Transport robots and automated warehouses

Abstract

The present disclosure relates to the field of automated warehouses and provides a transport robot and an automated warehouse that can better adapt to different road surfaces. The transport robot includes a chassis component, a scissor mechanism, a pallet component, and a drive mechanism. The chassis component includes a chassis body and a running mechanism, and the running mechanism is attached to the chassis body, and the chassis component includes a first chassis body and a second chassis body that are rotatably connected. The scissor mechanism is attached to the chassis body and placed on the chassis body. The scissor mechanism includes a plurality of rotatably connected rods. The scissor mechanism has a contracted state and an expanded state. The pallet component is rotatably connected to the scissor mechanism and attached to the top of the scissor mechanism. The drive mechanism is attached to the bottom of the pallet component and drivingly connected to the scissor mechanism, driving the scissor mechanism to switch between the contracted state and the expanded state. The above technical solution allows the transport robot to better adapt to different road conditions and has better driving performance.

Description

cross reference

[0001] This disclosure is based on and claims priority from Chinese application number 202410138709.1, filed on January 31, 2024, the disclosure of which is hereby incorporated in its entirety into the present disclosure. [Technical Field]

[0002] The present disclosure relates to the technical field of automated warehouses, and more particularly to transport robots and automated warehouses. [Background technology]

[0003] A transport robot is a necessary piece of equipment in an automated warehouse and comprises a chassis, a drive mechanism, a lifting mechanism, and a pallet. The transport robot is equipped with a navigation function and can automatically plan a route within the warehouse. The drive mechanism drives the lifting mechanism to raise and lower it. The lifting mechanism raises and lowers containers and other cargo, enabling the transfer of items between storage locations and the transport robot.

[0004] The inventors have found that the conventional technology has at least a problem in that the conventional transport robot cannot adapt to an uneven road surface, and when traveling on an uneven road surface, the chassis of the transport robot is likely to become unstable. Summary of the Invention

[0005] The present disclosure proposes a transport robot and an automated warehouse for improving the stability of the transport robot when traveling on different road surfaces.

[0006] An embodiment of the present disclosure provides a transport robot.

[0007] The transport robot a chassis component including a chassis body including a first chassis body and a second chassis body rotatably connected to each other and a running mechanism attached to the chassis body; a scissor mechanism attached to the chassis main body and placed on the chassis component, the scissor mechanism including a plurality of rotatably connected rods, the scissor mechanism having a contracted state and an expanded state, and switching between the contracted state and the expanded state by relative rotation of the plurality of rods; a pallet component rotatably connected to the scissor mechanism and attached to the top of the scissor mechanism; a drive mechanism attached to the bottom of the pallet component, drivingly connected to the scissor mechanism, for driving the scissor mechanism to switch between the contracted state and the deployed state.

[0008] In some embodiments, at least one rod of the scissor mechanism is rotatably connected to the first chassis body, and at least another rod of the scissor mechanism is rotatably and slidably connected to the second chassis body.

[0009] In some embodiments, the transport robot further includes a slide means including a slide rail and a slider, the slider being slidably mounted on the slide rail, the slide rail being attached to the second chassis body, and the slider being rotatably connected to at least one other rod of the scissor mechanism, or the slider being attached to the second chassis body, and the slide rail being rotatably connected to at least one other rod of the scissor mechanism, The sliding means is configured to allow the at least another rod to float and slip relative to the second chassis body.

[0010] In some embodiments, the drive mechanism comprises: a power source attached to the bottom of the pallet component; a transmission mechanism drivingly connected to the power source so as to be operable by being driven by the power source; A tip of at least one of the rods of the scissor mechanism is hinged to the transmission mechanism so that the scissor mechanism can be switched between the contracted state and the deployed state by being driven by the power source.

[0011] In some embodiments, the power source includes a motor, the transmission mechanism includes a lead screw and a slide, the motor is drivingly connected to the lead screw, the lead screw is rotatably mounted to the bottom of the pallet component, the slide is threadedly engaged with the lead screw, and the tip of at least one of the rods of the scissor mechanism is hinged to the slide.

[0012] In some embodiments, the drive mechanism further comprises a position sensing element; The position detection element is attached to the bottom of the pallet component and corresponds to the movement limit position of the slide section, the position detection element is electrically connected to the motor, and the motor stops when the position detection element detects the slide section.

[0013] In some embodiments, the running mechanism comprises: a drive wheel holder fixedly connected to the first chassis body; a drive wheel attached to the drive wheel holder.

[0014] In some embodiments, the traveling mechanism further comprises: a first running wheel attached to the first chassis body and arranged to form a triangle with the two drive wheels; A second running wheel is attached to the second chassis body and is arranged to form a triangle with the two drive wheels.

[0015] In some embodiments, the running mechanism further comprises a balance mechanism; The balance mechanism is attached to the drive wheel holder, or to the first chassis body, or to the second chassis body, and is configured to balance the acting forces applied to the first chassis body and the second chassis body of the chassis component.

[0016] In some embodiments, the balancing mechanism comprises: a connecting seat fixedly connected to the first chassis body; a mounting block rotatably connected to the connecting seat and having one end fixedly connected to the second chassis body; a first elastic member sandwiched between the other end of the mounting block and the top surface of the first chassis body.

[0017] In some embodiments, the connection seat is integral with or fixedly connected to the drive wheel holder, the drive wheel holder includes a mounting groove passing through its longitudinal direction, the drive wheel is mounted to the mounting block, the central portion of the mounting block is located within the mounting groove, both ends of the mounting block protrude from the mounting groove, the central portion of the mounting block is rotatably connected to the drive wheel holder, and one end of the mounting block is fixedly connected to the second chassis body.

[0018] In some embodiments, the balancing mechanism includes a weight attached to the second chassis body in an adjustable attachment position.

[0019] In some embodiments, the transport robot further includes a rotation limiting mechanism attached between the first chassis body and the second chassis body so as to limit a relative rotation range between the first chassis body and the second chassis body; The rotation limiting mechanism is a drive wheel holder including an attachment groove penetrating the drive wheel holder in a longitudinal direction thereof and a limit groove provided inside the attachment groove; and a mounting block having a limit protrusion at the center that fits into the limit groove.

[0020] In some embodiments, the transport robot further includes a balance mechanism including the drive wheel holder, the mounting block, and a first elastic member; Both ends of the mounting block protrude from the mounting groove, one end of the mounting block is fixedly connected to the second chassis body, and the first elastic member is sandwiched between the other end of the mounting block and the top surface of the first chassis body.

[0021] In some embodiments, the transport robot further includes an assist lift mechanism connected to the scissor mechanism and including a compressed state and a return state; The assist lift mechanism is configured to apply an acting force having a component in the direction of deployment of the scissor mechanism to the scissor mechanism in the process of switching the scissor mechanism from a contracted state to a deployed state.

