Handling robots

Abstract

Handling robot, comprising: a moving chassis (1) adapted to move along an aisle between adjacent storage containers; an intermediate storage rack (2) arranged on the moving chassis (1) and designed to temporarily store a target cargo box (20); a lifting adjustment arrangement (4) arranged on the movement chassis (1); a box removal assembly (3) configured to telescope horizontally with respect to the moving chassis (1) to transfer the target cargo box (20) between the storage containers and the intermediate storage rack (2), wherein the direction of horizontal telescoping of the box removal assembly (3) is perpendicular to the direction of movement of the moving chassis (1); a telescopic adjustment arrangement (5) arranged on the lifting adjustment arrangement (4) and connected to the box removal arrangement (3), wherein the telescopic adjustment arrangement (5) is adapted to drive the box removal arrangement (3) for horizontal telescoping, wherein the lifting adjustment arrangement (4) is adapted to drive the telescopic adjustment arrangement (5) and the box removal arrangement (3) for vertical lifting and lowering, respectively; wherein the box removal assembly (3) comprises two extension arms (31), a driver rod (32), and a driver rod drive assembly (34), wherein both ends of each of the extension arms (31) are rotatably connected to the driver rod (32), and the driver rod drive assembly (34) is arranged on the extension arm (31) and is configured to drive the driver rod (32) to rotate; wherein the driver rod drive assembly (34) is connected to a driver rod gear shaft (33), both ends of the driver rod gear shaft (33) are connected to the driver rod (32), and the driver rods (32) at both ends of the driver rod gear shaft (33) assume a mutually perpendicular position when rotating; and wherein the telescopic adjustment arrangement (5) further comprises a limit switch (57) at each of the two ends of the extension arms (31), which limit switch is designed to detect the end position of the extension or retraction of the extension arm (31).

Description

[0001] This application is a divisional application of the European application filed on December 25, 2019, with application number EP3904238A1 and the invention title "Handling robot, warehouse logistics system, and object handling method." Portions of the said European application are incorporated into this application by reference. TECHNICAL FIELD

[0002] This application relates to the technical field of warehouse logistics, e.g. to a handling robot. STATE OF THE ART

[0003] The rapid development of e-commerce has not only brought unprecedented development opportunities to the warehouse logistics industry, but also posed significant challenges for warehouse logistics services. Efficient, cost-effective, flexible, and accurate parcel picking has always been a challenge for the warehouse logistics industry. With the continuous development of robot technology, robots are used to transport a target inventory bin containing the goods to be picked to a manual station. Then, the products on the storage bin are removed from the manual station and placed into an order box. However, the traditional "from one inventory bin to one person" picking method requires a robot to transport the entire inventory bin to the picking area, which increases the burden of robot handling and causes a great waste of resources. DISCLOSURE OF THE UTILITY MODEL

[0004] The present application provides a handling robot that can improve the utilization rate of the storage space and the handling efficiency of the target cargo boxes.

[0005] This application provides a handling robot comprising: a moving carriage configured to move along an aisle between adjacent storage containers; an intermediate storage rack arranged on the moving chassis and configured to temporarily store a target cargo box; a lifting adjustment arrangement arranged on the movement chassis; a box removal assembly configured to telescope horizontally with respect to the moving chassis to transfer the target cargo box between the storage containers and the intermediate storage rack, wherein the direction of horizontal telescoping of the box removal assembly is perpendicular to the direction of movement of the moving chassis; a telescopic adjustment assembly arranged on the lifting adjustment assembly and connected to the box removal assembly, the telescopic adjustment assembly being configured to drive the box removal assembly for horizontal telescoping, the lifting adjustment assembly being configured to drive the telescopic adjustment assembly and the box removal assembly for vertical raising and lowering, respectively; wherein the box removal assembly comprises two extension arms, a drive rod, and a drive rod drive assembly, wherein both ends of each of the extension arms are rotatably connected to the drive rod, and the drive rod drive assembly is arranged on the extension arm and is configured to drive the drive rod to rotate; wherein the drive rod drive assembly is connected to a drive rod gear shaft, both ends of the drive rod gear shaft are connected to the drive rod, and the drive rods at both ends of the drive rod gear shaft assume a mutually perpendicular position when rotating; and wherein the telescopic adjustment arrangement further comprises a limit switch at each end of the extension arms, which limit switch is designed to detect the end position of the extension or retraction of the extension arm. REPRESENTATION OF THE UTILITY MODEL Fig. 1 is a schematic structural diagram of a handling robot according to a first embodiment of the present application; Fig. 2 is a schematic structural representation of a telescopic adjustment arrangement according to the first embodiment in a first direction of the present application; Fig. 3 is a schematic structural representation of the telescopic adjustment arrangement according to the first embodiment in a second direction of the present application; Fig. 4 is a schematic structural diagram of a telescopic gear assembly according to the first embodiment of the present application; Fig. 5 is a schematic diagram of a positioning method of the center point of a target cargo box according to the first embodiment of the present application; Fig. 6 a schematic structural representation of a handling robot according to a second embodiment of the present application. Reference symbols:

[0006] 10 - Handling robot; 20 - Target cargo box; 1 - Moving chassis; 11 - Chassis body; 12 - Drive wheel; 2 - Intermediate storage rack; 21 - Rack body; 211 - Support rod; 212 - Support block; 22 - Intermediate storage partition plate; 221 - Body section; 222 - Connecting section; 223 - Escape recess; 3 - Crate removal assembly; 31 - Boom arm; 32 - Drive rods; 33 - Drive rod gear shaft; 34 - Drive rod drive assembly; 4 - lifting adjustment arrangement; 41 - lifting holder; 42 - lifting gear assembly; 421 - lifting chain; 422 - lifting chain wheel; 43 - lifting drive assembly; 5 - Telescopic adjustment assembly; 51 - Connecting plate; 52 - Telescopic plate; 53 - First telescopic gear assembly; 531 - Telescopic sprocket; 532 - First telescopic chain; 533 - Second telescopic chain; 534 - First drive belt; 535 - First gear wheel; 54 - Second telescopic gear assembly; 541 - Second drive belt; 542 - Second gear wheel; 55 - Telescopic drive assembly; 56 - Telescopic guide assembly; 561 - First guide groove; 562 - Second guide groove; 563 - First guide rail; 564 - Second guide rail; 57 - End position detection switch. CONCRETE EMBODIMENTS

[0007] The present application is described in more detail below with reference to the accompanying drawings using exemplary embodiments. It is understood that the specific exemplary embodiments described serve only to explain the present application without limiting it. To facilitate description, only parts related to the application are shown in the accompanying drawings, rather than all structures.

[0008] In the present application, the terms "connected to one another," "connect," "fasten," or the like, unless expressly stated otherwise, are to be understood in a broad sense. For example, this can refer to a fixed, detachable, or one-piece connection, as well as a mechanical or electrical connection. Direct connections, indirect connections, or connections made via an intermediate piece, as well as internal connections between two elements or interactions between two elements are also conceivable. As a person of ordinary skill in the art, one can use the facts of the case to determine the intended meaning of the terms used in the present application.

