Transport robot

Abstract

To provide a transport robot capable of carrying a large amount of cargoes.SOLUTION: The transfer robot includes: a movable chassis including a base and a drive wheel assembly; a storage shelf attached to the movable chassis and including a plurality of divider assemblies arranged at different heights, each divider assembly including a divider for placing cargoes; a transfer device including a handling assembly used for transportation and shipping; and a lifting assembly causing the handling assembly to transport cargoes, wherein the drive wheel assembly includes a hinge bracket connected to the base, a drive wheel for moving the movable chassis by being rotatable about the hinge bracket, and a buffer assembly including a buffer and an adjustment arm, the buffer is used to reduce vibration transmitted to the base via the connected hinge bracket, and the adjustment arm has a first end hinged to the buffer and a second end hinged to the base, and abuts on the base.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present application relates to the field of intelligent warehousing, and in particular to a transport robot. [Background technology]

[0002] Intelligent warehousing is a part of the logistics process. The application of intelligent warehousing can ensure the speed and accuracy of data entry in each link of cargo warehousing management, ensure that enterprises can timely and accurately grasp the true data of inventory, and rationally maintain and control enterprise inventory. Scientific coding can also easily manage the batch and storage life of inventory goods. By utilizing the warehouse location management function of the system, the current location of all inventory goods can be known in a timely manner, which helps improve the work efficiency of warehouse management.

[0003] Transport robots play an important role in intelligent warehouses, where they can transport cargo on behalf of humans, but the inventors discovered in the process of realizing this application that conventional transport robots transport only a small amount of cargo each time. Summary of the Invention [Problem to be solved by the invention]

[0004] The technical problem that the embodiments of the present application are primarily intended to solve is to provide a transport robot capable of carrying a large amount of cargo. [Means for solving the problem]

[0005] In order to solve the above technical problems, the embodiments of the present application provide the following technical solutions.

[0006] A transport robot is provided, the transport robot including: a movable chassis; a storage shelf attached to the movable chassis, the storage shelf including a plurality of partition assemblies distributed at different heights, each partition assembly including a partition for placing cargo; a transport device including a handling assembly, the handling assembly being used to transport cargo to one partition located at the same height as the handling assembly, or used to remove cargo from one partition located at the same height as the fork; and a lifting assembly for driving the transport device to raise and lower it relative to the storage shelf so that the handling assembly is located at the same height as one of the partitions.

[0007] Preferably, the movable chassis includes a base and a drive wheel assembly, the drive wheel assembly including a hinge bracket hingedly connected to the base, a drive wheel attached to the hinge bracket and rotatable relative to the hinge bracket for moving the movable chassis, and a shock absorber assembly having one end hingedly connected to the hinge bracket and another end hingedly connected to the base, the shock absorber assembly including a shock absorber for reducing vibration transmitted to the base via the hinge bracket.

[0008] Preferably, the shock absorber assembly further includes an adjustable arm, one end of the shock absorber is hinged to the hinge bracket and the other end of the shock absorber is hinged to the base, one end of the adjustable arm is hinged to the other end of the shock absorber and the other end of the adjustable arm is hinged to the base, the adjustable arm abuts the base and prevents the adjustable arm from rotating in a first direction relative to the base, and the shock absorber provides a resilient force that abuts the adjustable arm against the base and prevents the adjustable arm from rotating in a second direction relative to the base, the second direction being opposite to the first direction.

[0009] Preferably, the adjustment arm is provided with a stop located on the side of the adjustment arm facing towards the first direction.

[0010] Preferably, the adjustable arm is installed with the shock absorber at a first angle, an opening direction of the first angle is the same as the second direction, and when assembling the shock absorber, the shock absorber is installed with the adjustable arm at a second angle, an opening direction of the second angle is the same as the first direction, and the lengths of both ends of the shock absorber are extensible, thereby reducing the elastic force of the shock absorber.

[0011] Preferably, the transport apparatus further includes a handling assembly bracket to which the handling assembly is mounted, the lifting assembly being used to drive the handling assembly bracket to raise and lower it relative to the storage shelf, and the handling assembly being rotatable relative to the handling assembly bracket about a vertical direction.

[0012] Preferably, the conveying device further includes a rotational drive device, the rotational drive device including a rotational drive motor, a fixed pulley, a handling assembly synchronous pulley and a handling assembly synchronous belt, the fixed pulley is fixedly attached to the handling assembly bracket, the handling assembly synchronous pulley is rotatably attached to the handling assembly, the handling assembly synchronous belt connects the handling assembly synchronous pulley and the fixed pulley, and the rotational drive motor is used to drive the handling assembly synchronous pulley to rotate relative to the handling assembly so that the handling assembly rotates relative to the handling assembly bracket around a vertical direction.

[0013] Preferably, the fixed pulley has a synchronous belt press block provided in a convex shape on an outer ring surface thereof, and the synchronous belt press block abuts against the handling assembly synchronous belt to tighten the handling assembly synchronous belt.

[0014] Preferably, the handling assembly is provided with a first locking hole and the handling assembly bracket is provided with a second locking hole, and a locking pin is simultaneously inserted into the first locking hole and the second locking hole to prevent the handling assembly from rotating relative to the handling assembly bracket around a vertical direction.

[0015] Preferably, the storage shelf includes a vertical beam for supporting each partition plate assembly, the partition plate having both ends distributed horizontally, one end of the partition plate being adjacent to the vertical beam and the other end of the partition plate being suspended away from the vertical beam.

[0016] Preferably, each partition assembly further includes a cross beam connected to the longitudinal beam, the side of the partition opposite the movable chassis being used for placing cargo, the cross beam being located on the side of the partition facing the movable chassis and adjacent to one end of the partition, and the cross beam being connected to the side of the partition facing the movable chassis by a plate holder.

[0017] Preferably, each partition assembly further includes a limit structure, said limit structure being adapted to block cargo from entering said partition.

[0018] Preferably, the limit structure is a shroud, and the shroud extends from an edge of the partition plate in a direction away from the movable chassis.

[0019] Preferably, the shroud includes a shroud body and a flanging portion extending from an edge of the shroud body away from the partition plate, and the flanging portion is adhered to the shroud body so that the connection between the flanging portion and the shroud body is an arc-shaped transition.

[0020] Preferably, the flanging portion and the partition plate are located on the same side of the shroud body.

[0021] Preferably, each partition plate assembly includes a plurality of the partition plates, each of the partition plates having a plurality of sides at its edge, each partition plate extending from one side of the partition plate, and a connecting structure is provided in the gap between every two adjacent partition plates, and each of the connecting structures connects with the two adjacent partition plates to form an arc angle at the corners of the two adjacent partition plates.