[0022] In some embodiments, the assisted lift mechanism includes a mounting holder including a mounting through-hole, a connecting shaft, and a second elastic member; the mounting holder is fixedly connected to the rod of one of the scissor mechanisms; the connecting shaft includes a shaft body, a first end, and a second end, the first end and the second end being fixed to both ends of the shaft body in a distributed manner, the shaft body passes through the mounting through-hole, and the first end and the second end are both located outside the mounting through-hole, the second elastic member is interposed between the mounting holder and the second end, When the scissor mechanism is in a contracted state, the second elastic member is compressed, and when the scissor mechanism is in an expanded state, the second elastic member is restored.

[0023] In some embodiments, the scissor mechanism is configured symmetrically and has two or more assisted lift mechanisms attached thereto, each symmetrically positioned about the scissor mechanism's own axis of symmetry.

[0024] In some embodiments, the scissor mechanism includes two sets of linkages; Each link mechanism includes a first link, a second link, a third link, and a fourth link, One end of the first link is connected to the drive mechanism, a central portion of the second link rotatably connected to a central portion of the first link, and one end of the second link rotatably connected to the pallet component; One end of the third link is rotatably connected to the other end of the first link, and the other end of the third link is rotatably and slidably connected to the second chassis body; The central portion of the fourth link is rotatably connected to the central portion of the third link, one end of the fourth link is rotatably connected to the other end of the second link, and the other end of the fourth link is rotatably connected to the first chassis body.

[0025] In some embodiments, each linkage further includes an intermediate linkage; The intermediate link mechanism is attached between the first link and the third link and between the second link and the fourth link.

[0026] In some embodiments, the scissor mechanism further comprises a stiffening means rotatably connected to both of the two sets of linkages, and the assisted lift mechanism is attached to the stiffening means.

[0027] In some embodiments, the number of the reinforcing means is at least two, the assisted lift mechanism is attached to one of the reinforcing means, and when the scissor mechanism is in a contracted state, the second end of the connecting shaft of the assisted lift mechanism abuts against the other reinforcing member.

[0028] In some embodiments, the assisted lift mechanism includes a return state and a compressed state; When the scissor mechanism is in the deployed state, the assist lift mechanism is in the restored state; In the process of the scissor mechanism switching from the deployed state to the contracted state, the assist lift mechanism receives the acting force of the scissor mechanism, and the assist lift mechanism switches from the restored state to the compressed state.

[0029] An embodiment of the present disclosure provides an automated warehouse including a transport robot provided by any of the technical solutions of the present disclosure.

[0030] The above invention provides a transport robot including a chassis component, a scissor mechanism, a pallet component, and a drive mechanism. The chassis body of the chassis component includes a first chassis body and a second chassis body that are rotatably connected to each other, and the two chassis bodies of the chassis body are relatively rotatable. The chassis component is a hinged chassis, which allows it to adapt to more complex and uneven road conditions. In addition, in the technical solution of this application, the drive mechanism is attached to the bottom of the pallet component rather than to the chassis component, thereby reducing and even avoiding the instability of the chassis component caused by the acting force when the drive mechanism drives the scissors to lift and lower. This allows the transport robot to better adapt to different road conditions, has stronger ground adaptability, significantly improves transport stability, and has better running performance. [Brief explanation of the drawings]

[0031] FIG. 1 is a schematic diagram of a transport robot in a contracted state according to an embodiment of the present disclosure.

[0032] FIG. 2 is a schematic diagram of a transport robot in a deployed state according to an embodiment of the present disclosure.

[0033] FIG. 3 is a perspective structural schematic diagram of a chassis component of a transfer robot according to an embodiment of the present disclosure.

[0034] FIG. 4 is another perspective structural schematic diagram of a chassis component of a transport robot according to an embodiment of the present disclosure.

[0035] FIG. 5 is a schematic perspective structural view of a transfer robot according to an embodiment of the present disclosure.

[0036] FIG. 6 is another perspective structural schematic diagram of a transfer robot according to an embodiment of the present disclosure.

[0037] FIG. 7 is a perspective structural schematic diagram of a scissor mechanism of a transfer robot in an unfolded state according to an embodiment of the present disclosure.

[0038] FIG. 8 is a perspective structural schematic diagram of a scissor mechanism of a transfer robot in a contracted state according to an embodiment of the present disclosure.

[0039] FIG. 9 is a schematic front view of a scissor mechanism of a transfer robot in a contracted state according to an embodiment of the present disclosure.

[0040] FIG. 10 is a schematic diagram of forces acting on a chassis component of a drive wheel holder of a transport robot according to an embodiment of the present disclosure.

[0041] FIG. 11 is a perspective structural schematic diagram of a pallet component of a transport robot according to an embodiment of the present disclosure.

[0042] FIG. 12 is a schematic diagram of a bottom perspective structure of a pallet component of a transport robot according to an embodiment of the present disclosure.

[0043] FIG. 13 is another bottom perspective structural schematic diagram of a pallet component of a transport robot according to an embodiment of the present disclosure.

[0044] FIG. 14 is yet another perspective structural schematic diagram of a pallet component of a transport robot according to an embodiment of the present disclosure, viewed from the bottom.

[0045] FIG. 15 is a perspective structural schematic diagram of a chassis component of a transport robot according to an embodiment of the present disclosure.

[0046] FIG. 16 is a schematic diagram of an exploded structure of a drive wheel holder and a balance mechanism of a chassis component of a transport robot according to an embodiment of the present disclosure.

[0047] FIG. 17 is a perspective structural schematic diagram of a traveling mechanism of a chassis component of a transfer robot according to an embodiment of the present disclosure.

[0048] FIG. 18 is another perspective structural schematic diagram of a traveling mechanism of a chassis component of a transfer robot according to an embodiment of the present disclosure.

[0049] FIG. 19 is a perspective schematic view of an assistive lift mechanism of a transport robot in a return state according to an embodiment of the present disclosure.

[0050] FIG. 20 is a perspective schematic view of an assisted lift mechanism of a transport robot in a compressed state according to an embodiment of the present disclosure.

[0051] FIG. 21a is a schematic diagram of a transport robot according to an embodiment of the present disclosure traveling on a flat road surface.

[0052] FIG. 21b is a schematic diagram of a transport robot according to an embodiment of the present disclosure traveling on rough ground.

[0053] FIG. 22 is a schematic diagram of the connections of a transfer robot according to another embodiment of the present disclosure (with the scissor mechanism retracted).

[0054] FIG. 23 is a schematic diagram of the connections of a transfer robot according to another embodiment of the present disclosure (with the scissor mechanism deployed).

