Handling robot and automated warehouse

Abstract

The present disclosure provides a handling robot and an automatic warehouse, and relates to the field of automatic warehousing, to better adapt the handling robot to different road surfaces. The handling robot comprises a chassis assembly, a fork scissor mechanism, a pallet assembly and a driving mechanism. The chassis assembly comprises a chassis body assembly and a traveling mechanism; the traveling mechanism is mounted on the chassis body assembly; the chassis assembly comprises a first disk and a second disk that are rotatably connected. The fork scissor mechanism is mounted on the chassis body assembly and carried by the chassis body assembly. The fork scissor mechanism comprises a plurality of rods that are rotatably connected. The fork scissor mechanism comprises a contracted state and a deployed state. The pallet assembly is rotatably connected with the fork scissor mechanism and mounted on the top of the fork scissor mechanism. The driving mechanism is mounted at the bottom of the pallet assembly and drivingly connected with the fork scissor mechanism to drive the fork scissor mechanism to switch between a contracted state and a deployed state. In the above-described technical solution, the handling robot may be better adapted to different road conditions, with a better traveling performance.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] The present disclosure is based on and claims priority to China Patent Application No. 202410138709.1 filed on January 31, 2024, the disclosure of which is incorporated by reference herein in its entirety.BACKGROUND OF THE INVENTION Field of the Invention

[0002] The present disclosure relates to the field of automated warehousing, in particular to a handling robot and an automatic warehouse.Description of Related Art

[0003] . The handling robot which is a necessary device in an automatic warehouse, includes a chassis, a driving mechanism, a lifting mechanism and a pallet. The handling robot possesses a navigation function and can automatically plan a path in a warehouse. The driving mechanism is configured to drive the lifting mechanism to lift. The lifting mechanism lifts to realize the lifting of the container or other products, to realize the mutual transfer of the articles between the storage bin and the handling robot.

[0004] The inventors have found that, there are at least the following problems in the prior art: the existing handling robots cannot adapt to a bumpy road surface. The handling robot if traveling on a bumpy road is prone to a phenomenon that the chassis is not stable.SUMMARY OF THE INVENTION

[0005] The present disclosure provides a handling robot and an automatic warehouse, for improving the stability of the handling robot traveling on different road surfaces.

[0006] In some embodiments of the present disclosure, a handling robot is provided. The handling robot comprises: a chassis assembly comprising a chassis body assembly and a traveling mechanism, wherein the traveling mechanism is mounted on the chassis body assembly; the chassis body assembly comprises a first chassis body and a second chassis body that are rotatably connected; a fork scissor mechanism mounted on the chassis body assembly and carried by the chassis assembly, wherein the fork scissor mechanism comprises a plurality of rods that are rotatably connected; the fork scissor mechanism comprises a contracted state and a deployed state, and the plurality of rods rotate relatively to switch the fork scissor mechanism between the contracted state and the deployed state; a pallet assembly rotatably connected with the fork scissor mechanism and mounted on the top of the fork scissor mechanism; and a driving mechanism mounted at the bottom of the pallet assembly and drivingly connected with the fork scissor mechanism to drive the fork scissor mechanism to switch between the contracted state and the deployed state.

[0007] In some embodiments, at least one rod of the fork scissor mechanism is rotatably connected with the first chassis body, and at least another rod of the fork scissor mechanism is rotatably and slidably connected with the second chassis body.

[0008] In some embodiments, the handling robot further comprises: a sliding assembly comprising a sliding rail and a sliding block; wherein the slide block is slidably arranged on the sliding rail; the sliding rail is mounted on the second chassis body, and the sliding block is rotatably connected with at least one another rod of the fork scissor mechanism; or the sliding block is mounted on the second chassis body, and the sliding rail is rotatably connected with at least one another rod of the fork scissor mechanism; wherein the sliding assembly is configured to realize a floating slide of the at least one another rod relative to the second chassis body.

[0009] In some embodiments, the driving mechanism comprises: a power source mounted at the bottom of the pallet assembly; and a transmission mechanism drivingly connected with the power source to move under the drive of the power source; wherein the top end of at least one rod of the fork scissor mechanism is hinged with the transmission mechanism, so that the fork scissor mechanism is driven by the power source to switch between the contracted state and the deployed state.

[0010] In some embodiments, the power source comprises an electric motor, and the transmission mechanism comprises a lead screw and a sliding portion; the electric motor is drivingly connected with the lead screw rotatably mounted at the bottom of the pallet assembly, and the sliding portion is threadedly mated with the lead screw; the top end of at least one rod of the fork scissor mechanism is hinged with the sliding portion.

[0011] In some embodiments, the driving mechanism further comprises: a position detection element mounted at the bottom of the pallet assembly and corresponding to a movement limit position of the sliding portion; wherein the position detection element is electrically connected with the electric motor, and the electric motor stops when the position detection element detects the sliding portion.

[0012] In some embodiments, the traveling mechanism comprises: a driving wheel mount fixedly connected with the first chassis body; and a driving wheel mounted on the driving wheel mount.

[0013] In some embodiments, the traveling mechanism further comprises: a first walking wheel mounted on the first chassis body; wherein the first walking wheel and the two driving wheels are arranged in position to form a triangle; and a second walking wheel mounted on the second chassis body; wherein the second walking wheel and the two driving wheels are arranged in position to form a triangle.

[0014] In some embodiments, the traveling mechanism further comprises: a balance mechanism mounted on the driving wheel mount, or mounted on the first chassis body or the second chassis body, and the balance mechanism is configured to balance an action force borne by the first chassis body and the second chassis body of the chassis assembly.

[0015] In some embodiments, the balance mechanism comprises: a connecting seat fixedly connected with the first chassis body; a mounting block rotatably connected with the connecting seat, wherein one end of the mounting block is fixedly connected with the second chassis body; and a first elastic member is between the other end of the mounting block and the top surface of the first chassis body.

[0016] In some embodiments, the connecting seat and the driving wheel mount are integrated or fixedly connected; the driving wheel mount comprises a mounting groove penetrating through own length direction; the driving wheel is mounted on the mounting block; the middle of the mounting block is located in the mounting groove, and both ends of the mounting block project from the mounting groove; the middle of the mounting block is rotatably connected with the driving wheel mount, and one end of the mounting block is fixedly connected with the second chassis body.

[0017] In some embodiments, the balance mechanism comprises: a counterweight mounted at an adjustable position to be mounted on the second chassis body.

[0018] In some embodiments, the handling robot further comprises: a rotary limit mechanism mounted between the first chassis body and the second chassis body to limit a relative rotation range of the first chassis body and the second chassis body; the rotary limit mechanism comprising: a driving wheel mount comprising a mounting groove penetrating through own length direction and a limit groove arranged inside the mounting groove; and a mounting block, wherein a limiting protrusion is provided in the middle of the mounting block, and the limiting protrusion is mated with the limiting groove.

[0019] In some embodiments, the handling robot further comprises: a balance mechanism comprising the driving wheel mount, the mounting block and a first elastic member; wherein both ends of the mounting block project from the mounting groove; one end of the mounting block is fixedly connected with the second chassis body, and the first elastic member is between the other end of the mounting block and the top surface of the first chassis body.

[0020] In some embodiments, the handling robot further comprises: an auxiliary lifting mechanism connected with the fork scissor mechanism, wherein the auxiliary lifting mechanism is configured to apply an action force with a component in a deployed direction of the fork scissor mechanism during the process of switching the fork scissor mechanism from a contracted state to a deployed state; wherein the auxiliary lifting mechanism comprises a compressed state and a restoration state.

