Cargo lifting mechanism and cargo carrying robot

Abstract

The application discloses a kind of cargo lifting mechanism and cargo handling robot.The cargo lifting mechanism includes lifting assembly, mounting plate, lifting frame, prong and prong folding and unfolding drive assembly, mounting plate is vertically arranged, and is close to lifting assembly, and is connected with lifting assembly, lifting frame is fixed to the side of mounting plate away from lifting assembly, prong is arranged in the lower end of lifting frame, prong folding and unfolding drive assembly is connected with prong, for driving prong to move and be stored in the lower end of lifting frame, or move and be unfolded to the side of the lower end of lifting frame away from mounting plate.The cargo lifting mechanism of the application can drive the lifting frame to realize smooth and accurate height lifting by lifting assembly, at the same time, using the special prong structure design that can be folded and unfolded, prong can be unfolded to fork up the goods from the bottom after lifting frame and goods are close, limit to reduce the working space of cargo lifting mechanism, the positioning between lifting frame and goods is more accurate, and the carrying process is more stable.

Description

Technical Field

[0001] This application relates to the field of automated cargo handling, and in particular to a cargo lifting mechanism and a cargo handling robot. Background Technology

[0002] In the traditional construction industry, the handling of stacked materials (such as aerated concrete blocks on pallets at construction sites) still relies on a combination of manual and mechanical methods. The machinery primarily uses forklifts of suitable models. Manual operation suffers from high labor intensity and low efficiency. Forklift operation requires a large operating space, and there is a risk of materials slipping during the lifting process. Even some intelligent robotic operations, which combine a robot with a forklift, still carry the risk of materials slipping during lifting.

[0003] Therefore, it is necessary to develop a cargo lifting mechanism and a cargo handling robot to solve the above-mentioned technical problems. Utility Model Content

[0004] This application provides a cargo lifting mechanism and a cargo handling robot, which effectively solves the problems of low efficiency and high labor intensity of traditional manual handling of building materials, as well as the problems of inaccurate positioning, large working space requirements, and easy falling of stacked materials when using mechanical forklifts.

[0005] The present invention solves the above-mentioned technical problems mainly through the following technical solutions: A cargo lifting mechanism is provided, including a lifting assembly, a mounting plate, a lifting frame, forks, and a fork retraction / extension drive assembly. The mounting plate is vertically arranged, close to and connected to the lifting assembly. The lifting frame is fixed to the side of the mounting plate away from the lifting assembly. The forks are disposed at the lower end of the lifting frame. The fork retraction / extension drive assembly is connected to the forks and is used to drive the forks to move and retract to the lower end of the lifting frame, or to move and extend to the side of the lower end of the lifting frame away from the mounting plate.

[0006] It also includes a guide assembly, which includes a vertically arranged slide rail and a slider. The slider is fixed to the side of the mounting plate near the lifting assembly and is slidably mounted on the slide rail.

[0007] The guide assembly is provided in at least two sets and is distributed at intervals on both sides of the lifting assembly.

[0008] The lifting assembly includes a lead screw, an upper mounting base, a lower mounting base, and a first rotary power device. The lead screw is vertically arranged, and its upper and lower ends are rotatably assembled with the upper mounting base and the lower mounting base, respectively. The first rotary power device is drivenly connected to the upper end of the lead screw. A nut is screwed onto the lead screw, and the nut is connected and fixed to the side of the mounting plate near it.

[0009] The fork is a horizontally arranged strip-shaped component. One end of the fork is rotatably assembled with the lower end of the lifting frame. The fork retraction and extension drive assembly is connected to one end of the fork and is used to drive the fork to rotate horizontally to extend out of the lower end of the lifting frame away from the mounting plate, or to rotate horizontally to the lower end of the lifting frame.

[0010] The fork extension and retraction drive assembly includes a second rotary power device, which is installed on the lifting frame. One end of the fork is rotatably assembled with the lower end of the lifting frame via a rotating shaft, and the second rotary power device is connected to the rotating shaft via a coupling.