[0022] Preferably, the coupling structure includes two engaging grooves, and the sides of two adjacent shrouds are fitted into the two engaging grooves respectively.

[0023] Preferably, the partition plate and the connecting structure are fixedly connected by screws.

[0024] Preferably, the storage shelf further includes a longitudinal beam removably connected to the movable chassis; The lift assembly includes a synchronous pulley mechanism and a lift drive motor, the lift drive motor being used to drive the conveying device via the synchronous pulley mechanism to lift and lower it relative to the storage shelf, the synchronous pulley mechanism being attached to the longitudinal beam.

[0025] Preferably, the longitudinal beam is provided with a mounting groove, and the synchronous pulley mechanism is mounted in the mounting groove.

[0026] Preferably, a vertical guide groove is provided on the vertical beam, a slide member is provided on the transport device, the slide member is attached to the vertical guide groove, and the slide member is movable along the vertical guide groove, so that the transport device can be raised and lowered relative to the storage shelf.

[0027] Preferably, the vertical guide groove communicates with the mounting groove to form a closed loop, a synchronous belt of the synchronous pulley mechanism is located within the closed loop, and the synchronous belt of the synchronous pulley mechanism is connected to the slide member.

[0028] Preferably, the longitudinal beam is provided with a shock absorbing cushion at the end of the vertical guide groove.

[0029] Preferably, the shock absorbing cushion extends into the vertical guide groove and abuts against a synchronous belt of the synchronous pulley mechanism.

[0030] Preferably, the shock absorbing cushion is made of sponge material or rubber material.

[0031] Preferably, the lifting assembly further includes a brake device, the brake device including a brake disc, a guide base and an insertion pin, the brake disc is fixed coaxially with the drive pulley of the synchronous pulley mechanism, the brake disc is provided with one or more pin holes, the guide base is provided on the longitudinal beam, the guide base is provided with an insertion slot, the insertion pin is inserted into the insertion slot, and the insertion pin is movable along the insertion slot such that one end of the insertion pin is inserted into the pin hole and both the brake disc and the drive pulley are unable to rotate.

[0032] Preferably, the braking device further includes a cam, the cam being located on a side of the guide base facing away from the brake disc, the other end of the insertion pin being rotatably connected to the cam, a ring surface of the cam abutting a face of the guide base facing away from the brake disc, and the insertion pin being moved to move along the insertion slot when the cam rotates.

[0033] Preferably, the brake device further includes an elastic member, a first retaining ring is convexly provided in the center between both ends of the insertion pin, and a second retaining ring is convexly provided on the slot wall of the insertion slot, the elastic member abuts between the first retaining ring and the second retaining ring, and the elastic member is used to abut the cam against the guide base and provide a pressing force to keep the insertion pin stationary.

[0034] Preferably, the elastic member is a compression spring, and the compression spring is seated on the insertion pin. Effect of the Invention

[0035] A beneficial effect of the embodiment of the present application is that, unlike the situation in the prior art, by arranging storage shelves in the transport robot of the embodiment of the present application, it is possible to realize that the transport robot can carry large amounts of cargo. [Brief description of the drawings]

[0036] One or more embodiments will be illustratively described with reference to corresponding drawing figures, and these illustrative descriptions do not constitute limitations to the embodiments, in which elements having the same reference numbers are shown as similar elements, and in which the figures in the drawings do not constitute proportional limitations unless otherwise stated. [Figure 1] FIG. 1 is a perspective view of a transfer robot according to an embodiment of the present application. [Diagram 2] 2 is a perspective view of a movable chassis of the transport robot shown in FIG. 1. [Diagram 3] 3 is a bottom view of the movable chassis shown in FIG. 2. [Figure 4] FIG. 3 is a perspective view of a drive wheel assembly of the movable chassis shown in FIG. [Diagram 5] 2 is a perspective view of a partition plate assembly of the transport robot shown in FIG. 1. [Figure 6] FIG. 6 is a partial enlarged view of a portion Z shown in FIG. 5. [Figure 7] 6 is a perspective view of the partition plate assembly shown in FIG. 5 from another angle. [Figure 8] 2 is a cross-sectional view of a lifting assembly and a longitudinal beam of the transport robot shown in FIG. 1. [Figure 9] 2 is a perspective view of a brake device of the transport robot shown in FIG. 1. [Figure 10] FIG. 10 is a cross-sectional view of the brake device shown in FIG. [Figure 11] FIG. 2 is a schematic diagram of a portion of the structure of a transfer device of the transfer robot shown in FIG. 1, with a portion of the structure of the transfer device being omitted. [Figure 12] FIG. 12 is an exploded schematic view of the conveying device shown in FIG. [Figure 13] 13 is an exploded schematic view of a handling assembly of the transport device shown in FIG. 12, with some structures of the handling assembly omitted. [Figure 14] FIG. 13 is a structural schematic diagram of a telescopic boom of a handling assembly of the transport device shown in FIG. 12, in which a portion of the structure of the telescopic boom is omitted. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0037] In order to facilitate understanding of the present application, the present application will be described in more detail below in conjunction with the drawings and specific embodiments. As an explanation, when an element is described as being "fixed" to another element, it may be directly fixed to the other element, or there may be one or more central elements therebetween. When an element is described as being "connected" to another element, it may be directly connected to the other element, or there may be one or more central elements therebetween. As used herein, the terms "vertical", "horizontal", "left", "right" and similar expressions are used for explanatory purposes only.

[0038] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art. The terms used in the present specification are for the purpose of describing specific embodiments only and are not intended to be limiting of the present specification. The term "and / or" used herein includes any and all combinations of one or more of the associated listed items.

[0039] Referring to Figures 1 and 8, there is shown a transport robot 100 according to one embodiment of the present application. The transport robot 100 can be applied to an intelligent warehouse system, an intelligent logistics system, an intelligent sorting system, etc., and in the embodiment of the present application, the transport robot 100 will be described in detail as an example of application to an intelligent warehouse system.

[0040] The transfer robot 100 includes a movable chassis 10, a storage shelf 20, a lifting assembly 30, and a transfer device 40. The movable chassis 10 supports the storage shelf 20, the lifting assembly 30, and the transfer device 40.

[0041] Referring to Figures 2 and 3 together, the movable chassis 10 may be applied to the transport robot 100, but is not limited thereto. For example, the movable chassis 10 may be applied to an unmanned vehicle, a cleaning robot, a shuttle vehicle, etc.