[0021] In some embodiments, the auxiliary lifting mechanism comprises: a mounting seat fixedly connected with one of the rods of the fork scissor mechanism; wherein the mounting seat comprises a mounting hole; a connecting shaft comprising a shaft body, a first end and a second end; wherein the first end and the second end are dispersedly fixed at both ends of the shaft; the shaft passes through the mounting hole, and the first end and the second end are both located outside the mounting hole; and a second elastic member is between the mounting seat and the second end; wherein the second elastic member is compressed when the fork scissor mechanism is in a contracted state; the second elastic member is restored when the fork scissor mechanism is in a deployed state.

[0022] In some embodiments, the fork scissor mechanism is formed to be symmetric; the fork scissor mechanism is mounted with two or more auxiliary lifting assemblies, each of which is symmetrically arranged relative to own symmetrical axis of the fork scissor mechanism.

[0023] In some embodiments, the fork scissor mechanism comprises two sets of linkage mechanisms, each of which comprising: a first link, one end of which is connected with the driving mechanism; a second link, the middle of which is rotatably connected with the middle of the first link; and one end of which is rotatably connected with the pallet assembly; a third link, one end of which is rotatably connected with the other end of the first link, and the other end of which is configured to be rotatably and slidably connected with the second disk; and a fourth link, the middle of which is rotatably connected with the middle of the third link, one end of which is rotatably connected with the other end of the second link, and the other end of which is configured to be rotatably connected with the first chassis body.

[0024] In some embodiments, each set of linkage mechanisms further comprises: an intermediate linkage mechanism mounted between the first link and the third link, the second link and the fourth link.

[0025] In some embodiments, the fork scissor mechanism further comprises a reinforcing component rotatably connected with the two sets of linkage mechanisms; the auxiliary lifting mechanism is mounted on the reinforcing component.

[0026] In some embodiments, the number of the reinforcing components is at least two, and the auxiliary lifting mechanism is mounted on one of the reinforcing components; when the fork scissor mechanism is in a contracted state, the second end of the connecting shaft of the auxiliary lifting mechanism abuts against another reinforcing component.

[0027] In some embodiments, the auxiliary lifting mechanism comprises a restoration state and a compressed state; when the fork scissor mechanism is in a deployed state, the auxiliary lifting mechanism is in a restoration state; during the process of switching the fork scissor mechanism from a deployed state to a contracted state, the auxiliary lifting mechanism receives an action force from the fork scissor mechanism, and the auxiliary lifting mechanism is switched from a restoration state to a compressed state.

[0028] In the embodiment of the present disclosure, an automatic warehouse is provided. The automatic warehouse comprises the handling robot provided by any technical solution of the present disclosure.

[0029] The handling robot provided by the above-described technical solution comprises a chassis component, a fork scissor mechanism, a pallet component and a driving mechanism. The chassis body assembly of the chassis assembly comprises a first chassis body and a second chassis body rotatably connected with each other, wherein the two chassis bodes of the chassis assembly are relatively rotatable, and the chassis assembly is a hinged chassis, so as to adapt to more complicated and bumpy road conditions. Moreover, in the technical solution of the application, the driving mechanism is mounted at the bottom of the pallet assembly instead of the chassis assembly, so that it is possible to reduce and even avoid a phenomenon of unstable stress on the chassis assembly due to an action force when the driving mechanism drives the fork scissor to lift, which allows the handling robot to better adapt to different road conditions, with a stronger ground adaptability, a significantly enhanced transport stability, and a better traveling performance.BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is a schematic view of a handling robot in a contracted state provided by the embodiment of the present disclosure. Figure 2 is a schematic view of a handling robot in a deployed state provided by the embodiment of the present disclosure. Figure 3 is a schematic view of a three-dimensional structure of a chassis assembly of the handling robot provided by the embodiment of the present disclosure. Figure 4 is another schematic view of a three-dimensional structure of the chassis assembly of the handling robot provided by the embodiment of the present disclosure. Figure 5 is a perspective view of the handling robot provided by the embodiment of the present disclosure. Figure 6 is another perspective view of the handling robot provided by the embodiment of the present disclosure. Figure 7 is a schematic view of a three-dimensional structure of a deployed state of a fork scissor mechanism of the handling robot provided by the embodiment of the present disclosure. Figure 8 is a schematic view of a three-dimensional structure of the fork scissor mechanism of the handling robot in a contracted state provided by the embodiment of the present disclosure. Figure 9 is a schematic front view of the fork scissor mechanism of the handling robot in a contracted state provided by the embodiment of the present disclosure. Figure 10 is a schematic view of an action force of a driving wheel mount on the chassis assembly of the handling robot provided by the embodiment of the present disclosure. Figure 11 is a schematic view of a three-dimensional structure of a pallet assembly of the handling robot provided by the embodiment of the present disclosure. Figure 12 is a schematic view of a three-dimensional structure of the pallet assembly of the handling robot from a bottom perspective provided by the embodiment of the present disclosure. Figure 13 is another schematic view of a three-dimensional structure of the pallet assembly of the handling robot provided by the embodiment of the present disclosure from a bottom perspective. Figure 14 is still another schematic view of a three-dimensional structure of the pallet assembly of the handling robot provided by the embodiment of the present disclosure from a bottom perspective. Figure 15 is a schematic view of a three-dimensional structure of the chassis assembly of the handling robot provided by the embodiment of the present disclosure. Figure 16 is a schematic view of an exploded structure of a driving wheel mount and a balance mechanism of the chassis assembly of the handling robot provided by the embodiment of the present disclosure. Figure 17 is a schematic view of a three-dimensional structure of a traveling mechanism of the chassis assembly of the handling robot provided by the embodiment of the present disclosure. Figure 18 is another three-dimensional structural schematic view of a traveling mechanism of the chassis assembly of the handling robot provided by the embodiment of the present disclosure. Figure 19 is a perspective view of an auxiliary lifting mechanism of the handling robot in a restoration state provided by the embodiment of the present disclosure. Figure 20 is a perspective view of an auxiliary lifting mechanism of the handling robot in a compressed state provided by the embodiment of the present disclosure. Figure 21a is a schematic view of a traveling state of the handling robot on a flat road surface provided by the embodiment of the present disclosure. Figure 21b is a schematic view of a traveling state of the handling robot on a bumpy road surface provided by the embodiment of the present disclosure. Figure 22 is a schematic view of a connection relationship of the handling robot provided by other embodiments of the present disclosure (the fork scissor mechanism is in a contracted state). Figure 23 is a schematic view of a connection relationship of the handling robot provided by other embodiments of the present disclosure (the fork scissor mechanism is in a deployed state). Figure 24 is a schematic structural view of the driving mechanism of the handling robot provided by other embodiments of the present disclosure. Reference numerals:

[0031] 1. chassis components; 2. scissor assembly; 3. pallet assembly; 4. driving mechanism; 5. sliding assembly; 6. auxiliary lifting mechanism; 11. chassis body assembly; 12. traveling mechanism; 111. first chassis body; 112. second chassis body; 121. driving wheel mount; 122. driving wheel; 123. first walking wheel; 124. second walking wheel; 125. balance mechanism; 1251. mounting block; 1252. first elastic member; 1253. rotary shaft; 120. rotary limit mechanism; 21. linkage assembly; 22. reinforcing component; 211. first link; 212. second link; 213. third link; 214. fourth link; 215. first hinge seat; 216. second hinge seat; 31. pallet; 32. barrier; 33. positioning pin; 41. power source; 42. transmission mechanism; 43. position detection element; 44. electric motor mount; 45. bearing seat; 46. coupling; 47. guiding assembly; 421. lead screw; 422. sliding portion; 471. guide block; 472. guide rail; 51. sliding rail; 52. sliding block; 61. mounting seat; 62. connecting shaft; 621. shaft body; 622. first end; 623. second end; 63. second elastic member. DESCRIPTION OF THE INVENTION

[0032] The technical solution provided by the present disclosure will be described in more detail below in conjunction with Figures 1 to 24. The description of the exemplary embodiments is merely illustrative but in no way intended as limiting the present disclosure and its application or use. The present disclosure may be implemented in many different forms, which are not limited to the embodiments introduced here. These embodiments are provided to make the present disclosure thorough and complete, and fully convey the scope of the present disclosure to those skilled in the art. It should be noted that: the relative arrangements of members and steps, the material composition, the numerical expressions, and the numerical values elaborated in these embodiments, should be construed as merely illustrative rather than restrictive unless specifically stated otherwise.