[0009] In the present application, a first feature that is arranged "above" or "below" a second feature may, unless expressly stated and defined otherwise, mean that the first feature directly contacts the second feature, or that the first feature and the second feature are in contact without direct contact via a further feature arranged therebetween. Furthermore, the first feature that is arranged "on", "above" the second feature, and "above" the second feature may, among other things, mean that the first feature is directly above and diagonally above the second feature, or that the horizontal elevation of the first feature is higher than that of the second feature. The first feature that is arranged "below" the second feature and "below" the second feature may, among other things, mean thatIt may be the case that the first feature is directly below and diagonally below the second feature, or that the horizontal elevation of the first feature is lower than that of the second feature.

[0010] In the description of the present embodiment, the terms "top," "bottom," "left," "right," etc., are used with reference to the illustrated orientation or positional relationship in the respective illustration, merely to describe the operation and, where appropriate, to simplify the description. In other words, these terms neither implicitly nor explicitly indicate the positioning, design, and operation of the device or element in question in a predetermined position, so that the application is not restricted here either. Furthermore, the terms "first" and "second" are used to achieve a distinction in the description.

[0011] Related technologies propose a picking method of “from target cargo boxes to people” to solve the waste of resources and energy consumption caused by the traditional picking method of “from storage bins to people”.The "target crate to person" picking method uses a handling robot to move a target crate instead of a storage bin into a picking area: After the robot receives an order command, it moves to the storage aisle in front of the target crate; The robot rotates so that the front of the robot faces the target crate, and the telescopic mechanism on the robot extends to retrieve the target crate from the storage bin and place it on a target crate storage frame that the robot brings; After the robot clamps the target crate, it rotates again so that the robot faces the storage aisle, and thus the robot can transport the target crate along the storage aisle to the specified location.

[0012] The handling robot provided by related technologies needs to perform a rotational movement in the warehouse aisle to realize the picking and placing of the target cargo box or the operation of the robot in the storage bin. Executing the rotational movement requires a wide space in the warehouse aisle, which is not conducive to improving the storage space utilization. Each time the robot picks and places a target cargo box, the robot needs to perform two rotational movements, which is not conducive to improving the efficiency of the handling robot. First embodiment

[0013] Fig. 1 shows a schematic structural view of the handling robot 10 according to an embodiment of the present application. As in Fig. 1, the present embodiment provides a handling robot 10 configured to handle and retrieve the target cargo box 20. It is applied in the warehouse logistics industry to retrieve, deposit, and transport the target cargo box 20 containing order goods or mail packages, thereby achieving order-based goods retrieval or inventory replenishment. It can also be applied to other locations where the target cargo box 20 or goods need to be transported. The application of the handling robot 10 in the present embodiment is merely exemplary.

[0014] In one embodiment, the target cargo box 20 can be replaced by a good or an object, i.e., the handling robot 10 serves to remove or deposit the good or object and transport it. The target cargo box 20 is an example.

[0015] In the present embodiment, the handling robot 10 picks, places, and transports the target cargo box 20 in the storage container based on the order in the warehouse logistics industry: When the order management center receives the goods picking order, the order management center analyzes the goods picking order, determines the location information of the target cargo box 20 corresponding to the goods to be picked in the goods picking order, and sends the location information to the handling robot 10.After the handling robot 10 receives the goods picking information and the location information, it automatically navigates to the position of the target cargo box 20 corresponding to the storage container, picks up the target cargo box 20 and places it on the handling robot 10, and the handling robot 10 that has completed the goods picking transports the target cargo box 20 to the employee processing area for picking.

[0016] When the order management center receives an inventory replenishment order, the order management center analyzes the inventory replenishment order and determines the location information of the target cargo box 20 corresponding to the goods to be stored in the storage container. The order management center sends the handling robot 10 to the employee processing area. The employee places the target cargo box 20 to be stored on the handling robot 10, while the order management center automatically sends the inventory replenishment information and location information to the handling robot 10. The handling robot 10 automatically navigates to the storage container of the target cargo box 20 according to the location information, retrieves the target cargo box 20 to be stored from the handling robot 10, and places it in the specified location of the storage container.

[0017] The handling robot 10 according to the present embodiment comprises: a moving chassis 1, on which a drive wheel mechanism that drives the movement of the moving chassis 1 is provided and which is configured to realize the translational and rotational movement of the handling robot 10 on the floor; an intermediate storage rack 2 arranged on the moving chassis 1 and configured to store the target cargo crate 20; a crate removal assembly 3 arranged on the moving chassis 1 and configured to realize the transfer of the target cargo crate 20 between the storage container and the intermediate storage rack 2; a lifting adjustment assembly 4 arranged on the moving chassis 1 and configured to drive the vertical lifting of the crate removal assembly 3, thereby realizing the removal and placement of the target cargo crate 20 at different height positions of the storage container;a telescopic adjustment assembly 5 arranged on the lifting adjustment assembly 4 and capable of vertical lifting by the lifting adjustment assembly 4, the telescopic adjustment assembly 5 being connected to the box removal assembly 3 and configured to horizontally telescope the box removal assembly 3 to transfer the target cargo box 20 between the storage container and the intermediate storage rack 2; a control assembly configured to control and adjust the operating state of the handling robot 10; a detection assembly configured to detect the working state and the external environmental state of the handling robot 10 and to assist the operation of the handling robot 10 through the control assembly;

[0018] The moving chassis 1 comprises a chassis body 11 and a drive wheel mechanism arranged at the bottom of the chassis body 11. In one embodiment, the drive wheel mechanism takes the form of a differential drive and includes, among other things, a drive wheel motor, two drive wheels 12 arranged at the bottom of the chassis body 11, and a connecting assembly connecting the drive motor and the two drive wheels 12. The two drive wheels 12 are each arranged on both sides of the chassis body 11 perpendicular to the horizontal telescopic direction of the telescopic adjustment assembly 5, i.e., the connecting line of the centers of the two drive wheels 12 is parallel to the telescopic direction of the telescopic adjustment assembly 5, so that the direction of movement of the handling robot 10 can be perpendicular to the horizontal telescopic direction of the box assembly 3 during the translation process.

[0019] The movement chassis 1 can drive the handling robot 10 in the storage aisle up to the target cargo crate 20 without the handling robot 10 performing a rotational movement, whereby the telescopic movement of the crate removal assembly 3 towards the target cargo crate 20 and the transfer of the target cargo crate 20 between the storage container and the intermediate storage rack 2 are realized and thus the movement space required by the handling robot 10 in the storage aisle is reduced, so that the handling robot 10 can be applied to the handling of the target cargo crate 20 in a narrower storage aisle, the arrangement of the storage container in the warehouse is optimized and the warehouse utilization is improved.

[0020] In addition, after the handling robot 10 completes the transfer of the target cargo box 20 between the storage container and the temporary storage rack 2, it can move in a straight line out of the storage aisle and transport the target cargo box 20 to a designated location, thus simplifying the operation of the handling robot 10, saving the handling time of the target cargo box 20, improving the handling efficiency of the handling robot 10 for the target cargo box 20, and increasing the efficiency of warehouse logistics.

[0021] In the present embodiment, the drive wheel mechanism is arranged on both sides of the central region of the traveling body 11 and arranged symmetrically to the axis of the traveling body 11, which is advantageous for improving the movement stability of the traveling body 1. The traveling body 11 is provided with a pair of driven casters at each end in the direction of translational movement, and the two pairs of driven casters are arranged symmetrically to a pair of drive wheels 12, which is advantageous for further improving the stable movement of the traveling body 1, particularly the stability of the rotational movement of the traveling body 1, and for preventing the traveling body 1 from tipping to one side during movement.