[0011] The fork is provided with at least two legs, which are spaced apart at the lower end of the lifting frame.

[0012] The lifting frame includes a rectangular main frame and a sub-frame disposed on the side ends of the two edge vertical beams of the main frame. The lower end of the sub-frame is fixed with a mounting frame protruding from the lower end of the main frame. One end of the fork is rotatably mounted inside the mounting frame, and the fork retraction and extension drive assembly is mounted in the sub-frame.

[0013] The mounting frame has a horizontally extending rotating area on the side opposite to the lifting assembly and on the side near the bottom of the main frame, and the fork rotates horizontally in the rotating area.

[0014] A cargo handling robot is also provided, comprising an n-shaped robot body, a through area inside the robot body forming a handling zone, cargo lifting mechanisms being installed on opposite side walls of the handling zone, lifting components being installed on opposite side walls of the handling zone, and a cargo handling channel being defined between the lifting frames of the two cargo lifting mechanisms.

[0015] The beneficial effects of the material transport robot in this application are: It can drive the lifting frame to achieve a smooth and precise height increase through the lifting components. At the same time, with the special retractable fork structure design, the forks can be extended to lift the goods from the bottom after the lifting frame is close to the goods, which minimizes the working space of the goods lifting mechanism, makes the positioning between the lifting frame and the goods more accurate, and makes the handling process more stable. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model, the 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 cargo lifting mechanism provided in an embodiment of the present utility model; Figure 2 This is an exploded view of the cargo lifting mechanism provided in this embodiment of the utility model; Figure 3 This is a three-dimensional structural view of the cargo lifting mechanism provided in this embodiment of the present invention during operation; Figure 4 This is a side view of the cargo lifting mechanism provided in this embodiment of the present invention during operation; Figure 5 This is a schematic diagram of the structure of the fork retraction and extension drive assembly and the fork engagement in the cargo lifting mechanism provided in this embodiment of the utility model; Figure 6 This is a schematic diagram of the cargo handling robot provided in this embodiment of the utility model. Detailed Implementation

[0018] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0019] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, 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 of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0020] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0021] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0022] The following disclosure provides many different embodiments or examples for implementing different structures of this application. To simplify the disclosure, specific examples of components and arrangements are described below. Of course, these are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, various specific examples of processes and materials are provided in this application, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0023] The cargo lifting mechanism of this embodiment can be used in any material handling operation that requires lifting from the bottom. Taking stacked aerated concrete blocks in the construction industry as an example (the blocks are stacked on a pallet), traditional techniques use manual handling or conventional mechanical handling, such as forklifts. Forklifts generally consist of a chassis and forks connected to a height-lifting mechanism. A horizontally extending fork arm is located at the lower end of the fork arm, away from the chassis. Because the fork arm needs to be inserted forward into the open area at the bottom of the pallet during handling, the forklift actually needs to be parked several meters away from the stack before handling, and then the forklift position needs to be adjusted several meters away to ensure the fork arm can smoothly and accurately insert into the bottom of the pallet. This can lead to inaccurate positioning, and the stack is prone to tilting during lifting, increasing the risk of material slipping. Furthermore, the forklift requires relatively large operating space and is not suitable for narrow spaces. Additionally, the fork arm is generally tilted upwards to some extent, so the aerated concrete blocks on the stack are still prone to slipping during lifting.

[0024] The cargo lifting mechanism in this embodiment does not have the aforementioned problems. During operation, two sets of cargo lifting mechanisms are used in conjunction, positioned on either side of the stack. The lifting frame 3 of the cargo lifting mechanism can approach the side of the stack. After approaching, the fork extension and retraction drive assembly 5 drives the fork 4 to unfold and extend into the hollow area under the pallet. Then, the two sets of cargo lifting mechanisms operate synchronously, smoothly lifting the stack off the ground. Afterward, the entire stack can be moved to achieve stable material handling. Throughout the process, the lifting frame 3 can approach the side of the stack to its maximum extent, almost touching it, resulting in precise positioning. At the same time, both sides are lifted synchronously, and the material stack does not tilt during the lifting process, achieving smooth lifting. In addition, since the fork 4 unfolds after the lifting frame 3 approaches the side of the stack, its positioning is inherently accurate, eliminating the need to move and insert it several meters away from the bottom of the pallet.