[0033] The use of the words "first", "second" and the like in the present disclosure do not represent any sequence, quantity or significance, but are merely intended to distinguish different parts. A word such as "comprise", "have" or variants thereof means that the element before the word covers the element(s) listed after the word without excluding the possibility of also covering other elements.

[0034] In the present disclosure, when it is described that a particular device is located between the first device and the second device, there may be present or absent with an intermediate device between the particular device and the first device or the second device. When it is described that a particular device is connected to other devices, the particular device may be directly connected to said other devices without an intermediate device, and may also not be directly connected to said other devices but with an intermediate device.

[0035] All terms (comprising technical terms and scientific terms) used in the present disclosure have the same meanings as understood by those of ordinary skill in the art to which the present disclosure belongs, unless otherwise specifically defined. It should also be understood that, the terms defined in, for example, general dictionaries, should be construed as having meanings that are consistent with their meanings in the context of the relevant art, but not construed in an idealized or extremely formalized sense unless specifically thus defined here.

[0036] The techniques, methods, and devices known to those of ordinary skill in the relevant art might not be discussed in detail. However, these techniques, methods, and devices shall be part of the granted specification where appropriate.

[0037] The dimensions of various parts shown in the accompanying drawings are not drawn according to actual proportional relations. In the accompanying drawings, the same reference numerals are attached to common structural elements or structural elements of the same category, and repeated descriptions thereof are appropriately omitted.

[0038] For ease of description, the length direction L and the width direction W of the handling robot are illustrated in Figure 1. Description will be made with a front illustrated by the left side and a rear illustrated by the right side of Figures 1 and 2 as an example.

[0039] Referring to Figures 1 and 2, in some embodiments of the present disclosure, a handling robot is provided. The handling robot comprises a chassis assembly 1, a fork scissor mechanism 2, a pallet assembly 3 and a driving mechanism 4. The chassis assembly 1 comprises a chassis body assembly 11 and a traveling mechanism 12. The traveling mechanism 12 is mounted on the chassis body assembly 11; the chassis assembly 1 comprises a first disk 111 and a second disk 112 that are rotatably connected. The fork scissor mechanism 2 is mounted on the chassis body assembly 11, and the fork scissor mechanism 2 is carried by the chassis assembly 1. The fork scissor mechanism 2 comprises a plurality of rods that are rotatably connected; the fork scissor mechanism 2 comprises a contracted state and a deployed state, and the plurality of rods rotate relatively to switch the fork scissor mechanism 2 between the contracted state and the deployed state. The pallet assembly 3 is rotatably connected with the fork scissor mechanism 2, and the pallet assembly 3 is mounted on the top of the fork scissor mechanism 2. The driving mechanism 4 is mounted at the bottom of the pallet assembly 3, and the driving mechanism 4 is drivingly connected with the fork scissor mechanism 2 to drive the fork scissor mechanism 2 to switch between a contracted state and a deployed state.

[0040] Referring to Figures 3 to 6, the chassis assembly 1 uses a first disk 111 and a second disk 112 that are rotatably connected, and the chassis assembly 1 with this structure is also referred to as a hinged chassis. The first chassis body 111 and the second chassis body 112 rotate relatively within a limited angular range, so that the chassis assembly 1 may be more effectively adapted to uneven ground. The driving mechanism 4 is mounted on the pallet assembly 3 instead of the chassis assembly 1. This structure also improves the bearing and stress of the chassis assembly 1, which makes the chassis assembly 1 more stable so that an unstable condition due to the driving mechanism 4 driving the fork scissor mechanism to contract, deploy and receive reaction force is avoided, and simplifies the structure of the chassis assembly 1, so that the chassis assembly 1 may use a hinged chassis.

[0041] The first chassis body 111 and the second chassis body 112 are generally both flat plate shaped, and the first chassis body 111 and the second chassis body 112 jointly integrate a mosaic of a rectangular structure with four smooth corners. The intermediate area of the edge of the first chassis body 111 facing towards the second chassis body 112 is convex, and the intermediate area of the edge of the second chassis body 112 facing towards the first chassis body 111 is concave. The first chassis body 111 and the second chassis body 112 are rotatably connected at two edges, and the edges of the first chassis body 111 and the second chassis body 112 are both provided with a concave part, which provides space for the installation of the traveling mechanism 12, and make a total width of the handling robot within the design requirements without the traveling mechanism 12 projecting in the width direction W of the traveling mechanism 12 after the installation of the traveling mechanism 12.

[0042] Referring to Figures 5 and 6, the chassis assembly 1 is a carrying assembly of the entire handling robot. The fork scissor mechanism 2 is located between the pallet assembly 3 and the chassis. The chassis assembly 1 carries the fork scissor mechanism 2 jointly carried by the first chassis body 111 and the second chassis body 112. In some embodiments, at least one rod of the fork scissor mechanism 2 is rotatably connected with the first chassis body 111, and at least another rod of the fork scissor mechanism 2 is rotatably and slidably connected with the second chassis body 112. As the fork scissor mechanism 2 switches between a retracted state and a deployed state, the pallet assembly 3 is lifted, and the article located on the top of the pallet assembly 3 is also lifted along with the pallet assembly 3. Under the driving action of the driving mechanism 4, the lifting movement of the pallet assembly 3 is realized; the pallet assembly 3 is a product carrying assembly, which may realize any height change of the product within the travel of the fork scissor mechanism 2.

[0043] Referring to Figures 3 to 6, the traveling mechanism 12 comprises a driving wheel mount 121 and a driving wheel 122. The driving wheel mount 121 is fixedly connected with the first chassis body 111. The driving wheel 122 is mounted on the driving wheel mount 121. The number of driving wheel mounts 121 is two, and the number of driving wheels 122 is also two. The driving wheel mounts 121 and the driving wheels 122 are arranged in one-to-one correspondence. The driving wheel mount 121 provides a foundation for the installation of the driving wheel 122, and the driving wheel mount 121 has multiple structures and shapes, which are not defined in the embodiment of the present disclosure.

[0044] To make the chassis assembly 1 walk more stably, the traveling mechanism 12 further comprises a first walking wheel 123 and a second walking wheel 124. The first walking wheel 123 and the second walking wheel 124 both use universal wheels. The first walking wheel 123 is mounted on the first chassis body 111, and the second walking wheel 124 is mounted on the second chassis body 112. The first walking wheel 123 and the two driving wheels 122 are arranged in position to form a triangle. The second walking wheel 124 and the two driving wheels 122 are also arranged in position to form a triangle. The two planes formed by the two triangles may have a certain angular difference, and the rotation central axes of the two triangles are the connecting lines of the rotary shafts 1253 on both sides. When encountered with uneven road conditions, the first chassis body 11 and the second chassis body 112 may rotate relatively to adapt to the ground and maintain a horizontal stability of the loading, so that the handling robot may be adapted to more shapes and uneven road surfaces.