[0022] In the present embodiment, the drive wheel mechanism configured as a differential drive is a conventional design in the field, and a detailed description is omitted herein. In other embodiments, the drive wheel mechanism may also use other mechanisms capable of driving the movement of the traveling body 11, such as a single drive mechanism, a dual drive mechanism, or a multi-wheel drive mechanism. The present embodiment does not limit the specific structure of the drive wheel mechanism, as long as the traveling traveling body 11 can be driven to achieve movement in the form of forward movement, backward movement, bending, and rotation, and the direction of translational movement perpendicular to the telescopic direction of the box removal assembly 3 is possible.

[0023] In the present embodiment, the two side surfaces of the traveling body 11 are formed as a flat surface along the two sides perpendicular to the horizontal telescopic direction of the box removal assembly 3. This is advantageous for reducing the width of the traveling body 11, thereby reducing the required width of the storage aisle when the handling robot 10 travels in the storage aisle. The two ends of the traveling body 11 along the moving direction are formed as convex curved structures, and the curved structures are each connected to two lateral flat surfaces. This is advantageous for improving the aesthetics of the traveling body 11 and increasing the floor area of ​​the traveling traveling body 1, thereby facilitating the arrangement of the lifting adjustment assembly 4 and the intermediate storage rack 2 on the top of the traveling traveling body 1.

[0024] The lifting adjustment assembly 4 includes a lifting bracket 41, a lifting gear assembly 42, and a lifting drive assembly 43. The lifting bracket 41 is vertically arranged on the top of the chassis body 11 and is connected to the chassis body 11 by welding or detachable connection, and the detachable connection includes a threaded connection, which is advantageous for improving the stability and convenience of the connection. The lifting bracket 41 is a frame structure, and the lifting bracket 41 is provided with the lifting gear assembly 42 and a slide rail on both sides perpendicular to the horizontal telescopic direction of the box removal assembly 3. Two slide rails are arranged parallel to each other and spaced apart from each other on each side, which is advantageous for improving the lifting movement stability of the telescopic adjustment assembly 5.

[0025] The lifting drive assembly 43 is arranged at the bottom of the lifting bracket 41, and the lifting drive assembly 43 can be connected to the lifting bracket 41 or to the chassis body 11. In the present embodiment, the lifting drive assembly 43 is an electric motor, the lifting gear assembly 42 is a sprocket-and-chain gear assembly, and the sprocket-and-chain gear assembly includes two lifting sprockets 422, each arranged at the upper end of the lifting bracket 41, and a lifting chain 421 arranged between two lifting sprockets 422. The telescopic adjustment assembly 5 is connected to a part of the lifting chain 421, and the telescopic adjustment assembly 5 is provided with a carriage that cooperates with the two slide rails. The movement guide of the slide rails and the carriage and the movement transmission by the lifting chain wheel 422 and the lifting chain 421 realize the lifting and lowering of the telescopic adjustment arrangement 5 in the vertical direction.

[0026] In the present embodiment, the two lifting gear assemblies 42 are driven by the same lifting drive assembly 43, and the two lifting gear assemblies 42 are connected by a lifting gear shaft between the two lifting sprockets 422 arranged at the upper end of the lifting bracket 41 to realize synchronous movement of the two lifting gear assemblies 42.

[0027] In other embodiments, the two lifting gear assemblies 42 may each be driven by two lifting drive assemblies 43; or the sprocket chain gear assembly may be provided in another manner, for example, the lifting sprocket 422 is arranged only at the upper end of the lifting bracket 41, the lifting chain 421 is arranged on the lifting sprocket 422, one end of the lifting chain 421 is connected to the telescopic adjustment assembly 5, and the other end of the lifting chain 421 is connected to a counterweight configured to realize the lifting movement of the telescopic adjustment assembly 5 upon movement transmission by the lifting chain 421.

[0028] The lifting gear assembly 42 may also be configured as a rack and pinion drive, a pulley drive, a lead screw drive, etc. The present embodiment does not limit the specific structure and shape of the lifting gear assembly 42. Provided that the space is allowable and the structural design is feasible, the lifting drive method that can realize the lifting motion in the related technology can be applied to the lifting drive assembly 42 in the present application, and a detailed description is omitted here because the lifting drive is a conventional design in the mechanical field.

[0029] The intermediate storage rack 2 includes a rack body 21 and an intermediate storage partition 22, wherein the rack body 21 is vertically arranged on the upper side of the moving chassis 1 and is configured to support and connect the intermediate storage partition 22, and the plurality of intermediate storage partitions 22 are arranged parallel to each other and spaced apart from each other in the height direction of the rack body 21, and each intermediate storage partition 22 can serve to store the target cargo box 20.

[0030] In the present embodiment, the rack body 21 includes four vertically arranged support rods 211. The four support rods 211 are arranged in a rectangular array, and the four support rods 211 are connected by a support block 212 at the bottom. The support block 212 and the moving carriage 1 are connected by a detachable connection such as a threaded connection or a welded connection. By providing the support block 212, it is advantageous to improve the connection stability and reliability of the rack body 21 and the moving carriage 1. Furthermore, it is possible to reduce the size of the moving carriage 1 while the length and width of the holder 21 meet the storage requirements of the target cargo box 20, thereby further reducing the requirement of the handling robot 10 for the width of the storage aisle and further improving the warehouse utilization rate.

[0031] The intermediate storage partition 22 is arranged horizontally between the four support rods 211, and the four corners of the intermediate storage partition 22 are respectively connected to the four support rods 211. The connection may be a welded connection or a detachable connection such as a threaded connection, a plug connection, and a snap connection.In the present embodiment, the intermediate storage partition wall 22 comprises a rectangular body portion 221 located on the inner side of the lifting holder 41 perpendicular to a horizontal telescopic direction of the box removal assembly 3, which is advantageous for bringing the horizontal projection of the intermediate storage rack 2 at least perpendicular to the horizontal telescopic direction within the projection range of the moving chassis 1, so that perpendicular to the horizontal telescopic direction, the maximum width of the handling robot 10 is the maximum width of the moving chassis 1, whereby during the movement of the handling robot 10 in a storage aisle, the intermediate storage rack 2 does not collide with or otherwise interfere with the storage containers on both sides of the storage aisle.

[0032] The two ends of the two side edges of the body portion 221 perpendicular to the horizontal telescopic direction extend outward, forming a connecting portion 222. Each connecting portion 222 is connected to the corresponding support rod 211, so that the intermediate storage partition 22 has an escape recess 223 for escape of the telescopic adjustment assembly 5 on both side edges perpendicular to the horizontal telescopic direction. When the telescopic adjustment assembly 5 is in a fully retracted state, the telescopic adjustment assembly 5 can realize vertical lifting of the telescopic adjustment assembly 5 on the lifting bracket 41 via each escape recess 223.

[0033] In the present embodiment, five temporary storage partitions 22 are arranged on the temporary storage rack 2, thus enabling the handling robot to simultaneously handle five cargo crates. However, in the present application, the number of temporary storage partitions 22 on the temporary storage rack 2 is not limited, and the number of temporary storage partitions 22 on the temporary storage rack can be adjusted as needed.