[0025] For details, please refer to Figures 1 to 5The cargo lifting mechanism in this embodiment mainly includes a lifting assembly 1, a mounting plate 2, a lifting frame 3, forks 4, and a fork retraction / extension drive assembly 5. The mounting plate 2 is a vertically oriented plate component. The lifting assembly 1 is located on one side of the mounting plate 2 and connected to it, driving the mounting plate 2 to rise and fall. The lifting frame 3 is fixed to the other side of the mounting plate 2, and forks 4 are located at the lower end of the lifting frame 3. The fork retraction / extension drive assembly 5 is installed in the lifting frame 3 and connected to the forks 4. Before operation, the forks 4 are below the lifting frame 3 and do not protrude from the side of the lifting frame 3 away from the mounting plate 2. When the lifting frame 3 approaches the side of the material stack, the fork retraction / extension drive assembly 5 drives the forks 4 to move and unfold, extending horizontally to the lower end of the lifting frame 3 away from the mounting plate 2. The forks 4 then enter the lower hollow area of ​​the stacked pallet. Combined with the lifting assembly 1 driving the lifting frame 3 to rise, the stack can be raised.

[0026] See Figure 3 and Figure 4 Two sets of cargo lifting mechanisms (represented by A in the diagram) are positioned on either side of the cargo or cargo stack (represented by D in the diagram), close to the sides of the cargo or cargo stack. The forks 4 are driven by the fork retraction drive assembly 5 to extend and insert into the hollow area at the bottom of the cargo or cargo stack. With the synchronous operation of the lifting components 1 of the two sets of cargo lifting mechanisms, the two sets of lifting frames 3 and forks 4 work together to smoothly lift the cargo or cargo stack and raise it to a certain height.

[0027] The cargo lifting mechanism of this embodiment can be used in conjunction with a mobile carrier. The mobile carrier can be designed with an n-shaped beam frame. Two sets of cargo lifting mechanisms are respectively installed on the opposite side walls of the internal space of the beam frame. Specifically, the lifting assembly 1 is installed on the opposite side walls of the internal space of the beam frame. Then the mobile carrier can drive the beam frame to move until the cargo or cargo stack enters the internal space of the beam frame, and the cargo or cargo stack enters between the two lifting frames 3. Then the fork 4 moves under the cargo or cargo stack and lifts the cargo or cargo stack.

[0028] Of course, in some other embodiments, the cargo lifting mechanism can be used in conjunction with an intelligent robot to form a cargo handling robot, see [reference]. Figure 6Specifically, the cargo handling robot includes an n-shaped robot body 7. The internal through-area of ​​the robot body 7 forms a handling zone. A set of cargo lifting mechanisms is installed on each of the opposite side walls of the handling zone. The lifting frames 3 of the two sets of cargo lifting mechanisms are parallel to each other. During operation, the robot body 7 moves within the work area to approach the stack according to its navigation and walking systems, allowing the cargo to move relatively into the handling zone. Then, using the fork extension and retraction drive component 5, it autonomously drives the forks 4 to extend and enter the hollow area below the cargo, automatically lifting the cargo and moving it to the target location. Overall, it forms an intelligent and automated handling tool, which is more efficient than traditional manual or mechanical operations, with a high degree of automation and intelligence. During the handling process, the positioning of the cargo is precise, the cargo is lifted smoothly, and the risk of material slippage is significantly reduced.