[0045] Referring to Figures 3 to 4 and Figures 15 to 16, in some embodiments, the traveling mechanism 12 further comprises a balance mechanism 125 mounted on the driving wheel mount 121, or mounted on the first chassis body 111 or the second chassis body 112, and the balance mechanism 125 is configured to balance an action force borne by the first chassis body 111 and the second chassis body 112 of the chassis assembly 1. With the arrangement used in the above-described embodiments, the bearing of the first chassis body 111 may be greater than that of the second chassis body 112. To make the lifting assembly more stable, in some embodiments, a balance mechanism 125 is provided to balance the bearings of the first chassis body 111 and the second chassis body 112, so that the bearings of the first chassis body 111 and the second chassis body 112 tends to be balanced. Specifically, the traveling mechanism 12 also comprises a balance mechanism 125 mounted on the driving wheel mount 121, or mounted on the first chassis body 111 or the second chassis body 112, and the balance mechanism 125 is configured to balance an action force borne by the first chassis body 111 and the second chassis body 112 of the chassis assembly 1.

[0046] The balance mechanism 125 has multiple structural forms. In some embodiments, the balance mechanism 125 is integrated with the rotary limit mechanism 120 introduced later, or the balance mechanism 125 and the rotary limit mechanism 120 are separately arranged.

[0047] If the balance mechanism 125 is separately arranged, the balance mechanism 125 comprises a connecting seat (not shown), a mounting block 1251 and a first elastic member 1252. The connecting seat is fixedly connected with the first chassis body 111. The mounting block 1251 is rotatably connected with the connecting seat, wherein one end of the mounting block 1251 is fixedly connected with the second chassis body 112. The first elastic member 1252 is between the other end of the mounting block 1251 and the top surface of the first chassis body 111. The first elastic member 1252 specifically uses a compression spring. By the action of the first elastic member 1252, the bearings of the first chassis body 111 and the second chassis body 112 tend to be balanced.

[0048] Referring to Figures 15 and 16, the balance mechanism 125 is configured to mount the driving wheel 122. Specifically, the connecting seat and the driving wheel mount 121 are integrated or fixedly connected. The driving wheel mount 121 comprises a mounting groove 121a penetrating through own length direction; the driving wheel 122 is mounted on the mounting block 1251; the middle of the mounting block 1251 is located in the mounting groove 121a, and both ends of the mounting block 1251 project from the mounting groove 121a; the middle of the mounting block 1251 is rotatably connected with the driving wheel mount 121, and one end of the mounting block 1251 is fixedly connected with the second chassis body 112. The balance mechanism 125 serves as a mounting assembly of the driving wheel 122 at the same time, with a delicate and compact structure.

[0049] In some embodiments, the handling robot further comprises a rotary limit mechanism 120 mounted between the first chassis body 111 and the second chassis body 112 to limit a relative rotation range of the first chassis body 111 and the second chassis body 112 so that the relative rotation of the first chassis body 111 and the second chassis body 112 does not exceed a set rotation threshold.

[0050] In some embodiments, the rotary limit mechanism 120 is an independent assembly. In other embodiments, the rotary limit mechanism 120 is integrated with the mounting assembly of the driving wheel 122. Specifically, the rotary limit mechanism 120 comprises a driving wheel mount 121 and a mounting block 1251. The driving wheel mount 121 comprises a mounting groove 121a penetrating through own length direction and a limit groove 121c arranged inside the mounting groove 121a. A limiting protrusion 1251a is provided in the middle of the mounting block 1251, and the limiting protrusion 1251a is mated with the limiting groove 121c.

[0051] In other embodiments, the rotary limit mechanism 120 and the balance mechanism 125 are integrated. The balance mechanism 125 comprises the driving wheel mount 121, the mounting block 1251 and a first elastic member 1252. Wherein, both ends of the mounting block 1251 project from the mounting groove 121a; one end of the mounting block 1251 is fixedly connected with the second chassis body 112, and the first elastic member 1252 is between the other end of the mounting block 1251 and the top surface of the first chassis body 111.

[0052] In the above-described technical solution, the rotary limit mechanism 120, the balance mechanism 125 and the mounting assembly of the driving wheel 122 are integrated, so that the technical effect of mounting a plurality of members comprising the rotary limit mechanism 120, the balance mechanism 125 and the mounting assembly of the driving wheel 122 is realized by using less members with a compact and delicate structure and light weight, which allows a larger carrying capacity of the handling robot.

[0053] Referring to Figure 10, Figures 16 to 18, since the transmission mechanism 42 and the auxiliary lifting mechanism 6 are arranged in the direction of the entire vehicle body proximate to the first chassis body 111, and combined with the layout of the assemblies such as electric elements on the chassis assembly 1, the handling robot might have a forward tilting tendency, which will increase along with the lifting of the pallet 31. On the one hand, the forward tilting tendency may lead to the worsened vehicle stability. On the other hand, it may also lead to the dropping pressure when the traveling mechanism 12 is in contact with the ground, and accordingly cause that the speed parameters such as acceleration are affected. In order to balance the forward tilting tendency of the vehicle, improve the stability, and increase the pressure N1 of the chassis assembly 1 on the ground, a first elastic member 1252 is provided at one end of the mounting block 1251, so that the first elastic member 1252 presses on the first chassis body 11, and the reverse action force N2 acts on the mounting block 1251 to transfer the pressure to the second chassis body 112, so as to balance the forward tilting tendency.

[0054] Returning to Figure 10, Figure 10 illustrates the stress properties of the traveling mechanism 12. The driving wheel mount 121 is rotatably connected with the mounting block 1251, and the first disk 111 is rotatably connected with the second disk 112. When the lifting assembly has a forward tilting tendency, one end of the mounting block 1251 fixedly connected with the second disk 112 receives an action force to press the second disk 112 downward, and the first elastic member 1252 exerts an upward action force on the other end of the mounting block 1251. In this way, the second chassis body 112 is pressed downward so that the bearings of the first chassis body 111 and the second chassis body 112 are balanced as much as possible.

[0055] Continuing to refer to Figure 16, the mounting block 1251 has a convex surface M, which cooperates with the lower surface (a buried surface and an extended surface) of the driving wheel mount 121 to stop, thereby limiting the rotation of the traveling mechanism 12.

[0056] In other embodiments, the balance mechanism 125 comprises a counterweight (not shown) mounted at an adjustable position to be mounted on the second chassis body 112. The weight of the counterweight is adjusted according to the bearing of the pallet assembly 3, and the counterweight is one or more.

[0057] In other embodiments, the bearings of the first chassis body 111 and the second chassis body 112 are balanced by reasonably arranging the positions of the members such as the controller and the battery of the handling robot, without a counterweight additionally provided in this case.

[0058] Referring to Figures 5 to 8, the fork scissor mechanism 2 is formed by rotatably connecting a plurality of links, and the fork scissor mechanism 2 moves by contracting and deploying. The contracting and deploying of the fork scissor mechanism 2 are realized by changing the greatness of the comprised angle between the links.

[0059] Specifically, the fork scissor mechanism 2 comprises two sets of linkage mechanisms 21. The two sets of linkage mechanisms 21 are symmetrically arranged relative to the central axis L of the fork scissor mechanism 2, which is shown in Figure 2 or Figure 7.

[0060] For each set of connection assembly, it comprises four connection points: two upper connection points and two lower connection points. Of the two upper connection points, the connection point A is slidable and relatively rotatable relative to the bottom of the pallet assembly 3, and the connection point A linearly slides relative to the pallet assembly 3 and rotates relative to the pallet assembly 3. The connection point B is hinged with the bottom of the pallet assembly 3, and the connection point B only rotates relative to the pallet assembly 3 and does not translate relative to the pallet assembly 3.