[0042] The movable chassis 10 is used to realize the movement of the transport robot 100 on the ground, and includes a bottom plate 11, a driven wheel assembly 12, a driving wheel assembly 13, and a guide device 14. Among them, the driven wheel assembly 12, the driving wheel assembly 13, and the guide device 14 are all mounted on the base.

[0043] The base is formed by assembling and welding steel beams, steel plates and outer plates, and includes a bottom plate 11, the whole of which is a horizontal rectangular plate having a horizontal first axis of symmetry S1, and the bottom plate 11 includes opposite lower and upper surfaces 1100 and 1102, of which the lower surface 1100 faces the ground.

[0044] The bottom plate 11 has a recess 1104, a first mounting port 1106 and a second mounting port 1108. The recess 1104 is located on the lower surface 1100, and the recess 1104 is used to mount the driven wheel assembly 12. The first mounting port 1106 penetrates the lower surface 1100 and the upper surface 1102, and the first mounting port 1106 is used to pass the driving wheel assembly 13. The second mounting port 1108 penetrates the lower surface 1100 and the upper surface 1102, and the second mounting port 1108 is used to expose the guide device 14.

[0045] The driven wheel assembly 12 is a universal wheel, and the four driven wheel assemblies 12 are distributed in a rectangular shape, and the four driven wheel assemblies 12 jointly support the bottom plate 11. It is understood that, according to the actual situation, the driven wheel assembly 12 is not limited to only a universal wheel, for example, the driven wheel assembly 12 can be a wheel set (rear wheel set of an automobile) further having a steering bracket, as long as the driven wheel assembly 12 has a steering function. Meanwhile, the number of the driven wheel assemblies 12 is not limited to four, for example, the number of the driven wheel assemblies 12 can be three, five, six, etc., as long as the number of the driven wheel assemblies 12 is three or more.

[0046] The two drive wheel assemblies 13 are distributed symmetrically with respect to the symmetry axis S1, and the two drive wheel assemblies 13 have different rotational speeds, so that the transport robot 100 is biased toward one of the two drive wheel assemblies 13 having a slower rotational speed, thereby realizing steering of the transport robot 100.

[0047] The driven wheel assembly 12 and the driving wheel assembly 13 collectively support the bottom plate 11 .

[0048] 4, each of the drive wheel assemblies 13 includes a drive wheel 130, a hinge bracket 131, and a shock absorber assembly, wherein the drive wheel 130 is attached to the hinge bracket 131, and the shock absorber assembly is attached to the hinge bracket 131.

[0049] The drive wheel 130 has a horizontal wheel rotation axis O, the drive wheel 130 is attached to the hinge bracket 131, the drive wheel 130 can rotate relative to the hinge bracket 131 around the wheel rotation axis O, the wheel rotation axis O is perpendicular to the first axis of symmetry S1, and a portion of the drive wheel 130 passes through the first mounting port 1106 and protrudes from the lower surface 1100 of the bottom plate 11.

[0050] In addition, by providing a recess 1104 for mounting the driven wheel assembly 12 and by mounting the driving wheel assembly 13 on the side facing the upper surface 1102, and by having the first mounting port 1106 protrude from the lower surface 1100, the ground clearance and center of gravity height of the movable chassis 10 can both be reduced, thereby increasing the grip of the movable chassis 10 and improving the stability of the movement of the movable chassis 10.

[0051] The driving wheel 130 is driven by a driving wheel motor, which may be a servo motor, and the driving wheel motor drives the driving wheel 130 to rotate about the wheel rotation axis O relative to the hinge bracket 131. A reducer may be further installed between the driving wheel motor and the driving wheel 130, and a stator of the driving wheel motor is connected to one end of a housing of the reducer by a flange, and a rotor of the driving wheel motor transmits torque to the input shaft of the reducer via a flat key, and the other end of the housing of the reducer is connected to the hinge bracket 131 by a flange, and an output shaft of the reducer penetrates the hinge bracket 131 and transmits torque to the driving wheel 130 via a flat key.

[0052] The hinge bracket 131 is a generally vertical plate member, and the hinge bracket 131 may be a one-piece member or an assembly member assembled with several members, and is not limited to this embodiment of the present application.

[0053] The hinge bracket 131 is hingedly connected to the bottom plate 11 through a bearing seat, and the hinge bracket 131 can rotate relative to the bottom plate 11 around a first axis L1. It can be understood that according to actual circumstances, the bearing seat can be omitted, and the hinge bracket 131 is directly hingedly connected to the bottom plate 11, and the hinge connection between the hinge bracket 131 and the bottom plate 11 is located on the side facing the upper surface 1102.

[0054] In this embodiment, the first axis L1 is parallel to the wheel rotation axis O, and the first axis L1 does not coincide with the wheel rotation axis O, so that when the hinge bracket 131 rotates relative to the bottom plate 11 around the first axis L1, the distance between the driving wheels 130 of the two driving wheel assemblies 13 does not change, and the movement of the movable chassis 10 is relatively stable.

[0055] In some other embodiments, the first axis L1 is perpendicular to the wheel rotation axis O.

[0056] One end of the shock absorber assembly is hinged to the hinge bracket 131 and the other end of the shock absorber 132 is hinged to the top surface 1102 of the base plate.

[0057] The bumper assembly includes a bumper 132 and an adjustable arm 133 hingedly connected to the bumper 132 .

[0058] The shock absorber 132 is used to reduce the vibration transmitted to the bottom plate 11 through the hinge bracket 131. The shock absorber 132 realizes reducing the vibration at both ends by compressing the length of both ends, one end of the shock absorber 132 is hinged to the hinge bracket 131, the shock absorber 132 can rotate relative to the hinge bracket 131 around a second axis L2, the second axis L2 is parallel to the first axis L1, and the first axis L1 does not coincide with the second axis L2. The other end of the shock absorber 132 is hinged to the adjustment arm 133, the shock absorber 132 can rotate relative to the adjustment arm 133 around a third axis L3, the third axis L3 is parallel to the first axis L1.

[0059] One end of the adjustment arm 133 is hinged to the other end of the buffer 132, and a fixed rod 1110 perpendicular to the upper surface 1102 of the bottom plate 11 is provided, and the other end of the adjustment arm 133 is hinged to the fixed rod 1110, and the adjustment arm 133 can rotate relative to the bottom plate 11 around a fourth axis L4, the fourth axis L4 being parallel to the first axis L1, and the adjustment arm 133 abuts against the fixed rod 1110, preventing the adjustment arm 133 from rotating in a first direction F1 relative to the bottom plate 11 around the fourth axis L4, and the first direction F1 being the same as the orientation of the upper surface 1102.