[0029] In some embodiments, the cargo lifting mechanism further includes a guide assembly 6, which includes a vertically arranged slide rail 61 and a slider 62. The slider 62 is fixed to the side of the mounting plate 2 near the lifting assembly 1, meaning that the guide assembly 6 and the lifting assembly 1 are distributed on the same side of the mounting plate 2. The slider 62 is slidably mounted on the slide rail 61. The slide rail 61 and the lifting assembly 1 are mounted together on a carrier. The guide assembly 6 mainly makes the installation between the lifting frame 3 and the lifting assembly 1 more stable, avoiding relative swaying between the lifting frame 3 and the lifting assembly 1 when carrying heavy cargo, ensuring that the lifting frame 3 can only move vertically and will not undergo lateral displacement or swaying, thus affecting the smooth lifting of the cargo.

[0030] In this embodiment, at least two sets of guide components 6 are provided and distributed at intervals on both sides of the lifting component 1. The two sets of guide components 6 are slidably assembled with the mounting plate 2, and together with the connection between the lifting component 1 and the mounting plate 2, the mounting plate 2 and the lifting frame 3 have better structural stability and more balanced force distribution during the lifting of goods.

[0031] In some embodiments, the slide rail 61 in the guide assembly 6 may be replaced by a combination of a guide rod and a sliding sleeve.

[0032] In some embodiments, the lifting assembly 1 includes a lead screw 11, an upper mounting base 12, a lower mounting base 13, and a first rotational power device 14. The lead screw 11 is vertically arranged, and its upper and lower ends are rotatably assembled with the upper mounting base 12 and the lower mounting base 13, respectively. By fixing the upper mounting base 12 and the lower mounting base 13 to the corresponding side walls of the carrier or the aforementioned robot interior, the lead screw 11 can be stably fixed to the aforementioned robot interior space wall, or to the corresponding side walls of the aforementioned beam frame interior space. The first rotational power device 14 is located above the lead screw 11, fixed to the corresponding side wall, and is drively connected to the upper end of the lead screw 11 to drive the lead screw 11 to rotate. A matching nut 15 is screwed onto the lead screw 11. The nut 15 is fixedly connected to the mounting plate 2 on the side closest to it. When the first rotary power device 14 drives the lead screw 11 to rotate, since the nut 15 is connected to the mounting plate 2, and the mounting plate 2 and the guide assembly 6 slide vertically together, the nut 15 will not rotate with the lead screw 11, but will only move vertically relative to the lead screw 11, thus transforming into the lifting motion of the mounting plate 2 and the lifting frame 3. Due to the helical engagement between the lead screw 11 and the nut 15, the lifting height of the nut 15 is very precisely matched when the lead screw 11 rotates one revolution. Therefore, the displacement accuracy of the mounting plate 2 and the lifting frame 3 during the operation of the lifting assembly 1 is very easy to control precisely. The rotation angle and rotation speed of the lead screw 11 can be controlled to achieve precise lifting displacement control of the mounting plate 2 and the lifting frame 3.

[0033] In this embodiment, the first rotating power device 14 adopts a servo motor of a suitable model. The servo motor works in conjunction with the servo control system to automatically adjust the lifting height of the lifting frame 3 and the fork 4 according to a preset program.

[0034] In some embodiments, the first rotational power unit 14 is mounted on a suitable support base b, which is fixed to the side wall of the aforementioned beam frame or the side wall of the robot's internal space.

[0035] In some embodiments, the lifting assembly 1 can also be replaced by a gear and rack transmission. Specifically, after the mounting plate 2 is slidably assembled with the wall surface via the guide assembly 6, a servo motor can be installed on the side of the mounting plate 2 away from the lifting frame 3, and a gear is assembled on the main shaft of the servo motor. A vertically extending rack is set on the wall surface so that the gear and the rack mesh with each other. During the rotation of the gear, it can move up and down along the rack to realize the adjustment of the lifting height of the mounting plate 2, the lifting frame 3 and the fork 4.