[0055] FIG. 24 is a structural schematic diagram of a drive mechanism of a transport robot according to another embodiment of the present disclosure. [Explanation of symbols]

[0056] 1, chassis component; 2, scissor mechanism; 3, pallet component; 4, driving mechanism; 5, sliding means; 6, assist lift mechanism; 11, chassis body; 12, running mechanism; 111, first chassis body; 112, second chassis body; 121, driving wheel holder; 122, driving wheel; 123, first running wheel; 124, second running wheel; 125, balance mechanism; 1251, mounting block; 1252, first elastic member; 1253, rotation shaft; 120, rotation limiting mechanism; 21, link mechanism; 22, reinforcing means; 211, first link; 212, second link; 213, third link; 214, fourth link; 215, first hinge holder; 216, second hinge holder; 31, pallet; 32, guard; 33, positioning pin; 41, power source; 42, transmission mechanism; 43, position detection element; 44, motor holder; 45, bearing holder; 46, coupling; 47, guide mechanism; 421, feed screw; 422, slide portion; 471, guide block; 472, guide rail; 51, slide rail; 52, slider; 61, mounting holder; 62, connecting shaft; 621, shaft body; 622, first end; 623, second end; 63, second elastic member DETAILED DESCRIPTION OF THE INVENTION

[0057] The technical solutions of the present disclosure will be described in detail below with reference to FIGS. 1 to 24. The description of the exemplary embodiments is for illustrative purposes only and does not limit the present disclosure and its applications or uses. The present disclosure may be embodied in many different forms, not limited to the embodiments described herein. These embodiments are provided so that this application will be thorough and comprehensive, and will fully convey the scope of the present disclosure to those skilled in the art. Unless otherwise specified, the relative arrangement of components and steps, compositions of materials, and numerical expressions and values ​​described in these embodiments should be construed as merely illustrative and not limiting.

[0058] As used in this disclosure, the terms "first," "second," and similar terms do not denote order, quantity, or importance, but are used only to distinguish different parts. Similar terms such as "comprise" or "include" mean that the elements listed before the term include the elements listed after the term, and do not exclude the possibility of including other elements.

[0059] In this disclosure, when a particular device is described as being located between a first device and a second device, there may or may not be an intermediate device between the particular device and the first or second device. When a particular device is described as being connected to another device, the particular device may be directly connected to the other device without an intermediate device, or may be indirectly connected via an intermediate device.

[0060] Unless otherwise defined, all terms (including technical or scientific terms) used in this disclosure have the same meaning as understood by a person skilled in the art of this disclosure. Furthermore, unless otherwise defined, terms defined in common dictionaries should be interpreted in a meaning consistent with the meaning in the context of the relevant art, and should not be interpreted in an idealized or overly formalized sense.

[0061] Techniques, methods and devices known to those skilled in the relevant arts will not be discussed in detail, but where appropriate, the techniques, methods and devices are deemed to be part of the specification.

[0062] The dimensions of each part shown in the drawings are not drawn to actual proportions. In each drawing, common structural elements or structural elements of the same type are designated by the same reference numerals, and redundant descriptions thereof will be omitted as appropriate.

[0063] For convenience of explanation, Fig. 1 shows a schematic longitudinal direction L and a width direction W of the transport robot. In Fig. 1 and Fig. 2, the left side is the front and the right side is the rear.

[0064] 1 and 2 , some embodiments of the present disclosure provide a transport robot including a chassis component 1, a scissor mechanism 2, a pallet component 3, and a drive mechanism 4. The chassis component 1 includes a chassis body 11 and a traveling mechanism 12. The traveling mechanism 12 is attached to the chassis body 11, and the chassis component 1 includes a first chassis body 111 and a second chassis body 112 that are rotatably connected to each other. The scissor mechanism 2 is attached to the chassis body 11 and is mounted on the chassis component 1. The scissor mechanism 2 includes a plurality of rods that are rotatably connected to each other. The scissor mechanism 2 includes a contracted state and an expanded state. The scissor mechanism 2 is switched between the contracted state and the expanded state by relative rotation of the plurality of rods. The pallet component 3 is rotatably connected to the scissor mechanism 2, and the pallet component 3 is attached to an upper portion of the scissor mechanism 2. The drive mechanism 4 is attached to the bottom of the pallet component 3, and the drive mechanism 4 is drivingly connected to the scissor mechanism 2 to drive the scissor mechanism 2 to switch between a contracted state and an expanded state.

[0065] Referring to FIGS. 3 to 6, the chassis component 1 uses a first chassis body 111 and a second chassis body 112 that are rotatably connected. This type of chassis component 1 is also called a hinge chassis. The first chassis body 111 and the second chassis body 112 rotate relative to each other within a limited angular range so that the chassis component 1 can more effectively adapt to uneven ground. The drive mechanism 4 is attached to the pallet component 3 rather than the chassis component 1. This structure also improves the load and force-bearing capacity of the chassis component 1, making the chassis component 1 more stable and preventing instability due to the drive mechanism 4 driving the scissors to retract / deploy and receiving a reaction force. In addition, the structure of the chassis component 1 is simplified, allowing the use of a hinge chassis for the chassis component 1.

[0066] The first chassis body 111 and the second chassis body 112 are both generally flat, and together they form a square, smooth rectangular structure as a whole, with the middle region of the first chassis body 111 facing the edge of the second chassis body 112 being convex, and the middle region of the second chassis body 112 facing the edge of the first chassis body 111 being concave. The first chassis body 111 and the second chassis body 112 are rotatably connected to their respective edges, and the edges of the first chassis body 111 and the second chassis body 112 are provided with internal recesses that provide space for mounting the traveling mechanism 12, so that after the traveling mechanism 12 is mounted, the overall width of the transport robot is within the design requirements and the traveling mechanism 12 does not protrude beyond the width direction W of the traveling mechanism 12.

[0067] 5 and 6 , the chassis component 1 serves as the mounting structure for the entire transport robot. The scissor mechanism 2 is located between the pallet component 3 and the chassis. The chassis component 1 mounts the scissor mechanism 2, which is mounted commonly on the first chassis body 111 and the second chassis body 112. In some embodiments, at least one rod of the scissor mechanism 2 is rotatably connected to the first chassis body 111, and at least another rod of the scissor mechanism 2 is rotatably and slidably connected to the second chassis body 112. As the scissor mechanism 2 switches between the contracted state and the deployed state, the pallet component 3 is raised and lowered, and an article positioned on the top of the pallet component 3 is also raised and lowered along with the pallet component 3. The raising and lowering movement of the pallet component 3 is realized by the driving action of the drive mechanism 4. The pallet component 3 is a load mounting mechanism and can achieve any height change of the load within the stroke of the scissor mechanism 2.

[0068] 3 to 6, the traveling mechanism 12 includes a drive wheel holder 121 and drive wheels 122. The drive wheel holder 121 is fixedly connected to the first chassis body 111. The drive wheels 122 are attached to the drive wheel holder 121. There are two drive wheel holders 121 and two drive wheels 122, and the drive wheel holders 121 and the drive wheels 122 are arranged in one-to-one correspondence. The drive wheel holder 121 provides a base for attaching the drive wheels 122, and the drive wheel holder 121 may have various structures and shapes, and the embodiments of the present disclosure are not limited thereto.

[0069] To ensure smoother running of the chassis component 1, the running mechanism 12 further includes a first running wheel 123 and a second running wheel 124. Both the first running wheel 123 and the second running wheel 124 are swivel wheels. The first running wheel 123 is attached to the first chassis body 111, and the second running wheel 124 is attached to the second chassis body 112. The first running wheel 123 and the two drive wheels 122 are arranged in a triangle. The second running wheel 124 and the two drive wheels 122 are also arranged in a triangle. There is a certain angle difference between the two planes formed by the two triangles, and the rotation center axis of the two triangles is the connecting line of the rotation shafts 1253 on both sides. In an uneven road condition, the first chassis body 11 and the second chassis body 112 rotate relatively to adapt to the ground and keep the loading level stable, allowing the transport robot to adapt to road surfaces with more shapes and steps.