[0060] The buffer 132 abuts the adjustment arm 133 against the fixed rod 1110 and provides an elastic force that prevents the adjustment arm 133 from rotating in a second direction F2 relative to the bottom plate 11, the second direction F2 being opposite to the first direction F1, and the second direction F2 being the same as the orientation of the lower surface 1100.

[0061] It can be understood that according to actual circumstances, the fixed rod 1110 may be omitted, that is, the other end of the adjustment arm 133 is directly hinged to the bottom plate 11, the hinge connection portion between the adjustment arm 133 and the bottom plate 11 is located toward the upper surface 1102, the adjustment arm 133 abuts against the bottom plate 11, and the abutment portion between the adjustment arm 133 and the bottom plate 11 is located toward the upper surface 1102.

[0062] The adjustment arm 133 is provided with a stopper 1330, which is located on the side of the adjustment arm 133 facing the first direction F1.

[0063] The adjustable arm 133 is disposed with the buffer 132 at a first angle, and the opening direction of the first angle is the same as the second direction F2.

[0064] The working environment of the transport robot 100 is generally a warehouse, and the ground is relatively flat. Meanwhile, the driving wheel assembly 13 only supports weight within the limit of the transport robot 100, i.e., in the process of the weight supported by the transport robot 100 gradually increasing, the driving wheel 130 moves toward the upper surface of the bottom plate 11 until the lowest point of the driving wheel 130 is at the same height as the lowest point of the driven wheel assembly 12, and at this time, the excess weight of the transport robot 100 is supported by the driven wheel assembly 12. Therefore, the rotation range of the hinge bracket 131 is limited, and accordingly, the rotation range of the buffer 132 is also limited, and therefore the first included angle basically remains unchanged.

[0065] When assembling the shock absorber 132, the shock absorber 132 is installed with the adjusting arm 133 at a second included angle, and the opening direction of the second included angle is the same as the first direction F1, and the lengths of both ends of the shock absorber 132 can be extended, thereby reducing the elastic force of the shock absorber 132 and making it easier to install the shock absorber 132. The stopper 1330 of the adjusting arm 133 is not abutted against the fixed rod 1110 first, and both ends of the shock absorber 132 are respectively attached to the adjusting arm 133 and the hinge bracket 131, and the shock absorber 132 can be in a natural state or slightly compressed, that is, the connecting lines at both ends of the shock absorber 132 are installed with the connecting lines at both ends of the adjusting arm 133 at a second included angle, and the opening direction of the second included angle is the same as the first direction F1. Then, when the shock absorber 132 and the adjusting arm 133 are moved in the first direction F1, the shock absorber 132 is first compressed and then slightly extended, so that the stopper 1330 of the adjusting arm 133 abuts against the fixed rod 1110. By installing the adjusting arm 133, it is not necessary to install the shock absorber 132 at the same time as compressing the shock absorber 132, and therefore the installation of the shock absorber 132 is easier.

[0066] In addition, by installing the adjustment arm 133, after the installation of the shock absorber 132 is completed, the spring tension of the shock absorber 132 can be easily adjusted, so as to adapt to the working environment of the movable chassis. Specifically, the shock absorber 132 is installed at a second included angle with the adjustment arm 133, and at this time, both ends of the shock absorber 132 are basically not subjected to pressure, and the spring tension of the shock absorber 132 can be easily adjusted.

[0067] When the driving wheel motor stops operating, the driving wheel 130 cannot rotate, and therefore, when the buffer 132 forms a first angle with the adjustable arm 133, the driving wheel 130 supports the chassis, and therefore, when the transport robot 100 is pushed to a maintenance area by the driven wheel assembly 12, the driving wheel 130 rubs against the ground and prevents the transport robot 100 from moving. After the buffer 132 is installed to form a second angle with the adjustable arm 133, both ends of the buffer 132 are essentially not subjected to pressure, so the driving wheel 130 essentially does not abut against the ground, i.e., the driving wheel 130 does not support the base, and the transport robot 100 can be easily pushed to a maintenance area for maintenance.

[0068] It can be understood that according to actual circumstances, the adjustment arm 133 may be omitted, that is, one end of the shock absorber 132 is hingedly connected to the hinge bracket 131, the other end of the shock absorber 132 is hingedly connected to the base 11, and the driving wheel 130, the hinge bracket 131, the shock absorber 132 and the bottom plate 11 are connected in sequence, and both ends of the shock absorber 132 are extendable and retractable.

[0069] Compared with the prior art, in the transport robot 100 and its movable chassis 10 according to the embodiment of the present application, the shock absorber assembly is disposed on the movable chassis 10, so that the movement of the movable chassis 10 is relatively stable.

[0070] The guide device 14 is attached to the upper surface 1102 of the bottom plate 11, and in this embodiment, the guide device 14 is a camera, the lens of the camera is aligned with the second mounting port 1108, and the guide device 14 is used to identify a two-dimensional code affixed to the ground so that the transport robot 100 runs along a predetermined path.

[0071] It can be understood that, depending on the actual situation, the guide device 14 is not limited to a camera, and for example, the guide device 14 may be a laser guide device that guides the transport robot 100 to run along a laser beam, and further, for example, the guide device 14 may be a short-wave receiving device for realizing a guide function by receiving a predetermined short-wave signal.

[0072] Referring again to FIG. 1, the storage shelf 20 is attached to the upper surface 1102 of the bottom plate 11 .

[0073] The storage shelf 20 includes a plurality of partition plate assemblies 21 distributed at different heights, and vertical beams 22 for supporting each partition plate assembly.

[0074] Each divider assembly 21 includes a divider 210 , a limit structure, and a cross beam 214 .

[0075] The partition plate 210 is used for placing cargo, and has both ends distributed horizontally, one end of the partition plate 210 is close to the vertical beam 22, and the other end of the partition plate 210 is suspended and away from the vertical beam 22.

[0076] The limit structure is used to block cargo from the partition.

[0077] In this embodiment, the limit structure is a shroud 212, and the shroud 212 extends from the edge of the partition 210 in a direction away from the movable chassis 10, and the shroud 212 is used to block the cargo on the partition 210 and prevent the cargo on the partition 210 from sliding off the partition 210.

[0078] It can be understood that the limit structure is not limited to only the shroud 212, and according to the actual situation, the limit structure can further be a columnar structure installed close to the edge of the shroud.