[0036] In some embodiments, the fork 4 is a horizontally arranged strip-shaped member. One end of the fork 4 is rotatably assembled with the lower end of the lifting frame 3. The fork retraction and extension drive assembly 5 is connected to one end of the fork 4. The fork retraction and extension drive assembly 5 drives the fork 4 to rotate around the rotation center of one end and the lower end of the lifting frame 3, so that the fork 4 can move horizontally to the lower end of the lifting frame 3 for storage, or rotate horizontally 90° and extend vertically out of the side of the lifting frame 3 away from the mounting plate 2, and extend into the hollow area below the goods or goods stack.

[0037] In some embodiments, at least two forks 4 are generally provided and are spaced apart at the lower end of the lifting frame 3. In this way, during operation, at least four points on the opposite sides of the goods or goods stack are lifted, and the lifting process of the goods will be relatively smooth.

[0038] In some embodiments, the horizontal direction perpendicular to the mounting plate 2 is defined as the first direction, and the direction perpendicular to the first direction in the horizontal plane is defined as the second direction. Then, at least two forks 4 are provided at intervals in the second direction.

[0039] Preferably, two forks 4 are provided and distributed at both ends of the lower end of the lifting frame 3 in the second direction.

[0040] In some embodiments, the fork retraction and extension drive assembly 5 includes a second rotary power device 51, which is mounted on the lifting frame 3. One end of the fork 4 is rotatably assembled with the lower end of the lifting frame 3 via a rotating shaft. The second rotary power device 51 is connected to the upper end of the rotating shaft via a coupling 52. The second rotary power device 51 drives the rotating shaft to rotate, thereby causing the fork 4 to rotate in the horizontal plane, so that the fork 4 is retracted below the lifting frame 3 or extends out to the side of the lifting frame 3 away from the mounting plate 2.

[0041] In this embodiment, the second rotating power device 51 adopts a servo motor of a suitable model. The servo motor works in conjunction with the servo control system to automatically adjust the rotation angle of the fork 4 according to a preset program.

[0042] In some embodiments, the lifting frame 3 includes a rectangular main frame 31 and a sub-frame 32 disposed at the two edge vertical beams of the main frame 31, that is, at the outer side ends of the two side vertical beams of the main frame 31 in the second direction. A mounting frame 33 protruding from the lower end of the main frame 31 is fixed to the lower end of the sub-frame 32. One end of the fork 4 is rotatably mounted inside the mounting frame 33, and the fork retraction / extension drive assembly 5 is mounted in the sub-frame 32. This frame structure layout makes the fork retraction / extension drive assembly 5 and the fork 4 mounting structure more compact and also allows them to be protected by the frame structure.

[0043] The main frame 31 is attached and fixed to the side of the mounting plate 2 away from the lifting component 1. Specifically, the main frame 31 is provided with multiple points that are fixed to the mounting plate 2, and each point is connected and fixed to the mounting plate 2 by bolts or welding.

[0044] In some embodiments, the mounting frame 33 is designed as a cuboid frame. A horizontally extending rotating area (represented by c in the figure) is provided on the side of the mounting frame 33 facing away from the lifting assembly 1 or the mounting plate 2, and on the side of the mounting frame 33 near the bottom of the main frame 31. The fork 4 rotates horizontally within this rotating area. Specifically, one end of the fork 4 extends into the mounting frame 33 through the rotating area and is rotatably connected to the upper and lower bottoms of the mounting frame 33 via a pivot. This rotating area allows the fork 4 to have a maximum rotation angle of 90°, allowing it to rotate to be perpendicular to the lifting frame 3 and extend to the side of the lifting frame 3 facing away from the mounting plate 2, or rotate to the bottom of the lifting frame 3 and overlap the lower end of the lifting frame 3.

[0045] In this embodiment, the fork 4 is a rectangular plate with a certain thickness, and the other end of the fork 4 is set as an arc or an arc-shaped chamfer.