[0070] 3 , 4 , 15 , and 16 , in some embodiments, the traveling mechanism 12 further includes a balancing mechanism 125 attached to the drive wheel holder 121, the first chassis body 111, or the second chassis body 112. The balancing mechanism 125 is configured to balance the forces applied to the first chassis body 111 and the second chassis body 112 of the chassis component 1. In the above-described embodiments, the load of the first chassis body 111 is arranged to be larger than that of the second chassis body 112. In order to make the lift mechanism more stable, in some embodiments, the balancing mechanism 125 is provided to balance the loads of the first chassis body 111 and the second chassis body 112. Specifically, the running mechanism 12 further includes a balance mechanism 125 attached to the drive wheel holder 121, the first chassis body 111, or the second chassis body 112, and the balance mechanism 125 is configured to balance the acting forces applied to the first chassis body 111 and the second chassis body 112 of the chassis component 1.

[0071] The balancing mechanism 125 can have a variety of structural configurations. In some embodiments, the balancing mechanism 125 is integrated with the rotation limiting mechanism 120, which will be described below, or the balancing mechanism 125 is located separately from the rotation limiting mechanism 120.

[0072] When the balancing mechanism 125 is arranged separately, the balancing mechanism 125 includes a connecting seat (not shown), a mounting block 1251, and a first elastic member 1252. The connecting seat is fixedly connected to the first chassis body 111. The mounting block 1251 is rotatably connected to the connecting seat, and one end of the mounting block 1251 is fixedly connected to the second chassis body 112. The first elastic member 1252 is sandwiched between the other end of the mounting block 1251 and the upper surface of the first chassis body 111. Specifically, the first elastic member 1252 uses a compression spring. The action of the first elastic member 1252 balances the loads of the first chassis body 111 and the second chassis body 112.

[0073] 15 and 16, the balance mechanism 125 is used to mount the drive wheel 122. Specifically, the connecting seat and the drive wheel holder 121 are integrally or fixedly connected. The drive wheel holder 121 includes a mounting groove 121a that penetrates the drive wheel holder 121 in the longitudinal direction, and the drive wheel 122 is mounted to a mounting block 1251. The central portion of the mounting block 1251 is located within the mounting groove 121a, and both ends of the mounting block 1251 protrude from the mounting groove 121a. The central portion of the mounting block 1251 is rotatably connected to the drive wheel holder 121, and one end of the mounting block 1251 is fixedly connected to the second chassis body 112. The balance mechanism 125 also functions as a mounting mechanism for the drive wheel 122 and is compactly configured.

[0074] In some embodiments, the transfer robot further includes a rotation limiting mechanism 120. The rotation limiting mechanism 120 is attached between the first chassis body 111 and the second chassis body 112 to limit the relative rotation range between the first chassis body 111 and the second chassis body 112 so that the relative rotation between the first chassis body 111 and the second chassis body 112 does not exceed a set rotation threshold.

[0075] In some embodiments, the rotation limiting mechanism 120 is an independent mechanism, and in other embodiments, the rotation limiting mechanism 120 is integrated with the mounting mechanism of the drive wheel 122. Specifically, the rotation limiting mechanism 120 includes a drive wheel holder 121 and a mounting block 1251. The drive wheel holder 121 has a mounting groove 121a that penetrates the drive wheel holder 121 in the longitudinal direction, and a limit groove 121c provided inside the mounting groove 121a. A limit protrusion 1251a that engages with the limit groove 121c is provided in the center of the mounting block 1251.

[0076] In another embodiment, the rotation limiting mechanism 120 and the balancing mechanism 125 are integrated. The balancing mechanism 125 includes the drive wheel holder 121, a mounting block 1251, and a first elastic member 1252. Both ends of the mounting block 1251 protrude from the mounting groove 121a, and one end of the mounting block 1251 is fixedly connected to the second chassis body 112. The first elastic member 1252 is sandwiched between the other end of the mounting block 1251 and the top surface of the first chassis body 111.

[0077] The above technical solution integrates the rotation limiting mechanism 120, the balancing mechanism 125, and the mounting mechanism of the drive wheel 122, and achieves multiple technical effects of rotation limiting, balancing, and mounting the drive wheel 122 using fewer components. The structure is compact, ingenious, and lightweight, and the carrying capacity of the transport robot is increased.

[0078] 10 and 16 to 18 , the transfer robot tends to tip forward due to the arrangement of the power transmission mechanism 42 and the assist lift mechanism 6 on the first chassis body 111 side of the entire vehicle, as well as the layout of electrical components and other mechanisms on the chassis component 1. This tendency to tip forward increases as the pallet 31 rises. This tendency to tip forward reduces the stability of the vehicle and also causes a decrease in pressure when the traveling mechanism 12 contacts the ground, which can affect speed parameters such as acceleration. To counterbalance the tendency to tip forward, improve stability, and increase the pressure N1 of the chassis component 1 against the ground, a first elastic member 1252 is installed on one end of the mounting block 1251. The first elastic member 1252 presses against the first chassis body 11, applying a reaction force N2 to the mounting block 1251 and transmitting the pressure to the second chassis body 112, thereby counterbalancing the tendency to tip forward.

[0079] Returning to Figure 10, Figure 10 schematically shows the force-receiving characteristics of the traveling mechanism 12. The drive wheel holder 121 and the mounting block 1251 are rotatably connected, and the first chassis body 111 and the second chassis body 112 are rotatably connected. When the lift mechanism has a tendency to tip forward, one end of the fixed connection between the mounting block 1251 and the second chassis body 112 receives a force pressing down on the second chassis body 112, and the first elastic member 1252 applies an upward acting force to the other end of the mounting block 1251. In this way, by pressing down on the second chassis body 112, the loads of the first chassis body 111 and the second chassis body 112 are balanced as much as possible.

[0080] 16, the mounting block 1251 has a protruding surface M. The protruding surface M engages with the lower surface (the inner groove surface and the extended surface) of the drive wheel holder 121 to stop and limit the rotation of the traveling mechanism 12.

[0081] In another embodiment, the balance mechanism 125 includes a weight (not shown) attached to the second chassis body 112. The attachment position of the weight is adjustable. The weight of the weight is adjusted according to the load of the pallet component 3, and there may be one or more weights.

[0082] In another embodiment, when the load of the first chassis body 111 and the second chassis body 112 is balanced by rationally arranging the positions of components such as the controller and battery of the transport robot, no separate weight is required.

[0083] 5 to 8, the scissor mechanism 2 is made up of a plurality of rotatably connected links, and the motion mode of the scissor mechanism 2 is contraction / expansion. The contraction and expansion of the scissor mechanism 2 is achieved by changing the magnitude of the angle between the links.

[0084] Specifically, the scissor mechanism 2 includes two sets of link mechanisms 21. The two sets of link mechanisms 21 are arranged symmetrically with respect to the central axis L of the scissor mechanism 2, and the central axis L is shown in FIG. 2 or FIG. 7.