[0034] Fig. 2 shows a schematic structural representation of a telescopic adjustment arrangement according to the first embodiment in a first direction of the present application. Fig. 3 shows a schematic structural representation of the telescopic adjustment arrangement according to the first embodiment in a second direction of the present application. With reference to Fig. 1 to 3, the box removal arrangement 3 in the present embodiment comprises a boom arm 31, a driver rod 32 and a driver rod drive arrangement 34 (see Fig. 3), wherein the two cantilever arms 31 are arranged parallel and opposite each other on both sides of the intermediate storage rack 2, and each cantilever arm 31 is connected to a telescopic adjustment assembly 5. The extension direction of the cantilever arm 31 is the telescopic direction of the telescopic adjustment assembly 5. The inside of each cantilever arm 31 is provided with a drive rod 32 and a drive rod drive assembly 34, and a drive rod 32 is arranged at both ends of each cantilever arm 31, and the drive rod drive assembly 34 is connected to the drive rod 32 and drives the drive rod 32 to rotate. The rotation axis of the drive rod 32 is parallel to the length direction of the cantilever arm 31.

[0035] In the present embodiment, two drive rods 32 arranged on the same cantilever arm 31 are driven by the same drive rod drive assembly 34, which includes a drive motor and a drive rod gear shaft 33. The output shaft of the drive rod drive motor is connected to the drive rod gear shaft 33, and the two ends of the drive rod gear shaft 33 are each connected to the drive rod 32, and the two drive rods 32 at both ends of the same drive rod drive shaft 33 are arranged perpendicular to each other.

[0036] In the present embodiment, the drive motor is a steering gear, which can realize precise control of the rotation angle of the follower rod 32 through the feedback mechanism and the angle adjustment of the steering gear, and the size is small, which is advantageous for the installation and arrangement of the follower rod drive assembly 34. In other embodiments, the drive motor may also include other drive forms, such as servomotors, capable of controlling the rotation angle.

[0037] When the crate removal assembly 3 removes the target cargo crate 20 from the storage container and places it on the intermediate storage partition 22, the telescopic adjustment assembly 5 drives the two extension arms 31 to extend to both sides of the target cargo crate 20. When the extension arm 31 extends beyond the preset length, the follower rod drive assembly 34 drives the follower rod 32 to rotate so that the follower rod 32 on the front side of the extension arm 31 is arranged horizontally and extends perpendicular to the extension arm 31, and the follower rod 32 on the rear side of the extension arm 31 is arranged vertically. By controlling the telescopic adjustment assembly 5, the boom arm 31 is retracted, and the drive rod 32 of the front end of the two boom arms 31 is in contact with the front end of the target cargo box 20 and drives the target cargo box 20 to move toward the intermediate storage rack 2.Since the drive rod 32 at the rear end of the boom 31 is in a vertical state, the channel between the storage container and the intermediate storage partition wall 22 is opened, so that the target cargo box 20 is placed on the intermediate storage rack 2 under the action of the drive rod 32.

[0038] When the box removal assembly 3 deposits the target cargo box 20 from the intermediate storage partition 22 into the storage bin, the drive rod drive assembly drives the drive rod 32 to rotate so that the drive rod 32 at the rear end of the boom arm 31 is arranged horizontally and perpendicular to the boom arm 31, and the drive rod 32 at the front end of the boom arm 31 is vertical; By extending the telescopic adjustment assembly 5, the boom arm 31 is moved toward the storage bin, the rear end of the boom arm 31 is in contact with the target cargo box 20 and drives the target cargo box 20 to move toward the storage bin. Since the drive rod 32 at the front end of the boom arm 31 extends vertically, the channel between the intermediate storage partition wall 22 and the storage container is opened, so that the target cargo box 20 moves into the storage container under the action of the telescopic adjustment assembly 5 and the drive rod 32.

[0039] In the present embodiment, the movement of the target cargo crate 20 can be driven by providing the follower rod 32 that moves the target cargo crate 20, which can simplify the structure of the crate removal assembly 3, facilitate the operation of the crate removal assembly 3, reduce the requirements of the crate removal assembly 3 for positioning the target cargo crate 20, and achieve application to the removal and placement of the target cargo crates 20 of various sizes and shapes. In another embodiment, it is also conceivable that the crate removal assembly 3 includes only the cantilever arm 31, and the clamping and placement of the target cargo crate 20 is realized by the clamping action of the cantilever arm 31 for the target cargo crate 20. In another embodiment, the crate removal assembly 3 of other shapes and structures can be used to realize the removal and placement of the target cargo crate 20.

[0040] In the present embodiment, the telescopic adjustment assembly 5 is a two-stage telescopic structure, which is advantageous for reducing the size of the telescopic adjustment assembly 5 in the retracted state while increasing the maximum length of the telescopic adjustment assembly 5 in the extended state, thereby reducing the overall size of the handling robot 10. Fig. 4 shows a schematic structural representation of the telescopic gear assembly according to the embodiment of the present application. As in Fig. 2 to 4, the telescopic adjustment assembly 5 comprises a connecting plate 51, a telescopic plate 52, a telescopic gear assembly and a telescopic drive assembly 55.

[0041] The connecting plate 51, the telescopic plate 52, and the boom arm 31 are parallel to each other. The connecting plate 51 is configured to realize the connection between the telescopic adjustment assembly 5 and the lifting adjustment assembly 4. The outer side of the connecting plate 51 is provided with a chain connecting member and two sliders. The chain connecting member is connected to the lifting chain 421, and the two sliders are respectively slidably connected to the two slide rails to achieve stable lifting of the connecting plate 51. The telescopic plate 52 is located on the inner side of the connecting plate 51, and the telescopic plate 52 is arranged between the connecting plate 51 and the boom arm 31 and is respectively connected to the connecting plate 51 and the boom arm 31. The telescopic plate 52 can retract and extend relative to the connecting plate 51, and the boom arm 31 can retract and extend relative to the telescopic plate 52.

[0042] In the present embodiment, the telescopic gear assembly uses two-stage synchronous telescoping, that is, when the telescopic plate 52 extends and retracts relative to the connecting plate 51, the boom arm 31 extends and retracts synchronously relative to the telescopic plate 52, whereby the telescopic operation efficiency of the telescopic adjustment assembly 5 can be improved and the box removal efficiency of the handling robot 10 can be increased.

[0043] The telescopic gear assembly includes a first telescopic gear assembly 53 disposed between the connecting plate 51 and the telescopic plate 52, and a second telescopic gear assembly 54 disposed between the telescopic plate 52 and the extension arm 31.

[0044] In the present embodiment, the first telescopic gear assembly 53 comprises a main gear assembly. The main gear assembly includes two telescopic sprockets 531 arranged at both ends of the connecting plate 51. A first telescopic chain 532 is slipped between the two telescopic sprockets 531 and cooperates with the telescopic sprockets 531. One of the telescopic sprockets 531 is connected to an output shaft of a drive motor in the telescopic drive assembly 55. The output shaft of the drive motor, when rotated, drives the telescopic sprocket 531 to rotate to drive the first telescopic chain 532 to rotate. The telescopic plate 52 is arranged above the first telescopic chain 532, and the lower side edge of the telescopic plate 52 is provided with a second telescopic chain 533 that cooperates with the first telescopic chain 532.By rotating the first telescopic chain 532, the second telescopic chain 533 is driven to move translationally, whereby the telescopic plate 52 is extended and retracted relative to the connecting plate 51.