[0046] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0047] The above provides a detailed description of an electronic device provided in the embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the technical solutions and core ideas of this application. Those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A cargo lifting mechanism, characterized in that: The device includes a lifting assembly (1), a mounting plate (2), a lifting frame (3), forks (4), and a fork retraction / extension drive assembly (5). The mounting plate (2) is vertically positioned and close to the lifting assembly (1) and connected to it. The lifting frame (3) is fixed to the side of the mounting plate (2) away from the lifting assembly (1). The forks (4) are located at the lower end of the lifting frame (3). The fork retraction / extension drive assembly (5) is installed in the lifting frame (3) and connected to the forks (4), and is used to drive the forks (4) to move and retract to the lower end of the lifting frame (3), or to move and extend to the side of the lower end of the lifting frame (3) away from the mounting plate (2).

2. The cargo lifting mechanism according to claim 1, characterized in that: It also includes a guide assembly (6), which includes a vertically arranged slide rail (61) and a slider (62). The slider (62) is fixed to the side of the mounting plate (2) near the lifting assembly (1) and is slidably mounted on the slide rail (61).

3. The cargo lifting mechanism according to claim 2, characterized in that: The guide assembly (6) is provided in at least two sets and is distributed at intervals on both sides of the lifting assembly (1).

4. A cargo lifting mechanism according to claim 1, characterized in that: The lifting assembly (1) includes a lead screw (11), an upper mounting base (12), a lower mounting base (13), and a first rotary power device (14). The lead screw (11) is vertically arranged, and its upper and lower ends are rotatably assembled with the upper mounting base (12) and the lower mounting base (13) respectively. The first rotary power device (14) is connected to the upper end of the lead screw (11) for transmission. A nut (15) is screwed onto the lead screw (11), and the nut (15) is connected and fixed to the side of the mounting plate (2) near it.

5. A cargo lifting mechanism according to claim 1, characterized in that: The fork (4) is a horizontally arranged strip-shaped component. One end of the fork (4) is rotatably assembled with the lower end of the lifting frame (3). The fork retraction and extension drive assembly (5) is connected to one end of the fork (4) and is used to drive the fork (4) to rotate horizontally to extend out of the lower end of the lifting frame (3) away from the mounting plate (2), or to rotate horizontally to the lower end of the lifting frame (3).

6. A cargo lifting mechanism according to claim 5, characterized in that: The fork extension and retraction drive assembly (5) includes a second rotary power device (51), which is installed on the lifting frame (3). One end of the fork (4) is rotatably assembled with the lower end of the lifting frame (3) via a rotating shaft. The second rotary power device (51) is connected to the rotating shaft via a coupling (52).

7. A cargo lifting mechanism according to claim 5, characterized in that: The fork (4) is provided in at least two parts and is distributed at intervals at the lower end of the lifting frame (3).

8. A cargo lifting mechanism according to claim 7, characterized in that: The lifting frame (3) includes a rectangular main frame (31) and a sub-frame (32) disposed on the side ends of the two edge vertical beams of the main frame (31). The lower end of the sub-frame (32) is fixed with a mounting frame (33) protruding from the lower end of the main frame (31). One end of the fork (4) is rotatably mounted inside the mounting frame (33). The fork retraction and extension drive assembly (5) is mounted in the sub-frame (32).

9. A cargo lifting mechanism according to claim 8, characterized in that: The mounting frame (33) has a horizontally extending rotating area on the side opposite to the lifting assembly (1) and the side near the bottom of the main frame (31), and the fork (4) rotates horizontally in the rotating area.

10. A cargo handling robot, characterized in that: The robot body (7) is of type n. The internal through area of ​​the robot body (7) forms a transport area. The cargo lifting mechanism as described in any one of claims 1 to 9 is installed on the opposite side walls of the transport area. The lifting component (1) is installed on the opposite side walls of the transport area. The cargo transport channel is defined between the lifting frames (3) of the two cargo lifting mechanisms.

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