[0061] Of the two lower connection points, the connection point C is slidable and relatively rotatable relative to the bottom of the pallet assembly 3, and the connection point C linearly slides relative to the chassis assembly 1 and rotates relative to the pallet assembly 3. The sliding resistance of the connection point C relative to the chassis assembly 1 may be omitted. During the walking process of the lifting assembly, as shown in Figures 21a and 21b, in the case of receiving an external force or a bumpy road surface, the connection point C of the fork scissor mechanism may automatically have certain slide along with the road surface, with a very small slide, but effectively improve the passage performance of the lifting assembly through different road surfaces, which allows a better traveling performance of the lifting assembly. The connection point D is hinged with the bottom of the chassis assembly 1, and the connection point D only rotates relative to the chassis assembly 1 and does not translate relative to the chassis assembly 1.

[0062] The fork scissor mechanism 2 comprises two sets of linkage mechanisms 21, each of which comprises a first link 211, a second link 212, a third link 213 and a fourth link 214. One end of the first link 211 is rotatably connected with the driving mechanism 4, and specifically hinged. The second link 212 and the first link 211 form an X-shape. The middle of the second link 212 is rotatably connected with the middle of the first link 211. One end of the second link 212 is configured to be rotatably connected with the pallet assembly 3, and is specifically hinged through the first hinge seat 215. One end of the third link 213 is rotatably connected with the other end of the first link 211, and the other end of the third link 213 is configured to be hinged and slidably connected with the second disk 112. The fourth link 214 and the third link 213 form an X-shape. The middle of the fourth link 214 is rotatably connected with the middle of the third link 213, one end of the fourth link 214 is rotatably connected with the other end of the second link 212, and the other end of the fourth link 214 is configured to be rotatably connected with the first disk 111, and specifically hinged through the second hinge seat 216.

[0063] Here, for example, the fork scissor mechanism 2 is provided with two sets of linkage mechanisms 21 having the same structure. The two sets of linkage mechanisms 21 are distributed at two edges of the pallet assembly 3 in the width direction, and the two linkage mechanisms 21 make the pallet assembly 3 have more stress positions and more balanced stress.

[0064] Referring to Figures 5 and 6, the first link 211 and the third link 213 are hinged at the end, the first link 211 and the second link 212 are hinged at the middle, the second link 212 and the fourth link 214 are hinged at the end, and the third link 213 and the fourth link 214 are hinged at the middle. The entire fork scissor mechanism 2 is formed of a plurality of X-shaped bars hinged at the end.

[0065] The number of links is set according to the lifting distance of the fork scissor mechanism 2. Here, for example, each linkage assembly 2111 is provided with four links. As required, in other embodiments, more links are provided. In some embodiments, each set of linkage mechanisms 21 further comprises an intermediate linkage mechanism (not shown) mounted between the first link 211 and the third link 213, and between the second link 212 and the fourth link 214. The intermediate link structure is also a structure forming an X-shape. By providing an intermediate linkage mechanism, it is possible to increase the lifting distance of the fork scissor mechanism 2 and realize the lifting requirements in a larger height range.

[0066] In the above, for example, the third link 213 and the second chassis body 112 are rotatingly and slidably connected, and the fourth link and the first chassis body 111 are rotatingly connected. In other embodiments, the third link 213 and the second chassis body 112 are rotatably connected, and the fourth link and the first chassis body 111 are rotatingly and slidably connected. When various components of the handling robot are arranged, it is necessary to consider the bearing balance of each area of the handling robot.

[0067] Continuing to refer to Figures 5 and 8, one end of the first link 211 of the two sets of linkage mechanisms 21 is connected with the driving mechanism 4, and the driving mechanism 4 applies an action force to the two first links 211 so that the fork scissor mechanism 2 is contracted and deployed.

[0068] When the fork scissor mechanism 2 is in the contracted state, the comprised angle of the links of the entire assembly is minimum, and the shape of the fork scissor mechanism 2 is difficult to change. During the process of switching the fork scissor mechanism 2 from the contracted state to the deployed state, the driving mechanism 4 needs to provide a large driving force. By providing the auxiliary lifting mechanism 6, the fork scissor mechanism 2 may be switched from the contracted state to the deployed state more easily, which reduces the required driving force of the driving mechanism 4, realizes a small driving mechanism 4 with a small power and prolongs the service life of the driving mechanism 4, thereby improving the overall stability.

[0069] Referring to Figure 5, Figure 6 or Figure 7, the fork scissor mechanism 2 further comprises a reinforcing component 22 rotatably connected with the two sets of linkage mechanisms 21; the auxiliary lifting mechanism 6 is mounted on the reinforcing component 22. The reinforcing component 22 is a rod, a reinforcing rib or the like. The number of the reinforcing components 22 is one or more. Here, for example, two reinforcing components 22 are provided, and the reinforcing component 22 located on the upper side is provided with the auxiliary lifting mechanism 6. When the linkage assembly 21 is in an open state, the auxiliary lifting mechanism 6 does not function. When the linkage assembly 21 contracts, that is, when the pallet assembly 3 descends to a certain degree (not the lowest state), the auxiliary lifting mechanism 6 acts on the lower reinforcing component 22, and the auxiliary lifting mechanism 6 may share a certain load action, reducing the electric motor action load of the driving mechanism 4. The auxiliary lifting mechanism 6 is of vital importance in prolonging the life of the electric motor and stably switching the state of the handling robot.

[0070] A plurality of reinforcing components 22 are dispersedly arranged at different positions of the two sets of linkage mechanisms 21 integrally formed by the reinforcing components 22 to contract synchronously and deploy synchronously. Moreover, it is also possible to allow a better structural strength and a greater bearing capacity of the fork scissor mechanism 2.

[0071] Referring to Figure 19 or Figure 20, in some embodiments, the handling robot further comprises an auxiliary lifting mechanism 6 connected with the fork scissor mechanism 2, wherein the auxiliary lifting mechanism 6 is configured to apply an action force with a component in a deployed direction of the fork scissor mechanism 2 during the process of switching the fork scissor mechanism 2 from a contracted state to a deployed state; wherein the auxiliary lifting mechanism 6 comprises a compressed state and a restoration state.

[0072] Referring to Figures 6 to 8 and Figures 19 to 20, in some embodiments, the auxiliary lifting mechanism 6 comprises a mounting seat 61, a connecting shaft 62 and a second elastic member 63. The mounting seat 61 is fixedly connected with one of the rods of the fork scissor mechanism 2. The mounting seat 61 comprises a mounting hole; a connecting shaft 62 comprising a shaft body 621, a first end 622 and a second end 623; wherein the first end 622 and the second end 623 are dispersedly fixed at both ends of the shaft 621; the shaft 621 passes through the mounting hole, and the first end 622 and the second end 623 are both located outside the mounting hole; and the second elastic member 63 is between the mounting seat 61 and the second end 623. The second elastic member 63 uses a compression spring having a compression pre-tightening force. Wherein, the second elastic member 63 is compressed when the fork scissor mechanism 2 is in a contracted state; the second elastic member 63 is restored when the fork scissor mechanism 2 is in a deployed state.

[0073] Specifically, the mounting seat 61 of the auxiliary lifting mechanism 6 is fixedly connected with one of the reinforcing components 22 of the fork scissor mechanism 2, the reinforcing component 22 is provided with a mounting hole (not shown), and the mounting seat 61 is mounted in the mounting hole of the reinforcing component 22. The mounting base 61 moves synchronously along with the reinforcing component 22, and the reinforcing component 22 and the mounting base 61 are relatively stationary. As the fork scissor mechanism 2 contracts, the second end 623 of the connecting shaft 62 of the auxiliary lifting mechanism 6 abuts against the other reinforcing component 22 to realize the compression of the second elastic member 63.

[0074] The auxiliary lifting mechanism 6 comprises a restoration state and a compressed state. When the fork scissor mechanism 2 is in a deployed state, the auxiliary lifting mechanism 6 is in a restoration state. During the process of switching the fork scissor mechanism 2 from a deployed state to a contracted state, the auxiliary lifting mechanism 6 receives an action force from the fork scissor mechanism 2, and the auxiliary lifting mechanism 6 is switched from a restoration state to a compressed state.