[0045] The present embodiment transmits motion via chains and sprockets. Thus, the telescopic plate 52 can extend relative to the front and rear ends of the connecting plate 51 while maintaining the position of the first telescopic chain 532 constant, so that the telescopic adjustment assembly 5 can drive the boom arm 31 to retract and extend one toward each side of the intermediate storage rack 2, thereby allowing the handling robot 10 to retrieve the cargo boxes on each side of the storage bin without turning or bending, thus improving the convenience and flexibility of handling the target cargo box 20. In other embodiments, other forms of motion transmission may be used to retract and extend the telescopic plate 52 relative to the connecting plate 51, such as a lead screw drive, a rack and pinion drive, and the like.

[0046] In the present embodiment, the first telescopic gear assembly 53 further comprises an auxiliary gear assembly arranged on the upper side of the telescopic adjustment assembly 5 and comprising a first drive belt 534 and a first gear wheel 535. The auxiliary drive assembly is driven using the left-right direction of the Fig. 4 for reference. The left end (right end) of the telescopic plate 52 is provided with a first mounting hole passing through two pairs of side surfaces of the telescopic plate 52. The first gear 535 is installed in the first mounting hole and is rotatably connected to the telescopic plate 52, and the axis of the first gear 535 is arranged vertically.

[0047] One end of the first drive belt 534 is connected to the right end (left end) of the connecting plate 51, while the other end of the first drive belt 534 is wound around the first gear 535 and fixed to a side of the telescopic plate 52 facing away from the connecting plate 51. When the main drive assembly moves to telescopically extend the telescopic plate 52 relative to the connecting plate 51, the two ends of the first drive belt 534 move toward or away from each other under the action of the rotation of the first gear 535, and the auxiliary telescopic plate 52 retracts or extends relative to the connecting plate 51. By providing the auxiliary gear assembly, it is possible, on the one hand, to improve the stability of the telescopic movement of the telescopic plate 52 relative to the connecting plate 51 and to ensure stable loading of the telescopic adjustment assembly 5 during the telescopic movement, ensuring stable and reliable operation.On the other hand, since the two ends of the first drive belt 534 are fixed relative to the connecting plate 51 and the telescopic plate 52, respectively, the maximum extension length of the telescopic plate 52 relative to the connecting plate 51 can be limited, which can limit the extension of the telescopic plate 52.

[0048] The second telescopic gear assembly 54 includes a second drive belt 541 and a second gear wheel 542. The second telescopic gear assembly 54 is driven using the left-right direction of the Fig. 4 for reference. The right end (left end) of the telescopic plate 52 is provided with a second mounting hole. The second mounting hole passes through the two opposite side surfaces of the telescopic plate 52, and the second gear 542 is rotatably installed in the second mounting hole. The axis of the second gear 542 is arranged vertically. One end of the second drive belt 541 is fixed to an end of the boom arm 31 opposite the connecting plate 51, and the other end of the second drive belt 541 is wound around the second gear 542 and fixed to the left end (right end) of the connecting plate 51.

[0049] When the telescopic plate 52 retracts relative to the connecting plate 51, since the second drive belt 541 runs around the second gear wheel 542 arranged on the telescopic plate 52, and the second drive belt 541 has a certain length, the second gear wheel 542 rotates relative to the second drive belt 541 while the second gear wheel 542 translates together with the telescopic plate 52. Thus, the length of the second drive belt 541 increases on a side of the telescopic plate 52 facing the connecting plate 51, while the length decreases on a side of the telescopic plate 52 facing the boom arm 31, thereby retracting the boom arm 31 relative to the telescopic plate 52. When the telescopic plate 52 extends relative to the connecting plate 51, the second drive belt 541 and the second gear wheel 542 similarly drive the boom arm 31 to extend relative to the telescopic plate 52.Thus, when the telescopic drive assembly 55 drives the telescopic movement of the first telescopic gear assembly 53, the boom arm 31 is driven for synchronous telescoping relative to the telescopic plate 52, that is, a two-stage synchronous telescopic adjustment of the telescopic adjustment assembly 5 is realized.

[0050] In the present embodiment, the first drive belt 534 and the second drive belt 541 may be leather belts or synchronous belts, flat belts or chains, and the first gear wheel 535 and the second gear wheel 542 are structures that cooperate with the first drive belt 534 or the second drive belt 541.

[0051] In the present embodiment, the lengths of the connecting plate 51, the telescopic plate 52, and the boom arm 31 are substantially equal, and the lengths of the first drive belt 534 and the second drive belt 541 are substantially twice the length of the connecting plate 51, which is advantageous for increasing the extension length of the boom arm 31 relative to the telescopic plate 52 and the extension length of the telescopic plate 52 relative to the connecting plate 51 as much as possible, that is, the maximum extension length of the telescopic adjustment assembly 5 is maximized while the size of the telescopic adjustment assembly 5 in the retracted state is reduced, thereby further reducing the overall size of the handling robot 10.

[0052] In order to improve the stability of the telescopic movement of the telescopic adjustment assembly 5, the telescopic adjustment assembly 5 further comprises a telescopic guide assembly 56. The telescopic guide assembly 56 comprises a first guide groove 561 and a second guide groove 562, which are respectively arranged on the inside of the connecting plate 51 and on the inside of the telescopic plate 52, as well as a first guide rail 563 and a second guide rail 564, which are respectively arranged on the outside of the telescopic plate 52 and the outside of the boom 31, wherein the first guide rail 563 is slidably connected to the first guide groove 561 and the second guide rail 564 is slidably connected to the second guide groove 562.

[0053] In the present embodiment, the telescopic adjustment assembly 5 further includes an end position detection switch 57 disposed at both ends of the boom arm 31 and configured to detect an end position of the retraction or extension of the boom arm 31. This controls the operation of the telescopic adjustment assembly 5 to ensure the operational reliability of the telescopic adjustment assembly 5.

[0054] In one embodiment, the telescopic gear assembly can also realize two-stage synchronous telescoping using other gear forms, such as a rack and pinion drive. In another embodiment, a telescopic gear assembly is arranged between the telescopic plate 52 and the connecting plate 51, as well as between the telescopic plate 52 and the boom arm 31, to achieve independent telescoping of the telescopic plate 52 and the boom arm 31.

[0055] In the present embodiment, each telescopic adjustment assembly 5 is provided with a telescopic drive assembly 55, so that the adjustment of each telescopic drive assembly 55 does not affect the storage of the target cargo box 20 on the intermediate storage partition 22. In other embodiments, it is also conceivable for two telescopic adjustment assemblies 5 to use the same telescopic drive assembly 55 in order to realize a synchronous movement of the two telescopic gear assemblies in cooperation with the gear shaft.

[0056] In the present embodiment, the handling robot 10 is further provided with a control assembly configured to control the operation of more than 10 actions of the handling robot. The control assembly includes a controller, a job management module, a navigation module, an information transmission module, an information processing module, a recognition module, a display module, an alarm module, and a power module. Each of the drive wheel mechanism, the lifting drive assembly 43, the telescopic drive assembly, the follower rod drive assembly 34, the detection assembly, and the control assembly is connected to the controller.

[0057] The navigation module is configured to realize the autonomous navigation function of the moving chassis 1, so that the handling robot 10 can perform optimal path planning according to the position of the target cargo box 20 and automatically navigate according to the optimal planning path up to the front of the target cargo box 20.

[0058] The navigation of the moving chassis 1 can be done via QR codes, barcodes and simultaneous localization and mapping (SLAM), or the moving chassis 1 can be guided to the target position by conventional electrical or magnetic guidance.