[0079] 5 and 6, each partition plate assembly 21 includes a plurality of the shroud plates 212, each of the partition plates 210 has a plurality of sides at its edge, each shroud plate 212 extends from one side of the partition plate 210, and a connecting structure 216 is provided at the gap between every two adjacent shroud plates 212. The connecting structure 216 connects two adjacent shroud plates 212, respectively, so that the corners of the two adjacent shroud plates 212 form an arc angle.

[0080] The connecting structure 216 has two engaging grooves 2160, and the sides of two adjacent shrouds 212 are respectively fitted into the two engaging grooves 2160. The connecting structure 216 is fixed to the partition plate 210 by screws.

[0081] Each shroud 212 includes a shroud body 2120 and a flanging portion 2122, which extends from the edge of the shroud body 2120 away from the partition plate 210, and which is adhered to the shroud body 2120 so that the connection between the flanging portion 2122 and the shroud body 2120 is an arc-shaped transition.

[0082] The flanging portion 2122 and the partition plate 210 are located on the same side of the shroud body 2120 .

[0083] 7, the surface of the partition plate 210 opposite to the movable chassis 10 is used for placing cargo, and the cross beam 214 is located on the side of the partition plate 210 facing the movable chassis 10, and the cross beam 214 is adjacent to one end of the partition plate 210. The cross beam 214 is connected to the surface of the partition plate 210 facing the movable chassis 10 by a plate holder 218.

[0084] The two longitudinal beams 22 are distributed symmetrically with respect to the axis of symmetry S1.

[0085] Referring to FIG. 8, the vertical beam 22 is detachably connected to the upper surface 1102 of the bottom plate 11, specifically, by a bolt.

[0086] The longitudinal beam 22 is provided with a mounting groove 220 and a vertical guide groove 222 .

[0087] The mounting groove 220 is used to mount the lift assembly 30 , and the mounting groove 220 is located in the longitudinal beam 22 .

[0088] The vertical guide groove 222 is used for mounting the carrier device 40, and is provided on the surface of the vertical beam 22. The vertical guide groove 222 communicates with the mounting groove 220, and the vertical guide groove 222 and the mounting groove 220 form a closed loop.

[0089] The vertical beam 22 is provided with a shock absorbing cushion 224 at the end of the vertical guide groove 222. The shock absorbing cushion 224 is made of a material such as sponge or rubber, and the shock absorbing cushion 224 can prevent the conveying device 40 from directly colliding with the vertical beam 22 when the conveying device 40 rises to the highest point or descends to the lowest point.

[0090] The shock absorbing cushion 224 extends into the vertical guide groove 222 and abuts against the lifting assembly 30 .

[0091] The lift assembly 30 is used to drive the transport device 40 to raise and lower it relative to the storage shelf 20 .

[0092] The lift assembly 30 includes a synchronous pulley mechanism 31 and a lift drive motor, and the lift drive motor is used to drive the transport device 40 via the synchronous pulley mechanism 31 to lift and lower it relative to the storage shelf 20.

[0093] The synchronous pulley mechanism is mounted in the mounting groove 220 , the synchronous belt 310 of the synchronous pulley mechanism 31 is located in the closed loop, and the synchronous belt 310 of the synchronous pulley mechanism 31 is connected to the conveying device 40 .

[0094] The lifting drive motor sequentially moves and rotates the drive pulley 311 of the synchronous pulley mechanism 31 through the lifting drive reducer, the gear set and the transmission shaft, and one or more of the lifting drive reducer, the gear set and the transmission shaft may be omitted according to actual conditions.

[0095] The synchronous belt 310 of the synchronous pulley mechanism 31 abuts against the buffer cushion 224, making it difficult for dust to enter the mounting groove 220 from the vertical guide groove 222, thereby preventing dust from accumulating in the synchronous pulley mechanism 31 and resulting in a decrease in output.

[0096] 9 and 10, the lifting assembly 30 further includes a brake device 32, which is used to stop the operation of the synchronized pulley mechanism 31.

[0097] The brake device 32 includes a brake disc 320, a guide base 322, an insertion pin 324, an elastic member 326, and a cam 328. The brake disc 320 is installed coaxially with the driving pulley 311 of the synchronous pulley mechanism 31, and when the synchronous pulley mechanism 31 operates, the brake disc 320 rotates synchronously with the driving pulley 311 of the synchronous pulley mechanism 31. The brake disc 320 is provided with one or more pin holes 3200, and when the brake disc 320 rotates, the pin holes 3200 rotate synchronously with the brake disc 320.

[0098] The guide base 322 is attached to the longitudinal beam 22 , and an insertion slot 3220 is provided in the guide base 322 .

[0099] The insertion pin 324 is inserted into the insertion slot 3220, and when the brake disc 320 rotates, one end of the insertion pin 324 can be aligned and inserted into the pin hole 3200, thereby stopping the operation of the brake disc 320 and the synchronous pulley mechanism 31 installed coaxially with the brake disc 320.

[0100] The cam 328 is located on the side of the guide base 322 facing away from the brake disc 320, and the cam 328 is rotatably connected to the other end of the insertion pin 324, so that the cam 328 can rotate relative to the insertion pin 324 around its wheel center, and the wheel surface of the cam 328 abuts against the surface of the guide base 322 facing away from the brake disc 320, thereby moving the insertion pin 324 along the insertion slot 3220 relative to the guide base 322.

[0101] The elastic member 326 is used to provide a pressing force for making the cam 328 abut against the guide base 322 and keeping the insertion pin 324 stationary. Specifically, the elastic member 326 is a compression spring. A first retaining ring 3240 is convexly provided in the center between both ends of the insertion pin 324, and a second retaining ring 3222 is convexly provided on the slot wall of the insertion slot 3220. The second retaining ring 3222 is located between the first retaining ring 3240 and the cam 328. The elastic member 326 is seated on the insertion pin 324, and the elastic member 326 abuts between the first retaining ring 3240 and the second retaining ring 3222.

[0102] A lever 329 is provided on the cam 328, and an operator moves the lever 329 to rotate the cam 328, thereby stopping the operation of the synchronous pulley mechanism 31. It is understood that, according to the actual situation, a cam driving motor is installed to drive and rotate the cam 328, thereby realizing the braking of the synchronous pulley mechanism 31.

[0103] 11, the transfer device 40 includes a handling assembly bracket 41, a handling assembly 42, and a rotation drive device 43. The handling assembly 42 is mounted on the handling assembly bracket 41, and the rotation drive device 43 is mounted between the handling assembly 42 and the handling assembly bracket 41.