[0085] Each connection mechanism includes four connection points: two upper connection points and two lower connection points. Of the two upper connection points, connection point A is slidable and rotatable relative to the bottom of the pallet component 3, and connection point A slides linearly relative to the pallet component 3 and also rotates relative to the pallet component 3. Connection point B is hinged to the bottom of the pallet component 3. Connection point B only rotates relative to the pallet component 3 and does not translate relative to the pallet component 3.

[0086] Of the two lower connection points, connection point C is slidable and rotatable relative to the bottom of pallet component 3. Connection point C slides linearly relative to chassis component 1 and also rotates relative to pallet component 3. The sliding resistance of connection point C relative to chassis component 1 is ignored. Referring to Figures 21a and 21b, when the lift mechanism is subjected to external force or on uneven ground, connection point C of the scissors automatically slides a certain amount in accordance with the road surface. Although the amount of sliding is small, it effectively improves the lift mechanism's ability to pass through different road surfaces and makes the lift mechanism's running performance better. Connection point D is hinged to the bottom of chassis component 1. Connection point D only rotates relative to chassis component 1 and does not move in a translational manner relative to chassis component 1.

[0087] The scissor mechanism 2 includes two sets of link mechanisms 21, each including 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 to the drive mechanism 4, specifically, hinged. The second link 212 and the first link 211 form an X-shape. A central portion of the second link 212 is rotatably connected to a central portion of the first link 211. One end of the second link 212 is rotatably connected to the pallet component 3, specifically, configured to be hinged via a first hinge holder 215. One end of the third link 213 is rotatably connected to 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 to the second chassis body 112. The fourth link 214 and the third link 213 form an X-shape. The central portion of the fourth link 214 is rotatably connected to the central portion of the third link 213, one end of the fourth link 214 is rotatably connected to the other end of the second link 212, and the other end of the fourth link 214 is rotatably connected to the first chassis body 111, specifically configured to be hinged via the second hinge holder 216.

[0088] Here, taking an example in which two sets of link mechanisms 21 are provided in the scissor mechanism 2, the two sets of link mechanisms have the same structure. The two sets of link mechanisms 21 are arranged on two edges in the width direction of the pallet component 3, and the two link mechanisms 21 increase the number of force-receiving positions of the pallet component 3 and make the force-receiving positions more balanced.

[0089] 5 and 6, the first link 211 and the third link 213 are hinged at their ends, the first link 211 and the second link 212 are hinged at their middle, the second link 212 and the fourth link 214 are hinged at their ends, and the third link 213 and the fourth link 214 are hinged at their middle, and the scissor mechanism 2 as a whole is made up of multiple X-shaped rods hinged at their ends.

[0090] The number of links is set according to the distance the scissor mechanism 2 moves up and down, and here, an example is shown in which four links are provided for each link mechanism 2111. In other embodiments, more links are provided as needed. In some embodiments, each link mechanism 2111 further includes an intermediate link mechanism (not shown) attached 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 an X-shaped structure. By providing the intermediate link mechanism, the distance the scissor mechanism 2 moves up and down can be increased, thereby realizing a wider range of lifting heights.

[0091] The above is an example in which the third link 213 is rotatably and slidably connected to the second chassis body 112, and the fourth link is rotatably connected to the first chassis body 111. In other embodiments, the third link 213 is rotatably connected to the second chassis body 112, and the fourth link is rotatably and slidably connected to the first chassis body 111. When arranging each component of the transport robot, it is necessary to consider the load balance in each area of ​​the transport robot.

[0092] Continuing to refer to Figures 5 and 8, one end of each of the first links 211 of the two sets of link mechanisms 21 is connected to the drive mechanism 4, and a force is applied to the two first links 211 via the drive mechanism 4 to contract / deploy the scissor mechanism 2.

[0093] When the scissor mechanism 2 is in a retracted state, the link angle of the entire mechanism is at its smallest, making it difficult to change the shape of the scissor mechanism 2. In the process of switching the scissor mechanism 2 from a retracted state to an expanded state, the drive mechanism 4 needs to provide a large drive force, and by installing the assist lift mechanism 6, it becomes easier for the scissor mechanism 2 to switch from a retracted state to an expanded state, reducing the required drive force of the drive mechanism 4, making the drive mechanism 4 more compact and requiring less power, thereby extending the service life of the drive mechanism 4 and improving overall stability.

[0094] 5, 6, or 7, the scissor mechanism 2 further includes a reinforcing means 22. The reinforcing means 22 is rotatably connected to both of the two sets of link mechanisms 21. The auxiliary lift mechanism 6 is attached to the reinforcing means 22. The reinforcing means 22 is a rod, a rib, or the like. The number of reinforcing means 22 may be one or more. In this example, two reinforcing means 22 are provided, and the auxiliary lift mechanism 6 is provided on the upper reinforcing means 22. When the link mechanisms 21 are deployed, the auxiliary lift mechanism 6 does not function. When the link mechanisms 21 are contracted, that is, when the pallet component 3 is lowered to a certain extent (not at the lowest position), the auxiliary lift mechanism 6 acts on the lower reinforcing means 22, and the auxiliary lift mechanism 6 shares a certain load action and reduces the motor action load of the drive mechanism 4. The auxiliary lift mechanism 6 plays an important role in extending the motor life and stably switching the state of the transport robot.

[0095] A plurality of reinforcing means 22 are distributed and arranged at different positions on the two sets of link mechanisms 21, and the two sets of link mechanisms 21 are integrated by the reinforcing means 22, and synchronously contract and deploy. Furthermore, the structural strength of the scissor mechanism 2 can be improved, and the load-bearing capacity can be increased.

[0096] 19 or 20 , in some embodiments, the transport robot further includes an assist lift mechanism 6. The assist lift mechanism 6 is connected to the scissor mechanism 2. The assist lift mechanism 6 is configured to apply an acting force having a component in the deployment direction of the scissor mechanism 2 to the scissor mechanism 2 in the process of the scissor mechanism 2 switching from the contracted state to the deployed state. Here, the assist lift mechanism 6 includes a compressed state and a restored state.

[0097] 6 to 8 and 19 to 20 , in some embodiments, the assist lift mechanism 6 includes a mounting holder 61, a connecting shaft 62, and a second elastic member 63. The mounting holder 61 is fixedly connected to one rod of the scissor mechanism 2. The mounting holder 61 has a mounting through-hole. The connecting shaft 62 includes a shaft body 621, a first end 622, and a second end 623. The first end 622 and the second end 623 are fixed to opposite ends of the shaft body 621, and the shaft body 621 passes through the mounting through-hole. The first end 622 and the second end 623 are both located outside the mounting through-hole. The second elastic member 63 is interposed between the mounting holder 61 and the second end 623. The second elastic member 63 uses a compression spring having a compressive pretension. Here, when the scissor mechanism 2 is in a contracted state, the second elastic member 63 is compressed. When the scissors mechanism 2 is in the deployed state, the second elastic member 63 returns to its original position.