[0059] The information transmission module includes a wireless communication module for communication between the handling robot 10 and the external environment and a wired communication module for internal communication of the handling robot 10. The wireless communication module is configured to wirelessly communicate with the order management center in the warehouse logistics system to receive order information and thus realize the scheduling of the handling robot 10 by the order management center.The wired communication module is provided for internal communication between the controller and the moving chassis 1, the lifting adjustment assembly 4, the telescopic adjustment assembly 5, and the box removal assembly 3 in order to control the movement of the moving chassis 1 to a specific position, to raise or lower the box removal assembly 3 to a specific position, to retract or extend the box removal assembly 3, or to rotate the driver rod 32 to a specific angle, thereby achieving accurate detection and placement of the target cargo box 20 by the box removal assembly 3.

[0060] The order management module is configured to receive information sent from the order processing center to the handling robot 10 and to update the completed order and the uncompleted order in a timely manner according to the handling action of the handling robot 10, which enables the system to monitor the order fulfillment in real time.The recognition module is configured to recognize external information and convert it into an information form that the controller can process, such as recognizing barcode information attached to the bottom surface to realize path navigation of the moving trolley 1, recognizing label code information attached to the target cargo box 20, and acquiring information about the goods in the target cargo box 20. The label code information may be a QR code, a barcode, or a radio frequency identification (RFID) code, and the like. The power module is configured to perform power control for the moving trolley 1 and includes a rechargeable battery, a charging port, and a power supply on / off line arranged on the moving trolley 1. The power module may be a wired charging module or a wireless charging module.The display module is configured to display the operating status of the handling robot 10, such as displaying the charging status of the handling robot 10 through a status indicator and displaying the order processing status through a display screen. The alarm module is configured to trigger an alarm about abnormal operating status of the handling robot 10 to assist personnel in timely detection of errors. The alarm module can be one of a buzzer, a speaker, and a light-emitting diode (LED), or a combination of several components.

[0061] The detection arrangement comprises an environment monitoring module for detecting external environmental information and an obstacle avoidance sensor for detecting obstacles, and the environment detection module and the obstacle avoidance sensor are each connected to the controller and configured to assist the motion chassis 1 in navigation and obstacle avoidance to achieve smooth driving of the handling robot 10.

[0062] The detection assembly further includes a detection sensor disposed on the handling robot 10 to determine the position of the target cargo crate 20. In the present embodiment, the detection sensor is disposed on the boom arm 31 of the crate removal assembly 3, and a detection sensor is disposed at both ends of each boom arm 31.

[0063] When the target cargo crate 20 is transported with the handling robot 10, the handling robot 10 moves along the storage aisle according to the order information and navigation information until it reaches the front of the target cargo crate 20. However, due to the inclination of the position of the target cargo crate 20 in the storage container, the accuracy of the navigation information, and the inclination of the storage floor, the center of the target cargo crate 20 may not be aligned with the center of the crate removal assembly 3. In this case, for crate removal with the crate removal assembly 3, the boom arm 31 may touch the front of the target cargo crate 20 instead of extending to both sides of the target cargo crate 20, so that after the initial positioning based on the navigation, the detection sensor is used to accurately position the central position of the crate removal assembly 3 relative to the target cargo crate 20.

[0064] Fig. 5 shows a schematic diagram of the positioning method of the center point of the target cargo box 20 provided by the embodiment of the present application. To facilitate the description of the positioning method of the center point of the target cargo box 20, the two detection sensors on both sides of the front end of the moving direction are referred to as the first left sensor 61 and the first right sensor 62, respectively, and the two sensors on both sides of the rear end of the moving direction are referred to as the second left sensor 63 and the second right sensor 64, respectively. The first left sensor 61 and the second left sensor 63 are located on the same side of the moving chassis 1. The first right sensor 62 and the second right sensor 64 are located on the same side of the moving chassis 1.

[0065] Using the example of the target cargo box 20 on the left side of the handling robot 10, the positioning procedure of the target cargo box 20 is described: The handling robot 10 lifts the box removal assembly 3 to the height of the target cargo box 20 according to the position of the target cargo box 20 on the storage container before moving to the front of the target cargo box 20; When the handling robot 10 moves in the storage aisle to the area where the target cargo box 20 is located, the first left sensor 61 sweeps over the first edge of the target cargo box 20, and a signal of the first left sensor 61 is generated, and the coordinate position X1 of the handling robot 10 is recorded when the signal of the first left sensor 61 changes abruptly; The handling robot 10 continues to move forward. The first left sensor 61 passes over the second edge of the target cargo box 20. The signal from the first left sensor 61 disappears, and the coordinate position X2 of the handling robot 10 is recorded when the signal from the first left sensor 61 changes abruptly; The coordinate position of the handling robot 10 corresponding to the central position of the target cargo crate 20 is calculated as (X2-X1) / 2. By calculating the coordinate of the handling robot 10 corresponding to the central position of the target cargo crate 20 and moving the handling robot 10 to the coordinate position (X2-X1) / 2, the center point of the crate removal assembly 3 can be aligned with the center point of the target cargo crate 20. At this time, the boom arms 31 can be extended so that the two boom arms 31 are located on both sides of the target cargo crate 20, thereby avoiding collision or interference between the boom arm 31 and the target cargo crate 20 and improving the accuracy of the crate removal assembly 3 when removing the target cargo crate 20.

[0066] In the present embodiment, the detection sensor is an infrared sensor that outputs different detection signals depending on whether the target cargo box 20 blocks the light emitted by the infrared sensor.

[0067] In the present embodiment, the position where the center point of the target cargo box 20 is located may be in front of the position determined by navigation. At this time, the handling robot 10 continues to move forward to the determined position of the center point of the target cargo box 20; the position of the center point of the target cargo box 20 may also be behind the position determined by navigation. At this time, after reaching the position determined by navigation, the handling robot 10 returns to the position where the center point of the target cargo box 20 is located.

[0068] When the target cargo box 20 is located on the right side of the handling robot 10, the method for determining the center point of the target cargo box 20 is the same as the above method. The difference is that the first right sensor 62 is used for detection. When the moving direction of the handling robot 10 is opposite to the illustrated direction, position detection is performed using the second right sensor 64 or the second left sensor 63. That is, by providing a detection sensor at both ends of each boom arm 31, it is possible to accurately position the target cargo box 20 located on different sides of the handling robot 10 in different moving directions, thereby improving the accuracy of the handling robot 10 when picking up or putting down the target cargo box 20.

[0069] In the present embodiment, the detection arrangement may further comprise a camera module for recognizing a position label code, wherein the storage container is provided with a position label code at a central position of each storage area of ​​the target cargo box 20, and the position label code and the camera module are combined so that, when restocking, the handling robot 10 detects the position coordinates corresponding to the target cargo box 20.

[0070] The present embodiment further provides a cargo box handling method for goods removal, comprising the following steps: Step 1: The handling robot 10 receives the order information from the order management center and analyzes the location of the ordered goods; Step 2: The handling robot 10 plans the optimal travel path according to the location of the ordered goods and automatically navigates along the storage aisle; Step 3: During the automatic navigation operation of the handling robot 10, the positioning method of the center point of the target cargo box 20 is used to position the center point of the target cargo box 20; Step 4: The handling robot 10 moves to the corresponding position (X2-X1) / 2 corresponding to the center of the target cargo box 20; Step 5: The telescopic adjustment assembly 5 controls the boom arm 31 to extend it over the preset length; Step 6: The drive rod drive assembly 34 drives the drive rod 32 facing the target cargo box 20 to place it in a horizontal position; Step 7: The telescopic adjustment assembly 5 controls the boom arm 31 to retract it to the initial state. Step 8: The handling robot 10 moves out of the storage aisle and moves to the picking target position.