[0075] Referring to Figure 19, when the auxiliary lifting mechanism 6 is in a restoration state and the second elastic member 63 is in a restoration state, the mounting seat 61 abuts against the first end 622 of the connecting shaft 62, and the second elastic member 63 is located between the mounting seat 61 and the second end 623 of the connecting shaft 62.

[0076] Referring to Figure 20, when the auxiliary lifting mechanism 6 is in a compressed state, the fork scissor mechanism 2 is also in a contracted state, and the mounting seat 61 is at a closest distance to the chassis assembly 1, and the mounting seat 61 is fixed with the fork scissor mechanism 2, and the mounting seat 61 is generally located in the intermediate position of the connecting shaft 62. The other end of the connecting shaft 62 abuts against the reinforcing component 22 introduced later. The second elastic member 63 is located between the second end of the connecting shaft 62 and the mounting seat 61. The length of the second elastic member 63 is minimum, and the second elastic member 63 is in a compressed state.

[0077] The function principles of the auxiliary lifting mechanism 6 are introduced below.

[0078] In some embodiments, the auxiliary lifting mechanism 6 comprises a restoration state and a compressed state. When the fork scissor mechanism 2 is in a deployed state, the auxiliary lifting mechanism 6 is in a restoration state. During the process of switching the fork scissor mechanism 2 from a deployed state to a contracted state, the auxiliary lifting mechanism 6 receives an action force from the fork scissor mechanism 2, which is specifically an extrusion force for jointly extruding the auxiliary lifting mechanism 6 by the fork scissor mechanism 2 and the first connector introduced later, and the auxiliary lifting mechanism 6 is switched from a restoration state to a compressed state.

[0079] When the fork scissor mechanism 2 is in a contracted state, the auxiliary lifting mechanism 6 is in a compressed state. When the fork scissor mechanism 2 is in a deployed state, the auxiliary lifting mechanism 6 is in a restoration state. Specifically, during the process of switching the fork scissor mechanism 2 from a deployed state to a contracted state, the auxiliary lifting mechanism 6 receives an action force from the fork scissor mechanism 2, and the auxiliary lifting mechanism 6 is switched from a restoration state to a compressed state. Wherein, the deployment direction of the fork scissor mechanism 2 is along the height direction of the fork scissor mechanism 2. When the fork scissor mechanism 2 is in a contracted state, the height of the fork scissor mechanism 2 is minimum. When the fork scissor mechanism 2 is in a deployed state, the height of the fork scissor mechanism 2 is maximum. The direction H illustrated in Figure 10 is the deployment direction of the fork scissor mechanism 2, which is also the height direction of the fork scissor mechanism 2.

[0080] Referring to Figure 19 or Figure 20, in order to make the installation of the second elastic member 63 more stable, the mounting base 61 is provided with a cavity comprising an opening facing towards the second elastic member 63, so that one end of the second elastic member 63 abuts against the bottom of the cavity, and the other end of the second elastic member 63 abuts against the second end 623 of the connecting shaft 62.

[0081] Returning to Figure 5 or Figure 6, the fork scissor mechanism 2 is formed to be symmetric. The fork scissor mechanism 2 is mounted with two or more auxiliary lifting assemblies 6, each of which is symmetrically arranged relative to own symmetrical axis of the fork scissor mechanism 2. In other embodiments, the two auxiliary lifting assemblies 6 use the same structure, and the two auxiliary lifting assemblies 6 act synchronously, so that the auxiliary lifting assemblies 6 may be switched from the restoration state to the contracted state directly by using the driving mechanism 4 of the handling robot without providing additional power sources 41.

[0082] When the fork scissor mechanism 2 is in a contracted state, the second end 623 of the connecting shaft 62 of the auxiliary lifting mechanism 6 abuts against one of the reinforcing components 22.

[0083] Referring to Figures 11 and 12, the pallet assembly 3 comprises a pallet 31 and a barrier 32 arranged around the pallet 31. The pallet 31 is generally rectangular. The barrier 32 protrudes toward the bottom surface of the pallet 31, and the barrier 32 is configured to block the driving mechanism 4 mounted at the bottom of the pallet 31. The barrier 32 which is arranged to extend downward around the pallet 31, has the function of protecting the internal driving and transmission mechanism.

[0084] In some embodiments, the pallet 31 is provided with a positioning member, which is specifically a positioning hole or a positioning pin 33 for example, for docking with a guide hole corresponding to its bottom surface when docking with the containers or the products, which produces a better positioning and guiding effect and improves the docking and transport stability, so as to facilitate accurately positioning the products on the pallet. Referring to Figures 12 and 13, when the fork scissor mechanism 2 is in a contracted state, the sliding portion 422 introduced below is located at one end of the chute. When the fork scissor mechanism 2 is in a deployed state, the sliding portion 422 is located at the other end of the chute.

[0085] Continuing to refer to Figures 12 and 13, the driving mechanism 4 comprises a power source 41 and a transmission mechanism 42. The power source 41 is mounted at the bottom of the pallet assembly 3; and the transmission mechanism 42 is drivingly connected with the power source 41 to move under the drive of the power source 41. Wherein, the top end of at least one rod of the fork scissor mechanism 2 is hinged with the transmission mechanism 42, so that the fork scissor mechanism 2 is driven by the power source 41 to switch between the contracted state and the deployed state.

[0086] The power source 41 comprises an electric motor configured to provide rotational power. The electric motor is mounted on the electric motor mount 44 fixed at the bottom of the pallet assembly 3. The transmission mechanism 42 comprises a lead screw 421 and a sliding portion 422; and the electric motor is drivingly connected with the lead screw 421, specifically drivingly connected through the coupling 46. The lead screw 421 converts the rotation of the electric motor into the linear motion of the sliding portion 422. A mounting bearing provided at both ends of the lead screw 421 is supported by a bearing seat 45. The lead screw 421 is also mounted at the bottom of the pallet assembly 3. The sliding portion 422 is mounted on the lead screw 421, so that both of them are threadedly mated; the top end of at least one of the links (specifically, the first link 211) of the fork scissor mechanism 2 is hinged with the sliding portion 422. The sliding portion 422 moves linearly relative to the lead screw 421, so that the first link 211 of the fork scissor mechanism 2 is pushed to translate reciprocally, to realize the lifting of the fork scissor mechanism 2. The driving mechanism 4 implements accurately controlling the position of the sliding portion 422 by cooperating the electric motor with the lead screw 421, to accurately control the lifting distance of the fork scissor mechanism 2.

[0087] In order to make the linear movement of the sliding portion 422 more accurate, the driving mechanism 4 further comprises a guide assembly 47, in which a guide block 471 cooperates with a guide rail 472, and the guide block 471 is fixedly connected with the sliding portion 422, for example welded or connected by a bolt. The guide rail 472 is fixedly mounted at the bottom of the pallet assembly 3. The guiding direction of the guide rail 472 is a linear direction and coincides with the axial direction of the lead screw 421. The guide block 471 moves linearly along the guide rail 472. The guide block 471 cooperates with the guide rail 472 so that the movement direction of the sliding portion 422 is a linear direction.