[0098] Specifically, the mounting holder 61 of the assist lift mechanism 6 is fixedly connected to one of the reinforcing means 22 of the scissor mechanism 2, and this reinforcing means 22 is provided with a mounting hole (not shown). The mounting holder 61 is attached to the mounting hole of the reinforcing means 22. The mounting holder 61 moves synchronously with this reinforcing member 22, and the reinforcing member 22 and the mounting holder 61 are relatively stationary. As the scissor mechanism 2 contracts, the second end 623 of the connecting shaft 62 of the assist lift mechanism 6 abuts against the other reinforcing means 22 so that the second elastic member 63 is compressed.

[0099] The assist lift mechanism 6 includes a return state and a compression state. When the scissor mechanism 2 is in the deployed state, the assist lift mechanism 6 is in the return state. In the process of the scissor mechanism 2 switching from the deployed state to the contracted state, the assist lift mechanism 6 receives the acting force of the scissor mechanism 2, and the assist lift mechanism 6 switches from the return state to the compression state.

[0100] Referring to Figure 19, when the assist lift mechanism 6 is in the return state, the second elastic member 63 is in the return state, the mounting holder 61 abuts against the first end 622 of the connecting shaft 62, and the second elastic member 63 is positioned between the mounting holder 61 and the second end 623 of the connecting shaft 62.

[0101] 20, when the assist lift mechanism 6 is in a compressed state, the scissor mechanism 2 is also in a contracted state, the mounting holder 61 is closest to the chassis component 1, the mounting holder 61 is fixed to the scissor mechanism 2, and the mounting holder 61 is located approximately at the midpoint of the connecting shaft 62. The other end of the connecting shaft 62 abuts against the reinforcing member 22, which will be described later. The second elastic member 63 is located between the second end of the connecting shaft 62 and the mounting holder 61, the length of the second elastic member 63 is shortest, and the second elastic member 63 is in a compressed state.

[0102] Next, the operating principle of the assist lift mechanism 6 will be explained.

[0103] In some embodiments, the assist lift mechanism 6 includes a return state and a compression state. When the scissor mechanism 2 is in the deployed state, the assist lift mechanism 6 is in the return state. In the process of the scissor mechanism 2 switching from the deployed state to the contracted state, the assist lift mechanism 6 is subjected to the acting force of the scissor mechanism 2 (specifically, the pressing force exerted by the scissor mechanism 2 and a first link (described later) jointly pressing the assist lift mechanism 6), and the assist lift mechanism 6 switches from the return state to the compression state.

[0104] When the scissor mechanism 2 is in a contracted state, the support lift mechanism 6 is in a compressed state. When the scissor mechanism 2 is in an deployed state, the support lift mechanism 6 is in a returned state. Specifically, in the process of the scissor mechanism 2 switching from the deployed state to the contracted state, the support lift mechanism 6 is subjected to the acting force of the scissor mechanism 2, and the support lift mechanism 6 switches from the returned state to the compressed state. The deployment direction of the scissor mechanism 2 is along the height direction of the scissor mechanism 2. When the scissor mechanism 2 is in a contracted state, the height of the scissor mechanism 2 is at its lowest, and when the scissor mechanism 2 is in an deployed state, the height of the scissor mechanism 2 is at its highest. The direction H shown in FIG. 10 is the deployment direction of the scissor mechanism 2 and is also the height direction of the scissor mechanism 2.

[0105] 19 or 20, a recessed chamber is provided in the mounting holder 61 to more firmly mount the second elastic member 63. The opening of the recessed chamber faces the second elastic member 63, one end of the second elastic member 63 abuts against the bottom of the recessed chamber, and the other end of the second elastic member 63 abuts against the second end 623 of the connecting shaft 62.

[0106] Returning to FIG. 5 or 6, the scissor mechanism 2 is configured symmetrically. Two or more support lift mechanisms 6 are attached to the scissor mechanism 2. The support lift mechanisms 6 are each arranged symmetrically with respect to the axis of symmetry of the scissor mechanism 2 itself. In another embodiment, the two support lift mechanisms 6 have the same structure, and the two support lift mechanisms 6 operate synchronously, eliminating the need for an additional power source 41 and enabling the support lift mechanisms 6 to be switched from the return state to the contracted state by directly using the drive mechanism 4 of the transport robot.

[0107] When the scissor mechanism 2 is in a contracted state, the second end 623 of the connecting shaft 62 of the assist lift mechanism 6 abuts against one of the reinforcing means 22 .

[0108] 11 and 12, the pallet component 3 includes a pallet 31 and a guard 32 provided around the pallet 31. The pallet 31 is substantially rectangular. The guard 32 protrudes toward the bottom surface of the pallet 31 and blocks the drive mechanism 4 attached to the bottom surface of the pallet 31. The guard 32 extends downward around the pallet 31 and serves to protect the internal drive and transmission mechanisms.

[0109] In some embodiments, the pallet 31 is provided with positioning members such as positioning holes or positioning pins 33. The positioning members mate with corresponding guide holes on the bottom surface of the container or cargo when mated with the pallet to accurately position the cargo on the pallet, thereby providing better positioning and guiding, and improving the stability of mating and transportation. Referring to Figures 12 and 13, when the scissor mechanism 2 is in the contracted state, the slide portion 422, which will be described below, is located at one end of the slide groove. When the scissor mechanism 2 is in the unfolded state, the slide portion 422 is located at the other end of the slide groove.

[0110] 12 and 13, the drive mechanism 4 includes a power source 41 and a transmission mechanism 42. The power source 41 is attached to the bottom of the pallet component 3, and the transmission mechanism 42 is drivingly connected to the power source 41 so as to move when driven by the power source 41. Here, a tip of at least one rod of the scissor mechanism 2 is hinged to the transmission mechanism 42 so that the scissor mechanism 2 can be switched between a contracted state and an expanded state when driven by the power source 41.

[0111] The power source 41 includes a motor configured to supply rotational power. The motor is attached to a motor holder 44, which is fixed to the bottom of the pallet component 3. The transmission mechanism 42 includes a feed screw 421 and a slide portion 422. The motor is drivingly connected to the feed screw 421 via a coupling 46. The feed screw 421 converts the rotation of the motor into linear motion of the slide portion 422. Mounting bearings are provided on both ends of the feed screw 421, and the bearings are supported by bearing holders 45. The feed screw 421 is also attached to the bottom of the pallet component 3. The slide portion 422 is attached to the feed screw 421, and the two are threadedly engaged. The tip of at least one rod of the scissor mechanism 2 (specifically, the first link 211) is hinged to the slide portion 422. Linear movement of the slide portion 422 relative to the feed screw 421 causes the first link 211 of the scissor mechanism 2 to reciprocate, thereby lifting and lowering the scissor mechanism 2. The drive mechanism 4 uses the engagement between the motor and the feed screw 421 to accurately control the position of the slide portion 422 so as to accurately control the lifting distance of the scissor mechanism 2 .