[0071] The present embodiment further provides a cargo box handling method for inventory replenishment, comprising the following steps: Step 1: After the handling robot 10 receives an inventory replenishment command, it moves to the inventory replenishment area, and the target cargo box 20 is placed manually or via a robot arm on the intermediate storage rack 2 of the handling robot 10; Step 2: The handling robot 10 plans the optimal travel path according to the location of the target cargo box 20 in the storage container and automatically navigates along the storage aisle; Step 3: During the automatic navigation operation of the handling robot 10, the central position of the storage area of ​​the target cargo box 20 in the storage container is determined according to the camera module and the position label code on the storage container; Step 4: The handling robot 10 moves to the position corresponding to the center of the storage area of ​​the target cargo box 20; Step 5: The drive rod drive assembly 34 drives the drive rod 32 at the end facing away from the target cargo box to place it in a horizontal position; Step 6: The telescopic adjustment assembly 5 controls the boom arm 31 to extend it over the preset length; Step 7: The telescopic adjustment assembly 5 controls the boom arm 31 to retract it to the initial state. Second embodiment

[0072] Fig. 6 is a schematic structural view of the handling robot 10 provided by the embodiment of the present application. As shown in Fig. 6, the present embodiment provides a handling robot 10 configured to carry the target container 20. The difference from Embodiment 1 is that the temporary storage rack 2 of the handling robot 10 according to this embodiment includes only one temporary storage partition 22, that is, the handling robot 10 according to this embodiment can only transport one target container 20 at a time. The temporary storage partition 22 is located inside the lifting bracket 41, and the two sides of the temporary storage partition 22 are respectively connected to the two connecting plates 51 of the telescopic displacement assembly 5, so that the lifting movement of the telescopic displacement assembly 5 drives the temporary storage partition 22 sports.

[0073] Although the handling robot 10 provided by the present embodiment can only realize the handling of a single target cargo box 20 at a time, since the intermediate storage partition 22 can perform a synchronous lifting movement with the telescopic adjustment assembly 5, the removal or storage of the target cargo box 20 at different heights can be realized, which improves the convenience and flexibility of goods removal or inventory replenishment.

[0074] Different from the first embodiment, the present embodiment provides a cargo box handling method for inventory replenishment comprising the following steps: S1: After the handling robot 10 receives an inventory replenishment command, it moves to the inventory replenishment area, and the target cargo box 20 is placed manually or via a robot arm on the intermediate storage rack 2 of the handling robot 10; S2: The lifting adjustment assembly 4 and the telescopic adjustment assembly 5 are raised to the height of the storage container in which the target cargo box 20 is located; S3: The handling robot 10 plans the optimal travel path according to the location of the target cargo box 20 in the storage container and automatically navigates along the storage aisle; S4: During the automatic navigation operation of the handling robot 10, the central position of the storage area of ​​the target cargo box 20 in the storage container is determined according to the camera module and the position label code on the storage container; S5: The handling robot 10 moves to the position corresponding to the center of the storage area of ​​the target cargo box 20; S6: The drive rod drive assembly 34 drives the drive rod 32 at the end facing away from the target cargo box to place it in a horizontal position; S7: The telescopic adjustment assembly 5 controls the boom arm 31 to extend it over the preset length; S8: The telescopic adjustment assembly 5 controls the boom arm 31 to retract it to the initial state. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] EP 3904238A1

[0001]

