive the lifting screw (53) to rotate, and the lifting screw (53) is rotatably mounted on the bracket; The bushing (54) is threadedly connected to the lifting screw (53); An installation base (56) is provided between adjacent lifting modules (5). The two sides of the installation base (56) are fixedly installed with the lifting slide (52) and the bracket respectively, so that the lifting modules (5) can slide relative to each other. The bracket of the first lifting module (5) is fixedly installed on the frame (1); The lifting slide (52) of the last lifting module (5) is connected to the clamping module (3).

5. The warehouse transfer robot according to claim 1, characterized in that: The vision module (6) includes a scanning radar (61), a depth camera (62), and a microwave detector (63). The scanning radar (61) is set on one side of the self-propelled module (2) in the direction of travel and is used for remote detection to provide basic data for environmental map construction. The depth camera (62) is set at both ends of the self-propelled module (2) in the direction of movement, and is used for close-range detection to improve the accuracy of environmental map construction; The microwave detector (63) is set around the self-propelled module (2) to detect environmental information around the robot.

6. The warehouse transfer robot according to claim 1, characterized in that: The self-propelled module (2) includes a base (21), the bottom of which is provided with a dot-matrix distribution of casters (22) and an elastic element that provides a drive wheel (23). Both ends of the base (21) in the direction of movement are provided with anti-collision strips (24).

7. The warehouse transfer robot according to claim 1, characterized in that: It also includes a power supply module, which includes a rechargeable battery (71) and a charging interface (72). The rechargeable battery (71) is located inside the self-propelled module (2), and the charging interface (72) is located at the bottom of the self-propelled module (2).

8. The warehouse transfer robot according to claim 1, characterized in that: It also includes a positioning and identification module (11), which includes a barcode scanner and is signal-connected to the processor module (12).

Images