[0112] To make the linear movement of the slide portion 422 more accurate, the drive mechanism 4 further includes a guide mechanism 47 that uses a fitting between a guide block 471 and a guide rail 472. The guide block 471 is fixedly connected to the slide portion 422 by welding, bolt connection, or the like. The guide rail 472 is fixedly attached to the bottom of the pallet component 3. The guide direction of the guide rail 472 is a linear direction that overlaps with the axial direction of the feed screw 421. The guide block 471 moves linearly along the guide rail 472. The moving direction of the slide portion 422 is linear due to the fitting between the guide block 471 and the guide rail 472.

[0113] 10, 12, and 13, the transmission path from the power source 41 to the guide block 471 is specifically as follows. The power source 41 is a motor. The motor drives the feed screw 421 to rotate about its own axis via the coupling 46. The rotation of the feed screw 421 linearly moves the slide portion 422 attached to the feed screw 421. The slide portion 422 is fixedly connected to the guide block 471, and the guide block 471 moves linearly synchronously with the slide portion 422. Because the guide block 471 can only move linearly relative to the guide rail 472, the slide portion 422 also moves linearly. The slide portion 422 is hinged to the first link 211 of the scissor mechanism 2, and the slide portion 422 moves linearly synchronously with the first link 211 of the scissor mechanism 2. Both the first link 211 and the second link 212 are hinged at their central portions, and one end of the second link 212 is hinged to the pallet component 3, allowing the second link 212 to rotate only relative to the pallet component 3. Therefore, during the linear movement 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, thereby realizing the transformation of the scissor mechanism 2 from a contracted state to an expanded state and the lifting of the pallet component 3 attached to the top of the scissor mechanism 2. During this process, the assist lift mechanism 6 automatically provides an assist force, eliminating the need for extra operation and providing great convenience. Reverse movement of the motor transforms the scissor mechanism 2 from the expanded state to a contracted state and allows the lowering of the pallet component 3 attached to the top of the scissor mechanism 2.

[0114] To accurately control the timing at which the motor stops, the drive mechanism 4 further includes a position detection element 43 attached to the bottom of the pallet component 3 and corresponding to the movement limit position of the slide portion 422. The position detection element 43 is electrically connected to the motor, and the motor stops when the position detection element 43 detects the slide portion 422. Specifically, the position detection element 43 includes a proximity switch and a sensor sheet, and the proximity switch corresponds to the sensor sheet. The sensor sheet is attached to the slide portion 422. When the slide portion 422 moves to this position, the motor is stopped in response to a feedback signal from the sensor sheet detected by the proximity switch, and the pallet 31 descends to the target position.

[0115] In another embodiment, the drive structure employs a belt, chain, or other structure.

[0116] Continuing to refer to FIG. 10 , the transfer robot further includes a slide means 5 located at the bottom of the scissor mechanism 2. The slide means 5 includes a slide rail 51 and a slider 52. The slider 52 is slidably mounted on the slide rail 51, and the slide rail 51 is attached to the second chassis body 112, and the slider 52 is rotatably connected to at least one other rod of the scissor mechanism 2. Alternatively, the slider 52 is attached to the second chassis body 112, and the slide rail 51 is rotatably connected to at least one other rod of the scissor mechanism 2. In some embodiments, there are multiple sliders 52, and each slide rail 51 corresponds to multiple sliders 52, making the movement of the slide rail 51 more stable.

[0117] The slide means 5 is configured to allow at least one other rod to float and slip relative to the chassis body 11. The slide means 5 is for allowing the connection point C of the above-mentioned scissor mechanism 2 to freely float and slip relative to the second chassis body 112.

[0118] When the transport robot encounters uneven ground while traveling, the connection point C of the scissor mechanism 2 has a certain amount of free slippage relative to the second chassis body 112, which makes the structure of the transport robot more flexible and can better cushion the impacts received by the transport robot while traveling.

[0119] 22 to 24 , in another embodiment, the connection points between the top of the scissor mechanism 2 and the pallet component 3 are all rotatably connected and slidably movable, and the connection points between the bottom of the scissor mechanism 2 and the chassis component 1 are also rotatably connected and slidably movable. The drive mechanism 4 employs a different implementation form from the above. The drive mechanism 4 includes a power source 41 and two feed screws 421, each located on either side of the power source 41, with the two feed screws 421 having opposite threading directions. Each feed screw 421 is attached with a slide portion 422, one of which is hinged to the tip of the first link 211 and the other to the tip of the second link 212. When the power source 41 is driven, the two slide portions 422 move closer to or apart from each other, and the scissor mechanism 2 moves up and down. The pallet 31 moves up and down linearly in accordance with the movement of the scissor mechanism 2. While the scissor mechanism 2 moves up and down, the pallet 31 does not move horizontally.

[0120] An embodiment of the present disclosure further provides an automated warehouse including a transport robot provided by any aspect of the present disclosure.

[0121] The above technical solution provides a transport robot with a compact mechanism that is required for frequent lifting and loading during operation in a warehouse. The transport robot provided by the above technical solution employs a first chassis body 111 and a second chassis body 112 rotatably connected to a chassis component 1, and a drive mechanism 4 is attached to the bottom of a pallet component 3. Since the drive mechanism 4 does not directly apply force to the chassis component 1, the transport robot can better adapt to different types of road surfaces and has better running performance.

[0122] In describing the present disclosure, the orientations or positional relationships indicated by terms such as "center," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "upper," "lower," "inner," and "outer" are based on the orientations or positional relationships shown in the drawings and are intended to facilitate and simplify the description of the present disclosure. These terms do not suggest or imply that a device or element has a particular orientation or is configured and operated in a particular orientation, and should not be understood to limit the scope of protection of the present disclosure.

[0123] Finally, it should be noted that the above examples are intended to illustrate the technical solution of the present disclosure, but are not intended to limit it. The specific embodiments of the present disclosure may be modified or some technical features may be replaced with equivalents, but as long as they do not deviate from the spirit of the technical solution of the present disclosure, they should be included in the scope of protection of the claims of the present disclosure.

Claims

1. A transport robot, a chassis component (1) including a chassis body (11) including a first chassis body (111) and a second chassis body (112) rotatably connected to each other, and a running mechanism (12) attached to the chassis body (11); a scissor mechanism (2) mounted on the chassis main body (11), attached to the chassis main body (11), and mounted on the chassis component (1), the scissor mechanism (2) including a plurality of rotatably connected rods, having a contracted state and an expanded state, and switching between the contracted state and the expanded state is realized by relative rotation of the plurality of rods; a pallet component (3) rotatably connected to the scissor mechanism (2) and attached to the top of the scissor mechanism (2); a drive mechanism (4) attached to the bottom of the pallet component (3), drivingly connected to the scissor mechanism (2), and driving the scissor mechanism (2) to switch between the contracted state and the expanded state.

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

3. The device further includes a slide means (5) including a slide rail (51) and a slider (52), wherein the slider (52) is slidably mounted on the slide rail (51), the slide rail (51) is attached to the second chassis body (112), and the slider (52) is rotatably connected to at least one other rod of the scissor mechanism (2), or the slider (52) is attached to the second chassis body (112), and the slide rail (51) is rotatably connected to at least one other rod of the scissor mechanism (2), The slide means (5) is configured to allow the at least one other rod to float and slip relative to the second chassis body (112). The transport robot according to claim 2 .