[0104] The handling assembly bracket 41 is formed by assembling and welding steel beams and steel plates, and is provided with slide members 410, the two slide members 410 being symmetrically distributed with respect to the first symmetric axis S1, the two slide members 410 being respectively mounted in corresponding vertical guide grooves 222, and the slide members 410 being able to move along the vertical guide grooves 222, thereby allowing the conveying device 40 to rise and fall relative to the storage shelf 20.

[0105] The handling assembly bracket 41 and the handling assembly 42 are connected by a cross roller bearing, so that the handling assembly 42 rotates about a vertical direction relative to the handling assembly bracket 41. Depending on the actual situation, the handling assembly bracket 41 and the handling assembly 42 are not limited to being connected by a cross roller bearing or a cross ball bearing, for example, the handling assembly bracket 41 and the handling assembly 42 can be further connected by a swivel support.

[0106] The rotation drive device 43 includes a rotation drive motor, a fixed pulley 430, a handling assembly synchronous pulley 432, and a handling assembly synchronous belt 434. The fixed pulley 430 is fixedly attached to a surface of the handling assembly bracket 41 facing the handling assembly 42, the fixed pulley 430 is installed coaxially with the cross roller bearing, the handling assembly synchronous pulley 432 can be attached to the handling assembly 42 so as to rotate around the vertical direction, the handling assembly synchronous belt 434 connects the handling assembly synchronous pulley 432 and the fixed pulley 430, and the rotation drive motor drives the handling assembly synchronous pulley 432 to rotate it relative to the handling assembly 42, thereby rotating the handling assembly 42 relative to the handling assembly bracket 41 around the vertical direction.

[0107] The fixed pulley 430 has a synchronous belt press plate 4300 provided in a convex shape on its outer ring surface, and the synchronous belt press block 4300 abuts against the handling assembly synchronous belt 434 to tighten the handling assembly synchronous belt 434 .

[0108] A first lock hole 4200 is provided in the handling assembly 42 and a second lock hole 4100 is provided in the handling assembly bracket 41, and by simultaneously inserting a lock pin 44 into the first lock hole 4200 and the second lock hole 4100, the handling assembly 42 cannot be rotated relative to the handling assembly bracket 41 around the vertical direction.

[0109] A first limit block 450 is attached to the surface of the handling assembly bracket 41 facing the handling assembly 42, and a second limit block 452 is attached to the surface of the handling assembly 42 facing the handling assembly bracket 41, and the first limit block 450 is used to rotate the handling assembly 42 within a predetermined angular range by abutting against the second limit block 452.

[0110] The conveying device 40 further includes a first angle sensor 460, a second angle sensor 461, and a controller. The first angle sensor 460 and the second angle sensor 461 are both connected to the controller.

[0111] The first angle sensor 460 is used to detect that the handling assembly 42 rotates within the first predetermined angle range relative to the handling assembly bracket 41, and the second angle sensor 461 is used to detect that the handling assembly 42 rotates within the second predetermined angle range relative to the handling assembly bracket 41. Note that the first predetermined angle range and the second predetermined angle range are both included in the predetermined angle range, and there is an intersection between the first predetermined angle range and the second predetermined angle range, and the intersection between the first predetermined angle range and the second predetermined angle range is a reference angle, which may be a specific value or a continuous value range.

[0112] The first angle sensor 460 and the second angle sensor 461 are both proximity switches, the transport device 40 further includes a detection plate 462, the first angle sensor 460 and the second angle sensor 461 are both attached to a surface of the handling assembly bracket 41 facing the handling assembly 42, and the detection plate 462 is attached to a surface of the handling assembly 42 facing the handling assembly bracket 41. When the first angle sensor rotates together with the handling assembly 42 until it is directly opposite the detection plate 462, the first angle sensor 460 detects that the handling assembly 42 has rotated within the first predetermined angle range, and when the first angle sensor 460 rotates together with the handling assembly 42 until it is not directly opposite the detection plate 462, the first angle sensor 460 detects that the handling assembly 42 has not rotated within the first predetermined angle range. Similarly, when the second angle sensor 461 rotates together with the handling assembly 42 until it is directly opposite the detection plate 462, the second angle sensor 461 detects that the handling assembly 42 has rotated within the second predetermined angle range, and when the second angle sensor 461 rotates together with the handling assembly 42 until it is not directly opposite the detection plate 462, the second angle sensor 461 detects that the handling assembly has not rotated within the second predetermined angle range. When both the first angle sensor 460 and the second angle sensor 461 are directly opposite the detection plate 462, the handling assembly 42 rotates to within the intersection of the first predetermined angle range and the second predetermined angle range, i.e., the handling assembly 42 rotates to the reference angle.

[0113] The controller is connected to the rotation drive motor. When the first angle sensor 460 detects that the handling assembly 42 rotates within the first predetermined angle range and the second angle sensor 461 detects that the handling assembly 42 does not rotate within the second predetermined angle range, the controller controls and operates the rotation drive motor, so that the handling assembly 42 rotates to the second predetermined angle range. When the first angle sensor 460 detects that the handling assembly 42 does not rotate within the first predetermined angle range and the second angle sensor 461 detects that the handling assembly 42 rotates to the second predetermined angle range, the controller controls and operates the rotation drive motor, so that the handling assembly 42 rotates to the first predetermined angle range. When the first angle sensor 460 detects that the handling assembly 42 has rotated to within the first predetermined angle range and the second angle sensor 461 detects that the handling assembly 42 has rotated to within the second predetermined angle range, the controller controls the rotation drive motor to stop operation, and at this time, the handling assembly 42 is located at the reference angle.

[0114] The handling assembly 42 is used to transport cargo to one of the partition boards 210 located at the same height as the handling assembly 42, or to remove cargo from one of the partition boards 210 located at the same height as the handling assembly 42, and when the conveying device 40 moves up and down relative to the storage shelf, the handling assembly 42 can be located at the same height as one of the partition boards 210.

[0115] The handling assembly 42 has a horizontal second axis of symmetry S2, and includes a temporary storage cargo plate 420, a telescopic boom 421, a fixed push rod 422, and a movable push rod 423. One end of the telescopic boom 421 is attached to the temporary storage cargo plate 420, and the fixed push rod 422 and the movable push rod 423 are both attached to the other end of the telescopic boom 421, and the fixed push rod 422 is closer to the end of the telescopic boom 421 attached to the temporary storage cargo plate 420 than the movable push rod 423. The other end of the telescopic boom 421 can be extended or retracted relative to the temporary storage cargo plate 420 along the second axis of symmetry S2, and the fixed push rod 422 and the movable push rod 423 can be extended or retracted in conjunction with each other. The movable push rod 423 can be extended or retracted relative to the telescopic boom 421.

