Transport robot

Abstract

A transport robot is provided, the transport robot comprising a support (2), a fork (3) that can move up and down vertically along the support (2), a flexible lift member (43) wound around the support (2), and a lift power assembly connected to the flexible lift member (43).A first end of the flexible lift member (43) is wound around an upper portion of the support (2) and connected to an upper end of the fork (3), and a second end of the flexible lift member (43) is wound around a lower portion of the support (2) and connected to a lower end of the fork (3).

Description

Technical Field

[0001] <Cross - reference to Related Applications> This patent application claims the priority of a Chinese patent application with application number 202121689285.6, filed on July 23, 2021, and the entire disclosure of that application is incorporated herein by reference.

[0002] The present invention relates to the field of material handling, and more particularly to a conveying robot.

Background Art

[0003] Intelligent warehouse management is an integral part of the logistics process. By applying intelligent warehouse management, it is possible to ensure the speed and accuracy of data input in each link of the cargo warehouse management, enabling the enterprise to timely and accurately grasp the actual inventory data and reasonably maintain and manage the enterprise's inventory.

[0004] Among them, the conveying robot plays an important role in intelligent warehouse management. The conveying robot can receive instructions and load and unload and convey goods to the designated location. The conveying robot improves the efficiency of conveying in the warehouse.

Summary of the Invention

[0005] Therefore, an embodiment of the present invention provides a conveying robot that can more easily determine the lifting height of the fork accurately.

[0006] An embodiment of the present invention provides a conveying robot, which includes a support part, a fork provided on the support part and capable of lifting and lowering vertically along the support part, a flexible lift member wound around the support part, and a lift power assembly connected to the flexible lift member. The first end of the flexible lift member is wound up from the upper part of the support and connected to the upper end of the fork, and the second end of the flexible lift member is wound up from the lower part of the support and connected to the lower end of the fork.

[0007] According to one embodiment of the present invention, the support portion is composed of a fixed frame and a movable frame, The movable frame is provided on the fixed frame and is capable of moving up and down vertically along the fixed frame, and the fork is provided on the movable frame.

[0008] According to one embodiment of the present invention, the support portion comprises a first side portion and a second side portion, the first side portion and the second side portion are arranged parallel to each other with a vertical gap between them, the first side of the fork is positioned on the first side portion of the support portion, and the second side of the fork is positioned on the second side portion of the support portion. The flexible lift member comprises a first flexible lift member provided on the first side of the support portion and a second flexible lift member provided on the second side of the support portion.

[0009] According to one embodiment of the present invention, the lift power assembly comprises a first lift power assembly and a second lift power assembly, the first lift power assembly includes a first drive motor and a first drive wheel, the first flexible lift member is wrapped around the first drive wheel, the first end of the first flexible lift member is connected to the upper end of the first side of the fork, and the second end of the first flexible lift member is connected to the lower end of the first side of the fork.

[0010] According to one embodiment of the present invention, the second lift power assembly comprises a second drive motor and a second drive wheel, the second flexible lift member is wrapped around the second drive wheel, the first end of the second flexible lift member is connected to the upper end of the second side of the fork, and the second end of the second flexible lift member is connected to the lower end of the second side of the fork.

[0011] According to one embodiment of the present invention, the transport robot further comprises a first auxiliary transmission member, the first auxiliary transmission member being provided on the first side of the support portion, The first auxiliary transmission member is composed of a first driven wheel, a second driven wheel, a third driven wheel, and a fourth driven wheel. The first driven wheel is positioned on the upper part of the fixed frame, the second driven wheel is positioned on the lower part of the movable frame, the third driven wheel is positioned on the upper part of the movable frame, and the fourth driven wheel is positioned on the lower part of the fixed frame. The first flexible lift member is wrapped sequentially around the first drive wheel, the first driven wheel, the second driven wheel, the third driven wheel, and the fourth driven wheel.

[0012] According to one embodiment of the present invention, the first auxiliary transmission member further comprises a fifth driven wheel positioned between the first drive wheel and the first driven wheel, and the first flexible lift member is wrapped around the fifth driven wheel.