[0088] Referring to Figures 10, 12 and 13, the transfer path from the power source 41 to the guide block 471 is specifically that: the power source 41 is specifically an electric motor. The electric motor drives the lead screw 421 to rotate around own axis through the coupling 46. The lead screw 421 rotates to drive the sliding portion 422 mounted on the lead screw 421 to move linearly. The sliding portion 422 is fixedly connected with the guide block 471. The guide block 471 moves linearly synchronously along with the sliding portion 422. Since the guide block 471 can only move linearly relative to the guide rail 472, the sliding portion 422 also moves along a linear direction. The sliding portion 422 is hinged with the first link 211 of the fork scissor mechanism 2, and the sliding portion 422 drives the first link 211 of the fork scissor mechanism 2 to synchronously move linearly. The first link 211 and the second link 212 are both hinged in the middle, and one end of the second link 212 is hinged with the pallet assembly 3, so that the second link 212 only rotates relative to the pallet assembly 3. Therefore, during the linear motion process of the first link 211, the distance between one end of the first link 211 and one end of the second link 212 becomes smaller and smaller, which realizes the deformation of the fork scissor mechanism 2 from a contracted state to a deployed state, and further realizes the ascending of the pallet assembly 3 mounted on the top of the fork scissor mechanism 2. During this process, the auxiliary lifting mechanism 6 automatically provides assistance without an additional operation so that it is very convenient. The electric motor moves reversely so that it is possible to drive the fork scissor mechanism 2 to deform from a deployed state to a contracted state, and realize the descending of the pallet assembly 3 mounted on the top of the fork scissor mechanism 2.

[0089] In order to accurately control the stop timing of the electric motor, the driving mechanism 4 further comprises a position detection element 43 mounted at the bottom of the pallet assembly 3 and corresponding to a movement limit position of the sliding portion 422; wherein the position detection element 43 is electrically connected with the electric motor, and the electric motor stops when the position detection element 43 detects the sliding portion 422. The position detection element 43 specifically comprises a proximity switch and an induction sheet, where the proximity switch corresponds to the induction sheet. The induction sheet is mounted on the sliding portion 422. When the sliding portion 422 moves to this position, the proximity switch controls the electric motor to stop according to the sensed feedback signal of the induction sheet, and at this time, the pallet 31 is lowered to a target position.

[0090] In other embodiments, the driving structure uses a structure such as a belt and a chain.

[0091] Continuing to refer to Figure 10, the handling robot further comprises a sliding assembly 5 located at the bottom of the fork scissor mechanism 2. The sliding assembly 5 comprises a sliding rail 51 and a sliding block 52. The sliding block 52 is slidably arranged on the sliding rail 51; the sliding rail 51 is mounted on the second chassis body 112, and the sliding block 52 is rotatably connected with at least one another rod of the fork scissor mechanism 2. Alternatively, the sliding block 52 is mounted on the second chassis body 112, and the sliding rail 51 is rotatably connected with at least one another rod of the fork scissor mechanism 2. In some embodiments, the number of the sliding blocks 52 is plural, and each sliding rail 51 corresponds to a plurality of sliding blocks 52, so that the movement of the sliding rail 51 is more stable.

[0092] The sliding assembly 5 is configured to implement that at least one another rod floatingly slides relative to the chassis body assembly 11. The sliding assembly 5 is configured to implement that the connection point C of the fork scissor mechanism 2 above floatingly slides relative to the second chassis body 112 freely.

[0093] During the walking process of the handling robot, if encountered with a bumpy road surface, the connection point C of the fork scissor mechanism 2 has a certain free slide relative to the second chassis body 112, which makes the structure of the handling robot more flexible and better cushions the impact on the handling robot during the walking process.

[0094] Referring to Figures 22 to 24, in other embodiments, the top of the fork scissor mechanism 2 and each connection point of the pallet assembly 3 are both rotatingly connected and slidable, and the bottom of the fork scissor mechanism 2 and each connection point of the chassis assembly 1 are both also rotatingly connected and slidable. The driving mechanism 4 uses a different implementation from the above. The driving mechanism 4 comprises a power source 41 and two lead screws 421 located on both sides of the power source 41 respectively, and the threads of the two lead screws 421 rotate in opposite directions. Each lead screw 421 is provided with a sliding portion 422, one of which is hinged with the top end of the first link 211 and the other is hinged with the top end of the second link 212. The power source 41 drives to implement that the two sliding portions 422 approach to or depart from each other, so as to drive the fork scissor mechanism 2 to ascend and descend. The pallet 31 is lifted linearly as the fork scissor mechanism 2 ascends and descends. During the lifting process of the fork scissor mechanism 2, the pallet 31 may not move horizontally.

[0095] In the embodiment of the present disclosure, an automatic warehouse is also provided. The automatic warehouse comprises the handling robot provided by any technical solution of the present disclosure.

[0096] The handling robot provided by the technical solution has a compact assembly, and the handling robot needs to lift frequently and carry the products during the operation process in the warehouse. In the handling robot provided by the above-described technical solution, as the chassis assembly 1 uses the first chassis body 111 and the second chassis body 112 that are rotatably connected, and the driving mechanism 4 is mounted at the bottom of the pallet assembly 3, the driving mechanism 4 may not directly exert an action force on the chassis assembly 1, so that the handling robot may be better adapted to different road surfaces, with a a better traveling performance.

[0097] In the description of the present disclosure, it is necessary to understand that, the azimuth or positional relations indicated by the terms "center", "transverse", "longitudinal", "front", "rear", "left", "right", "up", "down", "vertical", "horizontal", "top", "bottom", "within", "outside", which are based on the azimuth or positional relations illustrated by the drawings, are only for facilitating description of the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred thereto has to present a particular azimuth, and be constructed and operated in a particular azimuth, so that it cannot be understood as limiting the protection scope of the present disclosure.

[0098] Finally, it should be noted that: the above-described embodiments are only intended to explain the technical solution of the present disclosure rather than limiting the same; although detailed explanations are made to the present disclosure with reference to preferred embodiments, those of ordinary skill in the art should understand that: it is still possible to make amendments to the embodiments of the present disclosure or equivalent replacements to some of the technical features, which shall all be encompassed in the scope of the technical solution for which protection is sought in the present disclosure without departing from the spirit of the technical solution of the present disclosure.

Claims

1. A handling robot, comprising: a chassis assembly (1) comprising a chassis body assembly (11) and a traveling mechanism (12), wherein the traveling mechanism (12) is mounted on the chassis body assembly (11); the chassis body assembly (11) comprises a first chassis body (111) and a second chassis body (112) that are rotatably connected; a fork scissor mechanism (2) carried by the chassis body assembly (11) of the chassis assembly (1), mounted on the chassis body assembly (11), wherein the fork scissor mechanism (2) comprises a plurality of rods that are rotatably connected; the fork scissor mechanism (2) has a contracted state and a deployed state, and the plurality of rods rotate relatively to switch the fork scissor mechanism (2) between the contracted state and the deployed state; a pallet assembly (3) rotatably connected with the fork scissor mechanism (2) and mounted on a top of the fork scissor mechanism (2); and a driving mechanism (4) mounted at a bottom of the pallet assembly (3) and drivingly connected with the fork scissor mechanism (2) to drive the fork scissor mechanism (2) to switch between the contracted state and the deployed state.

2. The handling robot according to claim 1, wherein at least one rod of the fork scissor mechanism (2) is rotatably connected with the first chassis body (111), and at least another rod of the fork scissor mechanism (2) is rotatably and slidably connected with the second chassis body (112).

3. The handling robot according to claim 2, further comprising: a sliding assembly (5) comprising a sliding rail (51) and a sliding block (52); wherein the slide block (52) is slidably arranged on the sliding rail (51); the sliding rail (51) is mounted on the second chassis body (112), and the sliding block (52) is rotatably connected with at least one another rod of the fork scissor mechanism (2); or the sliding block (52) is mounted on the second chassis body (112), and the sliding rail (51) is rotatably connected with at least one another rod of the fork scissor mechanism (2); wherein the sliding assembly (5) is configured to realize a slide of the at least one another rod relative to the second chassis body (112).