[0116] The two telescopic booms 421 are symmetrically disposed on two opposite sides of the second symmetric axis S2, and one movable push rod 423 is attached to each of the two telescopic booms 421, and the fixed push rod 422 is connected between the two telescopic booms 421. According to actual circumstances, the number of the telescopic booms 421 is not limited to two, and the number of the telescopic booms 421 may be one.

[0117] 12, each of the telescopic booms 421 includes an outer section arm 424, a mid-section arm 425 attached to the outer section arm 424, and an inner section arm 426 attached to the mid-section arm 425. The outer section arm 424, the mid-section arm 425 and the inner section arm 426 are sequentially installed adjacent to the second axis of symmetry S2, the outer section arm 424 is fixedly attached to the temporary storage cargo plate 420, and the fixed push rod 422 and the movable push rod 423 are both attached to the inner section arm 426.

[0118] Referring also to Figure 13, a sprocket mechanism 427 is provided between the mid-section arm 425 and the outer section arm 424, and the sprocket mechanism 427 drives the mid-section arm 425 to extend or retract relative to the outer section arm 424 along the second axis of symmetry S2.

[0119] Referring also to Figure 14, a movable pulley mechanism is provided between the outer section arm 424, the mid section arm 425 and the inner section arm 426, and the movable pulley mechanism includes a pulley 428 and a strop 429, the pulley 428 is attached to the mid section arm 425, and the central portion between both ends of the strop 429 is bent and fitted into the pulley 428, thereby opposing both ends of the strop 429, and one end of the strop 429 is fixedly connected to the outer section arm 424, and the other end of the strop 429 is fixedly connected to the inner section arm 426. When the mid-section arm 425 extends or retracts at a first speed relative to the outer section arm 424, the inner section arm 426 extends or retracts at a second speed relative to the outer section arm 424, where the second speed is twice the first speed, and by installing a movable pulley mechanism, the extension or retraction speed of the inner section arm 426 can be made faster, thereby improving the pick-and-place efficiency of the handling assembly 42.

[0120] When the movable push rod 423 extends relative to the telescopic boom 421, the movable push rod 423 protrudes from the telescopic boom 421 in a direction close to the second symmetrical axis S2, and when the movable push rod 423 folds relative to the telescopic boom 421, the movable push rod 423 essentially coincides with the telescopic boom 421. The movable push rod 423 is directly driven by a push rod motor, which is used to drive the movable push rod 423 to rotate relative to the telescopic boom 421, so that the movable push rod 423 extends or folds relative to the telescopic boom 421. It can be understood that, according to actual circumstances, the movement form of the movable push rod 423 is not limited to rotation, for example, the movable push rod 423 moves in a form of extending from the telescopic boom 421 or retracting to the telescopic boom 421.

[0121] When the transport robot 100 performs a cargo loading operation, the operation process is specifically as follows.

[0122] The transport robot 100 moves near a fixed shelf on which the cargo to be loaded is placed, the transport robot 100 moves until it is lined up with the cargo to be loaded, the cargo to be loaded is located on one partition board 210, the lifting assembly 30 drives the transport device 40 to lift and lower it until it is at the same height as the partition board 210 on which the cargo to be loaded is placed, and at the same time, the handling assembly 42 rotates around the vertical direction to position the partition board 210 on which the cargo to be loaded is placed on the second axis of symmetry S2, the movable push rod 423 folds and the telescopic boom 421 extends, so that the movable push rod 423 passes over the cargo to be loaded, the movable push rod 423 expands and the telescopic boom 421 retracts, and the movable push rod 423 pulls the cargo to be loaded to the temporary storage cargo board 420 for temporary storage. The handling assembly 42 rotates about the vertical direction so that the storage shelf 20 is positioned on the second axis of symmetry S2, with the handling assembly 42 being at a reference angle.

[0123] At this time, when the temporary storage cargo plate 420 is not located at the same height as any one of the empty partition plates 210, the lifting assembly 30 is further used to drive the conveying device 40 to lift and lower the temporary storage cargo plate 420 so as to position the temporary storage cargo plate 420 at the same height as one of the empty partition plates 210.

[0124] After the temporary storage cargo plate 420 is positioned at the same height as one of the empty partition plates 210, the telescopic boom 421 extends, and the fixed push rod 422 pushes the cargo on the temporary storage cargo plate 420 to the partition plate 210 positioned at the same height as the transport device 40, and then the movable push rod 423 folds, and the telescopic boom 421 retreats. At this time, the transport robot 100 completes the cargo loading task.

[0125] The process of unloading cargo by the transport robot 100 is similar to the process of loading cargo. When the transport robot 100 performs the cargo unloading operation, the operation process is specifically as follows.

[0126] The transport robot 100 moves to the vicinity of a fixed shelf on which the cargo to be unloaded is placed, the transport robot 100 moves until it is aligned with a designated empty position on the fixed shelf, the lifting assembly 30 drives the transport device 40 to lift it up and down until it is at the same height as the cargo to be unloaded, and since the handling assembly 42 is at the reference angle and the storage shelf 20 is located on the second symmetry axis S2, the movable push rod 423 folds and the telescopic boom 421 extends, so that the movable push rod 423 passes over the cargo to be unloaded, the movable push rod 423 extends and the telescopic boom 421 retracts, and the movable push rod 423 pulls the cargo to be unloaded to the temporary storage cargo plate 420 for temporary storage.

[0127] At this time, if the conveying device 40 is not located at the same height as the designated empty position, the lifting assembly 30 must further drive the conveying device 40 to raise and lower it, so that the temporary storage cargo plate 420 is located at the same height as the designated empty position.

[0128] After the temporary storage cargo plate 420 is positioned at the same height as one of the empty partition plates 210, the telescopic boom 421 extends, and the fixed push rod 422 pushes the cargo to be unloaded on the temporary storage cargo plate 420 to the designated empty position of the fixed shelf, then the movable push rod 423 folds, and the telescopic boom 421 retracts.

[0129] The handling assembly rotates around the vertical direction so that the storage shelf 20 is located on the second axis of symmetry S2, and at this time, the handling assembly 42 is located at the reference angle. At this time, the transport robot 100 completes the cargo unloading operation.

[0130] Compared with the prior art, the transport robot 100 according to the embodiment of the present application is capable of carrying a large amount of cargo by providing the storage shelves 20 .

[0131] The above are only the embodiments of the present application, and are not intended to limit the scope of the present application. Any equivalent structure or equivalent flow transformation made by using the contents of the specification and drawings of the present application, or directly or indirectly used in other related technical fields, is also included in the scope of protection of the present application.