[0013] According to one embodiment of the present invention, the transport robot further comprises a second auxiliary transmission member provided on the second side of the support portion, The second auxiliary transmission member is composed of a sixth driven wheel, a seventh driven wheel, an eighth driven wheel, and a ninth driven wheel. The sixth driven wheel is positioned on the upper part of the fixed frame, the seventh driven wheel is positioned on the lower part of the movable frame, the eighth driven wheel is positioned on the upper part of the movable frame, and the ninth driven wheel is positioned on the lower part of the fixed frame. The second flexible lift member is sequentially wrapped around the second drive wheel, the sixth driven wheel, the seventh driven wheel, the eighth driven wheel, and the ninth driven wheel.

[0014] According to one embodiment of the present invention, the second auxiliary transmission member further comprises a tenth driven wheel positioned between the second drive wheel and the sixth driven wheel, and the second flexible lift member is wrapped around the tenth driven wheel.

[0015] According to one embodiment of the present invention, a guide mechanism is provided between the fixed frame and the movable frame, and the guide mechanism includes a roller assembly. The roller assembly consists of a first roller assembly and a second roller assembly. The first roller assembly is provided on the upper part of the fixed frame, and the second roller assembly is provided on the lower part of the movable frame, and the second roller assembly moves up and down together with the movable frame.

[0016] In the transport robot provided in the embodiment of the present invention, the forks and the flexible lift member are connected by a provided flexible lift member, thereby forming a closed loop between the flexible lift member and the forks. The distance traveled by the flexible lift member is the lifting distance of the forks, making it easier to more accurately determine the lifting height of the forks.

[0017] To more clearly illustrate the technical concepts in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. Clearly, the drawings in the following description represent only a few embodiments of the present invention, and those skilled in the art can obtain other drawings based on these without expending any creative effort. [Brief explanation of the drawing]

[0018] [Figure 1] This is a schematic diagram showing the configuration of a transport robot according to an embodiment of the present invention. [Figure 2] Figure 1 is a schematic diagram showing the configuration of the lift power assembly in the transport robot. [Figure 3] Figure 1 is a schematic diagram showing the configuration of the flexible lift member in the transport robot. [Figure 4] This is a top view of a transport robot according to an embodiment of the present invention. [Figure 5] Figure 1 is a schematic diagram showing the configuration of the roller assembly in the transport robot. [Modes for carrying out the invention]

[0019] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0020] It should be noted that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments that can be obtained by those skilled in the art without creative efforts belong to the protection scope of the present invention.

[0021] Currently, the lifting function of the transport robot mainly has the wire rope directly connected to the fork, and the fork is in a lifted state. The lifting and lowering of the fork are realized by winding or unwinding the wire rope. When monitoring the specific height of the lifting and lowering of the fork, due to reasons such as the tension of the wire rope not being constant, the number of windings of the wire rope being too many, and the outer wire rope being wound outside the inner wire rope, the calculated height data is not accurate and the error is large.

[0022] FIG. 1 is a schematic diagram showing the configuration of a transport robot according to an embodiment of the present invention. As shown in FIG. 1, the transport robot according to the embodiment of the present invention may include a support portion 2, a flexible lift member (for example, the flexible lift member 43 shown in FIG. 3), and a lift power assembly (for example, composed of a drive motor 41 and a drive wheel 42 shown in FIG. 2). The flexible lift member 43 is wound around the support portion 2. The lift power assembly is connected to the flexible lift member 43. For example, the flexible lift member 43 is wound around the drive wheel of the lift power assembly. A fork 3 that can move up and down in the vertical direction along the support portion 2 is provided on the support portion 2. The first end portion of the flexible lift member 43 is wound up from the upper portion of the support portion 2 and connected to the upper end of the fork 3, and the second end portion of the flexible lift member 43 is wound up from the lower portion of the support portion and connected to the lower end of the fork 3. Here, the upper portion of the support portion 2 is, for example, the top of the support portion 2 shown in FIG. 1, and the lower portion of the support portion 2 is, for example, the bottom of the support portion 2 shown in FIG. 1.