4. The handling robot according to any one of claims 1 to 3, wherein the driving mechanism (4) comprises: a power source (41) mounted at a bottom of the pallet assembly (3); and a transmission mechanism (42) drivingly connected with the power source (41) to move under the drive of the power source (41); wherein the top end of at least one rod of the fork scissor mechanism (2) is hinged with the transmission mechanism (42), so that the fork scissor mechanism (2) is driven by the power source (41) to switch between the contracted state and the deployed state.

5. The handling robot according to claim 4, wherein the power source (41) comprises an electric motor, and the transmission mechanism (42) comprises a lead screw (421) and a sliding portion (422); the electric motor is drivingly connected with the lead screw (421) rotatably mounted at the bottom of the pallet assembly (3), and the sliding portion (422) is threadedly mated with the lead screw (421); the top end of at least one rod of the fork scissor mechanism (2) is hinged with the sliding portion (422).

6. The handling robot according to claim 5, wherein the driving mechanism (4) further comprises: a position detection element (43) mounted at the bottom of the pallet assembly (3) and corresponding to a movement limit position of the sliding portion (422); wherein the position detection element (43) is electrically connected with the electric motor, and the electric motor stops in the case that the position detection element (43) detects the sliding portion (422).

7. The handling robot according to any one of claims 1 to 6, wherein the traveling mechanism (12) comprises: a driving wheel mount (121) fixedly connected with the first chassis body (111); and a driving wheel (122) mounted on the driving wheel mount (121).

8. The handling robot according to claim 7, wherein the traveling mechanism (12) further comprises: a first walking wheel (123) mounted on the first chassis body (111); wherein the first walking wheel (123) and the two driving wheels (122) are arranged to form a triangle; and a second walking wheel (124) mounted on the second chassis body (112); wherein the second walking wheel (124) and the two driving wheels (122) are arranged to form a triangle.

9. The handling robot according to claim 7 or 8, wherein the traveling mechanism (12) further comprises: a balance mechanism (125) mounted on the driving wheel mount (121), or mounted on the first chassis body (111) or the second chassis body (112), and the balance mechanism (125) is configured to balance an action force borne by the first chassis body (111) and the second chassis body (112) of the chassis assembly (1).

10. The handling robot according to claim 9, wherein the balance mechanism (125) comprises: a connecting seat fixedly connected with the first chassis body (111); a mounting block (1251) rotatably connected with the connecting seat, wherein one end of the mounting block (1251) is fixedly connected with the second chassis body (112); and a first elastic member (1252) is between the other end of the mounting block (1251) and the top surface of the first chassis body (111).

11. The handling robot according to claim 10, wherein the connecting seat and the driving wheel mount (121) are integrated or fixedly connected; the driving wheel mount (121) comprises a mounting groove (121a) penetrating through own length direction; the driving wheel (122) is mounted on the mounting block (1251); the middle of the mounting block (1251) is located in the mounting groove (121a), and both ends of the mounting block (1251) project from the mounting groove (121a); a middle of the mounting block (1251) is rotatably connected with the driving wheel mount (121), and one end of the mounting block (1251) is fixedly connected with the second chassis body (112).

12. The handling robot according to any one of claims 9 to 11, wherein the balance mechanism (125) comprises: a counterweight mounted at an adjustable position to be mounted on the second chassis body (112).

13. The handling robot according to any one of claims 1 to 12, further comprising: a rotary limit mechanism (120) mounted between the first chassis body (111) and the second chassis body (112) to limit a relative rotation range of the first chassis body (111) and the second chassis body (112); the rotary limit mechanism (120) comprising: a driving wheel mount (121) comprising a mounting groove (121a) penetrating through own length direction and a limit groove (121c) arranged inside the mounting groove (121a); and a mounting block (1251), wherein a limiting protrusion (1251a) is provided in a middle of the mounting block (1251), and the limiting protrusion (1251a) is mated with the limiting groove (121c).

14. The handling robot according to claim 13, further comprising: a balance mechanism (125) comprising the driving wheel mount (121), the mounting block (1251) and a first elastic member (1252); wherein both ends of the mounting block (1251) project from the mounting groove (121a); one end of the mounting block (1251) is fixedly connected with the second chassis body (112), and the first elastic member (1252) is between the other end of the mounting block (1251) and a top surface of the first chassis body (111).

15. The handling robot according to any one of claims 1 to 13, further comprising: an auxiliary lifting mechanism (6) connected with the fork scissor mechanism (2), wherein the auxiliary lifting mechanism (6) is configured to apply an action force with a component in a deployed direction of the fork scissor mechanism (2) during a process of switching the fork scissor mechanism (2) from the contracted state to the deployed state; wherein the auxiliary lifting mechanism (6) has a compressed state and a restoration state.

16. The handling robot according to claim 15, wherein the auxiliary lifting mechanism (6) comprises: a mounting seat (61) fixedly connected with one of the rods of the fork scissor mechanism (2); wherein the mounting seat (61) comprises a mounting hole; a connecting shaft (62) comprising a shaft body (621), a first end (622) and a second end (623); wherein the first end (622) and the second end (623) are dispersedly fixed at both ends of the shaft (621); the shaft (621) passes through the mounting hole, and the first end (622) and the second end (623) are both located outside the mounting hole; and a second elastic member (63) is between the mounting seat (61) and the second end (623); wherein the second elastic member (63) is compressed in the case that the fork scissor mechanism (2) is in the contracted state; the second elastic member (63) is restored when the fork scissor mechanism (2) is in the deployed state.

17. The handling robot according to claim 15 or 16, wherein the fork scissor mechanism (2) is formed to be symmetric; the fork scissor mechanism (2) is mounted with two or more auxiliary lifting assemblies (6), each of which is symmetrically arranged relative to own symmetrical axis of the fork scissor mechanism (2).

18. The handling robot according to any one of claims 15 to 17, wherein the fork scissor mechanism (2) comprises two sets of linkage mechanisms (21), each of which comprising: a first link (211), one end of which is connected with the driving mechanism (4); a second link (212), a middle of which is rotatably connected with a middle of the first link (211); and one end of which is rotatably connected along with the pallet assembly (3); a third link (213), one end of which is rotatably connected with the other end of the first link (211), and the other end of which is configured to be rotatably and slidably connected with the second disk (112); and a fourth link (214), a middle of which is rotatably connected with a middle of the third link (213), one end of which is rotatably connected with the other end of the second link (212), and the other end of which is configured to be rotatably connected with the first chassis body (111).

19. The handling robot according to claim 18, wherein each set of linkage mechanisms (21) further comprises: an intermediate linkage mechanism mounted between the first link (211) and the third link (213), and between the second link (212) and the fourth link (214).

20. The handling robot according to claim 18 or 19, wherein the fork scissor mechanism (2) further comprises a reinforcing component (22) rotatably connected with the two sets of linkage mechanisms (21); the auxiliary lifting mechanism (6) is mounted on the reinforcing component (22).

21. The handling robot according to claim 20, wherein the number of the reinforcing components (22) is at least two, and the auxiliary lifting mechanism (6) is mounted on one of the reinforcing components (22); in the case that the fork scissor mechanism (2) is in the contracted state, the second end (623) of the connecting shaft (62) of the auxiliary lifting mechanism (6) abuts against another reinforcing component (22).

22. The handling robot according to any one of claims 15 to 21, wherein the auxiliary lifting mechanism (6) has the restoration state and the compressed state; in the case that the fork scissor mechanism (2) is in the deployed state, the auxiliary lifting mechanism (6) is in the restoration state; during the process of switching the fork scissor mechanism (2) from the deployed state to the contracted state, the auxiliary lifting mechanism (6) receives an action force from the fork scissor mechanism (2), and the auxiliary lifting mechanism (6) is switched from the restoration state to the compressed state.

23. An automatic warehouse, comprising the handling robot according to any one of claims 1 to 22.

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