Claims

[1] Handling robot, comprising: a moving chassis (1) adapted to move along an aisle between adjacent storage containers; an intermediate storage rack (2) arranged on the moving chassis (1) and designed to temporarily store a target cargo box (20); a lifting adjustment arrangement (4) arranged on the movement chassis (1); a box removal assembly (3) configured to telescope horizontally with respect to the moving chassis (1) to transfer the target cargo box (20) between the storage containers and the intermediate storage rack (2), wherein the direction of horizontal telescoping of the box removal assembly (3) is perpendicular to the direction of movement of the moving chassis (1); a telescopic adjustment arrangement (5) arranged on the lifting adjustment arrangement (4) and connected to the box removal arrangement (3), wherein the telescopic adjustment arrangement (5) is adapted to drive the box removal arrangement (3) for horizontal telescoping, wherein the lifting adjustment arrangement (4) is adapted to drive the telescopic adjustment arrangement (5) and the box removal arrangement (3) for vertical lifting and lowering, respectively; wherein the box removal assembly (3) comprises two extension arms (31), a driver rod (32), and a driver rod drive assembly (34), wherein both ends of each of the extension arms (31) are rotatably connected to the driver rod (32), and the driver rod drive assembly (34) is arranged on the extension arm (31) and is configured to drive the driver rod (32) to rotate; wherein the driver rod drive assembly (34) is connected to a driver rod gear shaft (33), both ends of the driver rod gear shaft (33) are connected to the driver rod (32), and the driver rods (32) at both ends of the driver rod gear shaft (33) assume a mutually perpendicular position when rotating; and wherein the telescopic adjustment arrangement (5) further comprises a limit switch (57) at each of the two ends of the extension arms (31), which limit switch is designed to detect the end position of the extension or retraction of the extension arm (31). [2] Handling robot according to claim 1, characterized by that the two extension arms (31) are arranged parallel to one another and opposite one another on two sides of the intermediate storage rack (2), each extension arm (31) being connected to a telescopic adjustment arrangement (5). [3] Handling robot according to claim 1, characterized by that the axis of rotation of the driving rod (32) runs parallel to the longitudinal direction of the extension arm (31). [4] Handling robot according to claim 1, characterized by , that the driver rods (32) at the front ends of the extension arms (31) are aligned horizontally and perpendicularly to the extension arms (31) and the driver rods (32) at the rear ends of the extension arms (31) are aligned vertically, when the box removal arrangement (3) is to transfer the target freight box (20) from a storage container into the intermediate storage rack (2), the two extension arms (31) each penetrate laterally into the target freight box (20) and extend a preset length; and that the carrier rods (32) at the rear ends of the extension arms (31) are aligned horizontally and perpendicular to the extension arms (31) and the carrier rods (32) at the front ends of the extension arms (31) are aligned vertically when the box removal arrangement (3) is to transfer the target freight box (20) from the intermediate storage rack (2) into a storage container. [5] Handling robot according to one of claims 1-4, characterized bythat at both ends of each of the boom arms (31) there is provided a detection sensor which is designed to detect the position of the target cargo box (20). [6] Handling robot according to claim 5, characterized by that the detection sensors comprise a first left sensor (61), a first right sensor (62), a second left sensor (63) and a second right sensor (64); wherein the first left sensor (61) and the first right sensor (62) are arranged on the two sides of the front end of the movement direction of the handling robot and the second left sensor (63) and the second right sensor (64) are arranged on the two sides of the rear end of the movement direction of the handling robot; wherein, when the handling robot moves forward in a storage aisle until it is in the area of ​​the target cargo crate (20) on the left or right side, the first left sensor (61) scans the first edge of the target cargo crate (20) and the signal of the first left sensor (61) changes from "not detected" to "detected"; wherein the handling robot then continues to move forward, the first left sensor (61) scans the second edge of the target cargo crate (20) and the signal of the first left sensor (61) changes from "detected" to "not detected" in order to determine the center position of the target cargo crate (20) and to determine the position of the handling robot corresponding to the center position of the target cargo crate (20); and wherein, when the handling robot moves forward in a storage aisle until it is located in the area of ​​the target cargo box (20) on the right side, the first right sensor (62) determines the center position of the target cargo box (20) and determines the position of the handling robot corresponding to the center position of the target cargo box (20); wherein, when the handling robot moves backward in a storage aisle until it is located in the area of ​​the target cargo box (20) on the left or right side, the second right sensor (64) or the second left sensor (63) determines the center position of the target cargo box (20) and accordingly determines the position of the handling robot corresponding to the center position of the target cargo box (20). [7] Handling robot according to one of claims 1-6, characterized by that the telescopic adjustment arrangement (5) comprises: a connecting plate (51) connected to the lifting adjustment assembly (4); a telescopic plate (52) configured to retract and extend along the connecting plate (51), wherein the boom arm (31) is configured to retract and extend along the telescopic plate (52). [8] Handling robot according to claim 7, characterized by that the telescopic plate (52) and the connecting plate (51) as well as the boom arm (31) and the telescopic plate (52) each extend and retract synchronously. [9] Handling robot according to claim 8, characterized by that the telescopic adjustment assembly (5) further comprises a telescopic gear component and a telescopic drive component (55); wherein the telescopic gear component comprises: a first telescopic gear component (53) arranged between the connecting plate (51) and the telescopic plate (52); a second telescopic gear component (54) arranged between the telescopic plate (52) and the boom arm (31); wherein the telescopic drive component (55) is connected to the first telescopic gear component (53) and the second telescopic gear component (54), respectively; wherein the telescopic drive component (55) is configured to drive the first telescopic gear component (53) and the second telescopic gear component (54) to effect synchronous telescoping between the telescopic plate (52) and the connecting plate (51) and between the boom arm (31) and the telescopic plate (52). [10] Handling robot according to claim 9, characterized byin that the first telescopic transmission component (53) comprises a main transmission component comprising two telescopic sprockets (531) arranged at both ends of the connecting plate (51); wherein a first telescopic chain (532) is enclosed between and engaged with the two telescopic sprockets (531); wherein one of the telescopic sprockets (531) is connected to a drive motor shaft of the telescopic drive component (55), which is configured to rotate the telescopic sprocket (531) when rotated in order to drive the first telescopic chain (532);wherein the telescopic plate (52) is arranged above the first telescopic chain (532), wherein a bottom side of the telescopic plate (52) is provided with a second telescopic chain (533) which engages with the first telescopic chain (532), wherein the first telescopic chain (532) is configured, when rotated, to drive the second telescopic chain (533) to a linear movement in order to cause the telescopic plate (52) to telescope relative to the connecting plate (51); [11] Handling robot according to claim 9, characterized by that the first telescopic transmission component (53) further comprises an auxiliary transmission component arranged on an upper side of the telescopic adjustment arrangement (5); wherein the auxiliary transmission component comprises a first drive belt (534) and a first drive roller (535), wherein one end of the telescopic plate (52) is provided with a first mounting opening which is passed through two opposite side surfaces of the telescopic plate (52); wherein the first drive roller (535) is rotatably mounted in the first mounting opening and is rotatably connected to the telescopic plate (52), wherein the rotation axis of the first drive roller (535) is vertically aligned; wherein one end of the first drive belt (534) is fixed to an end of the connecting plate (51) remote from the first mounting opening; wherein the other end of the first drive belt (534) is wound around the first drive pulley (535) and fixed to a surface of the telescopic plate (52) remote from the connecting plate (51). [12] Handling robot according to one of claims 9-11, characterized bythat the second telescopic transmission component (54) comprises a second drive belt (541) and a second drive pulley (542); wherein the other end of the telescopic plate (52) is provided with a second mounting opening which extends through two opposite side surfaces of the telescopic plate (52); wherein the second drive roller (542) is rotatably mounted in the second mounting opening and has a vertically oriented axis of rotation; wherein one end of the second drive belt (541) is fixed to an end of the boom arm (31) remote from the connecting plate (51); wherein the other end of the second drive belt (541) is wound around the second drive pulley (542) and fixed to an end of the connecting plate (51) facing the boom arm (31). [13] Handling robot according to one of claims 7-12, characterized byin that the telescopic adjustment arrangement (5) further comprises a telescopic guide arrangement (56); wherein the telescopic guide arrangement (56) comprises a first guide groove (561), a second guide groove (562), a first guide rail (563) and a second guide rail (564), wherein the first guide groove (561) is arranged on an inner side of the connecting plate (51), wherein the second guide groove (562) is arranged on an inner side of the telescopic plate (52), wherein the first guide rail (563) is arranged on an outer side of the telescopic plate (52), wherein the second guide rail (564) is arranged on an outer side of the cantilever arm (31), wherein the first guide rail (563) is slidably connected to the first guide groove (561), wherein the second guide rail (564) is slidably connected to the second guide groove (562). [14] Handling robot according to one of claims 1-13, characterized bythat the intermediate storage rack (2) contains an intermediate storage separating plate (22) which is connected to the lifting and adjusting arrangement (4), wherein the intermediate storage separating plate (22) is raised and lowered synchronously with the telescopic adjusting arrangement (5) by raising and lowering the lifting and adjusting arrangement (4). [15] Handling robot according to one of claims 1-13, characterized by that the intermediate storage rack (2) comprises a plurality of intermediate storage partition plates (22) which are arranged at a distance from one another in the vertical direction, each of the intermediate storage partition plates (22) being provided with an escape recess (223) for the escape of the telescopic adjustment arrangement (5). [16] Handling robot according to one of claims 1-15, wherein the lifting adjustment assembly (4) comprises a lifting holder (41), a lifting gear assembly (42) and a lifting drive assembly (43); wherein the lifting holder (41) is arranged on the moving chassis (1), wherein the lifting gear arrangement (42) and slide rail are arranged on both sides perpendicular to the horizontal telescoping direction of the box removal arrangement (3); the telescopic adjustment arrangement (5) is connected to the lifting gear arrangement (42), and the telescopic adjustment arrangement (5) is provided with slides that interact with the slide rails; wherein the lifting drive arrangement (43) is adapted to drive the lifting gear arrangement (42) to raise or lower the telescopic adjustment arrangement (5) along the vertical direction. [17] Handling robot according to one of claims 1-16, further comprising: an environmental monitoring module and an obstacle avoidance sensor, wherein the environmental monitoring module is configured to receive external environmental information and the obstacle avoidance sensor is configured to detect obstacles to assist the moving chassis (1) in navigation and obstacle avoidance. [18] Handling robot according to one of claims 1-17, further comprising: a control arrangement configured to control and adjust the operating state of the handling robot; a detection arrangement configured to detect the working state and the external environmental state of the handling robot and to support the operation of the handling robot 10 by the control arrangement. [19] Handling robot according to one of claims 1-18, wherein the movement chassis (1) comprises: a landing gear body (11) and a drive wheel mechanism arranged on the bottom of the landing gear body (11); wherein the two side surfaces of the chassis body (11) are formed as a flat surface along the two sides perpendicular to the horizontal telescopic direction of the box removal arrangement (3).

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