4. The drive mechanism (4) a power source (41) attached to the bottom of the pallet component (3); a transmission mechanism (42) drivingly connected to the power source (41) so as to be operable by the driving of the power source (41); a tip end of at least one of the rods of the scissor mechanism (2) is hinged to the transmission mechanism (42) so that the scissor mechanism (2) is switched between the contracted state and the deployed state by driving the power source (41); The transport robot according to any one of claims 1 to 3.

5. The power source (41) includes a motor, the transmission mechanism (42) includes a lead screw (421) and a slide (422), the motor is drivingly connected to the lead screw (421), the lead screw (421) is rotatably attached to the bottom of the pallet component (3), the slide (422) is threadedly engaged with the lead screw (421), and a tip of at least one of the rods of the scissor mechanism (2) is hinged to the slide (422). The transport robot according to claim 4 .

6. The drive mechanism (4) further includes a position detection element (43), The position detection element (43) is attached to the bottom of the pallet component (3) and corresponds to a movement limit position of the slide portion (422), the position detection element (43) is electrically connected to the motor, and the motor stops when the position detection element (43) detects the slide portion (422). The transport robot according to claim 5 .

7. The traveling mechanism (12) a drive wheel holder (121) fixedly connected to the first chassis body (111); a drive wheel (122) attached to the drive wheel holder (121); The transport robot according to any one of claims 1 to 6.

8. The traveling mechanism (12) further comprises: a first running wheel (123) attached to the first chassis body (111) and arranged to form a triangle with the two drive wheels (122); a second running wheel (124) attached to the second chassis body (112) and arranged to form a triangle with the two drive wheels (122); The transport robot according to claim 7 .

9. The running mechanism (12) further includes a balance mechanism (125); The balance mechanism (125) is attached to the drive wheel holder (121), or to the first chassis body (111), or to the second chassis body (112), and the balance mechanism (125) is configured to balance acting forces applied to the first chassis body (111) and the second chassis body (112) of the chassis component (1). The transport robot according to claim 7 or 8.

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

11. The connecting seat is integral with or fixedly connected to the drive wheel holder (121), the drive wheel holder (121) includes a mounting groove (121a) passing through the drive wheel holder (121) in the longitudinal direction, the drive wheel (122) is attached to the mounting block (1251), the central portion of the mounting block (1251) is located within the mounting groove (121a), both ends of the mounting block (1251) protrude from the mounting groove (121a), the central portion of the mounting block (1251) is rotatably connected to the drive wheel holder (121), and one end of the mounting block (1251) is fixedly connected to the second chassis body (112). The transport robot according to claim 10.

12. The balance mechanism (125) includes a weight attached to the second chassis body (112) in an adjustable manner. The transport robot according to any one of claims 9 to 11.

13. a rotation limiting mechanism (120) attached between the first chassis body (111) and the second chassis body (112) so as to limit a relative rotation range between the first chassis body (111) and the second chassis body (112); The rotation limiting mechanism (120) a drive wheel holder (121) including a mounting groove (121a) passing through the drive wheel holder in the longitudinal direction thereof and a limit groove (121c) provided inside the mounting groove (121a); and a mounting block (1251) having a limit protrusion (1251a) at the center thereof that fits into the limit groove (121c). The transport robot according to any one of claims 1 to 12.

14. a balance mechanism (125) including the drive wheel holder (121), the mounting block (1251), and a first elastic member (1252); Both ends of the mounting block (1251) protrude from the mounting groove (121a), one end of the mounting block (1251) is fixedly connected to the second chassis body (112), and the first elastic member (1252) is sandwiched between the other end of the mounting block (1251) and the top surface of the first chassis body (111). The transport robot according to claim 13.

15. The scissor mechanism (2) further includes an assist lift mechanism (6) connected to the scissor mechanism (2) and having a compression state and a return state; The assist lift mechanism (6) is configured to apply an acting force having a component in the direction of deployment of the scissor mechanism (2) to the scissor mechanism (2) in the process of switching the scissor mechanism (2) from a contracted state to a deployed state. The transport robot according to any one of claims 1 to 13.

16. The assist lift mechanism (6) includes a mounting holder (61) including a mounting through-hole, a connecting shaft (62), and a second elastic member (63); The mounting holder (61) is fixedly connected to the rod of one of the scissor mechanisms (2); The connecting shaft (62) includes a shaft body (621), a first end (622), and a second end (623), the first end (622) and the second end (623) being fixed to both ends of the shaft body (621) in a distributed manner, the shaft body (621) passing through the mounting through-hole, and the first end (622) and the second end (623) both being located outside the mounting through-hole, The second elastic member (63) is interposed between the mounting holder (61) and the second end (623), When the scissor mechanism (2) is in a contracted state, the second elastic member (63) is compressed, and when the scissor mechanism (2) is in an expanded state, the second elastic member (63) is restored. The transport robot according to claim 15.

17. The scissor mechanism (2) is configured symmetrically, and two or more of the assist lift mechanisms (6) are attached to the scissor mechanism (2), and each of the assist lift mechanisms (6) is arranged symmetrically with respect to the axis of symmetry of the scissor mechanism (2) itself. The transport robot according to claim 15 or 16.

18. The scissor mechanism (2) includes two sets of link mechanisms (21), Each link mechanism (21) includes 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 connected to the drive mechanism (4), A central portion of the second link (212) is rotatably connected to a central portion of the first link (211), and one end of the second link (212) is rotatably connected to the pallet component (3); One end of the third link (213) is rotatably connected to the other end of the first link (211), and the other end of the third link (213) is rotatably and slidably connected to the second chassis body (112); A central portion of the fourth link (214) is rotatably connected to a central portion of the third link (213), one end of the fourth link (214) is rotatably connected to the other end of the second link (212), and the other end of the fourth link (214) is rotatably connected to the first chassis body (111). The transport robot according to any one of claims 15 to 17.

19. Each link mechanism (21) further includes an intermediate link mechanism; The intermediate link mechanism is attached between the first link (211) and the third link (213), and between the second link (212) and the fourth link (214). The transport robot according to claim 18.

20. The scissor mechanism (2) further comprises a reinforcing means (22) rotatably connected to both of the two sets of link mechanisms (21), and the assist lift mechanism (6) is attached to the reinforcing means (22).

20. The transport robot according to claim 18 or 19.

21. the number of the reinforcing means (22) is at least two, the assist lift mechanism (6) is attached to one of the reinforcing means (22), and when the scissor mechanism (2) is in a contracted state, the second end (623) of the connecting shaft (62) of the assist lift mechanism (6) abuts against the other reinforcing means (22); The transport robot according to claim 20.

22. The assist lift mechanism (6) includes a return state and a compressed state; When the scissor mechanism (2) is in the deployed state, the assist lift mechanism (6) is in the restored state; In the process of the scissor mechanism (2) switching from the deployed state to the contracted state, the assist lift mechanism (6) receives the acting force of the scissor mechanism (2), and the assist lift mechanism (6) switches from the restored state to the compressed state. The transport robot according to any one of claims 15 to 21.

23. An automated warehouse comprising the transport robot according to any one of claims 1 to 22.

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