Claims

1. a movable chassis including a base and a drive wheel assembly; a storage shelf attached to the movable chassis, the storage shelf including a plurality of divider assemblies arranged at different heights, each divider assembly including a divider for placing cargo; a conveying apparatus including a handling assembly adapted to convey cargo onto the partition or to remove cargo from the partition; a lifting assembly that drives the transport device to lift and lower it relative to the storage shelf, thereby causing the handling assembly to transport cargo; The drive wheel assembly includes: a hinge bracket hingedly connected to the base; a drive wheel attached to the hinge bracket and rotatable relative to the hinge bracket to move the movable chassis; a shock absorber assembly including a shock absorber and an adjustment arm; the shock absorber is hingedly connected to the hinge bracket and is used to reduce vibration transmitted to the base via the hinge bracket; The adjustable arm has a first end and a second end, the first end is hinged to the shock absorber, and the second end is hinged to the base, the adjustable arm abutting the base. A transport robot characterized by the above.

2. the buffer provides a resilient force that causes the adjustment arm to abut against the base, preventing the adjustment arm from rotating in a first direction relative to the base; The bumper further provides a resilient force that prevents the adjustable arm from rotating relative to the base in a second direction, the second direction being opposite to the first direction.

2. The transport robot according to claim 1.

3. The adjustment arm is provided with a stop located on the side of the adjustment arm facing in the first direction.

3. The transport robot according to claim 2.

4. The adjustment arm is disposed at a first angle with the buffer, and an opening direction of the first angle is the same as the second direction; During assembly of the shock absorber, the shock absorber is installed with the adjustable arm at a second included angle, an opening direction of the second included angle is the same as the first direction, and the lengths of both ends of the shock absorber are extendable so that the elastic force provided by the shock absorber is reduced.

4. The transport robot according to claim 3.

5. The base includes a bottom plate, and a fixing rod is provided on an upper surface of the bottom plate; A second end of the adjustable arm is hinged to the fixed rod, and the adjustable arm abuts against the fixed rod.

2. The transport robot according to claim 1.

6. The drive wheel is rotatable about a wheel rotation axis relative to the hinge bracket, and the hinge bracket is rotatable about a first axis relative to the bottom plate, the first axis being parallel to and not coinciding with the wheel rotation axis.

6. The transport robot according to claim 5.

7. The shock absorber is rotatable relative to the hinge bracket about a second axis, the second axis being parallel to and not coincident with the first axis.

7. The transport robot according to claim 6.

8. The shock absorber is rotatable relative to the adjustment arm about a third axis, the third axis being parallel to the first axis.

7. The transport robot according to claim 6.

9. The adjustment arm is rotatable relative to the base about a fourth axis, the fourth axis being parallel to the first axis.

7. The transport robot according to claim 6.

10. The hinge bracket is a generally vertical plate member.

2. The transport robot according to claim 1.

11. the transport apparatus further includes a handling assembly bracket to which the handling assembly is mounted; the lifting assembly is used to drive the handling assembly bracket to lift and lower the handling assembly relative to the storage shelf, the handling assembly being rotatable about a vertical direction relative to the handling assembly bracket; A first lock hole is provided in the handling assembly and a second lock hole is provided in the handling assembly bracket, and a lock pin is inserted into the first lock hole and the second lock hole simultaneously to prevent the handling assembly from rotating about a vertical direction relative to the handling assembly bracket. The transport robot according to any one of claims 1 to 10.

12. The handling assembly is a fork The transport robot according to any one of claims 1 to 10.

13. A movable chassis; a storage shelf attached to the movable chassis, the storage shelf including a plurality of divider plate assemblies arranged at different heights and a vertical beam supporting the divider plate assemblies, each divider plate assembly including a divider plate for placing cargo, the vertical beam being connected to the movable chassis, and the vertical beam being provided with a mounting groove; a conveying apparatus including a handling assembly adapted to convey cargo onto the partition or to remove cargo from the partition; a lifting assembly for driving the transport device to lift and lower the transport device relative to the storage shelf; The lift assembly includes: a lift transmission mechanism at least partially mounted within the mounting groove; a lift drive motor that drives the handling assembly via the lift transmission mechanism to lift and lower the handling assembly relative to the storage shelf; The vertical beam is provided with a vertical guide groove, the conveying device is provided with a slide member, and the slide member is attached to the vertical guide groove; The slide member is movable along the vertical guide groove to raise and lower the conveying device relative to the storage shelf; A shock absorbing cushion is provided at the end of the vertical guide groove of the longitudinal beam; The lift transmission mechanism is a synchronous pulley mechanism, The cushion extends into the vertical guide groove and contacts the synchronous belt of the synchronous pulley mechanism. A transport robot characterized by the above.

14. The lift transmission mechanism is a synchronous pulley mechanism, the vertical guide groove and the mounting groove communicate with each other and form a closed loop; The synchronous belt of the synchronous pulley mechanism is located within the closed loop, and the synchronous belt of the synchronous pulley mechanism is connected to the slide member. The lift assembly further includes a brake device for stopping operation of the lift transmission mechanism. The transport robot according to claim 13 .

15. the braking device includes a cam; The cam is provided with a lever for manually stopping the operation of the synchronous pulley mechanism, or a cam drive motor for driving and rotating the cam to stop the operation of the synchronous pulley mechanism. The transport robot according to claim 14 .

16. The brake device further includes a brake disc, a guide base, and an insertion pin. The brake disc is fixed coaxially to a drive pulley of the synchronous pulley mechanism, and the brake disc is provided with one or more pin holes; The guide base is provided on the longitudinal beam, and the guide base is provided with an insertion slot; The insertion pin is inserted into the insertion slot, and the insertion pin is movable along the insertion slot, so that one end of the insertion pin is inserted into the pin hole and both the brake disc and the drive pulley are unrotatable; The cam is located on a side of the guide base away from the brake disc, and the other end of the insertion pin is rotatably connected to the cam, and a ring surface of the cam abuts against a surface of the guide base opposite the brake disc, so that the insertion pin is moved along the insertion slot when the cam rotates. The transport robot according to claim 15 .

17. The brake device further includes an elastic member. A first retaining ring is provided in a convex shape at a center portion between both ends of the insertion pin, and a second retaining ring is provided in a convex shape on a slot wall of the insertion slot, and the elastic member is and the second retaining ring, and the elastic member abuts the cam against the guide base. used to provide a pressing force that keeps the insertion pin stationary while contacting the 17. The transport robot according to claim 16.

18. The handling assembly is a fork The transport robot according to any one of claims 13 to 17.

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