[0023] Fork 3, also known as the fork body, is responsible for lifting and supporting the load being transported, and for raising and lowering the load along with the forks.

[0024] In this invention, the first end of the flexible lift member 43 is connected to the upper end of the fork 3, the second end of the flexible lift member 43 is connected to the lower end of the fork 3, the fork 3 is connected to the flexible lift member 43, and the flexible lift member 43 is wrapped around the support part 2. When detecting the lifting height of the fork 3, the rotational distance of the flexible lift member 43 becomes the lifting distance of the fork 3. Because the error in this rotational distance is small and there are few factors that affect the data, it is easy to determine the lifting height of the fork more accurately. Compared to conventional methods of achieving lifting and lowering of the fork by winding or unwinding a wire rope, a transport robot having this configuration can avoid the influence of differences in wire rope tension, the number of turns of the wire rope, and the length per turn of the wire rope on the detection accuracy of the lifting distance of the fork 3.

[0025] Examples of flexible lift members in this embodiment include chains, timing belts, wire ropes, or flat belts, and are not limited to these in this embodiment. As shown in Figure 2, the drive motor 41 of the transport robot is a servo motor for detecting the lifting distance of the fork 3. For example, the lifting distance of the fork 3 is determined by calculating the relationship between the rotation angle of the servo motor and the mechanism transmission. The lift power assembly includes a drive motor 41 and a drive wheel 42, and the drive motor 41 is either directly connected to the drive wheel 42 or connected to the drive wheel 42 via a reduction mechanism. This embodiment is not limited to this. Figure 2 is a schematic diagram showing the configuration of the drive motor 41 in the transport robot shown in Figure 1, and Figure 3 is a schematic diagram showing the configuration of the flexible lift member 43 in the transport robot shown in Figure 1. As shown in Figures 2 and 3, in one embodiment, the support section 2 is composed of a fixed frame 21 and a movable frame 22. The movable frame 22 is provided on the fixed frame 21 and can move vertically up and down along the fixed frame 21, and the fork 3 is provided on the movable frame 22.

[0026] The support portion 2 comprises a first side portion 201 and a second side portion 202, the first side portion 201 and the second side portion 202 being arranged parallel to each other with a vertical gap between them. The first side 311 of the fork 3 is positioned on the first side portion 201 of the support portion 2, and the second side 312 of the fork 3 is positioned on the second side portion 202 of the support portion 2.

[0027] The first side portion 201 of the support portion 2 comprises a first fixed frame 2101 and a first movable frame 2201. The first movable frame 2201 is embedded in the first fixed frame 2101 and is movable vertically along the first fixed frame 2101.

[0028] The second side portion 202 of the support portion 2 comprises a second fixed frame 2102 and a second movable frame 2202. The second movable frame 2202 is embedded in the second fixed frame 2102 and is movable vertically along the second fixed frame 2102.

[0029] Here, the first side portion 201 and the second side portion 202 of the support portion 2 may be understood as the left side portion 201 and the right side portion 202 of the support portion 2 shown in Figure 2.

[0030] In one embodiment, as shown in Figure 4, the fork 3 comprises a fork plate 320 and a first slider 321 and a second slider 322, respectively, arranged on both sides of the fork plate 320. A first slide groove 221 and a second slide groove 222 are arranged on opposing sides of the first movable frame 2201 and the second movable frame 2202, respectively. Both the first slide groove 221 and the second slide groove 222 extend vertically, and the first slider 321 and the second slider 322 are positioned in the first slide groove 221 and the second slide groove 222, respectively. When the fork plate 320 moves up and down vertically, the first slider 321 slides along the first slide groove 221 and the second slider 322 slides along the second slide groove 222. This arrangement provides an overall positional restraint effect on fork 3, ensuring that fork 3 can only move vertically, reducing horizontal swaying of fork 3, and improving stability when fork 3 is moving vertically.

[0031] In some embodiments, the connection between the fork 3 and the first movable frame 2201 and the second movable frame 2202 is not limited to engagement between a slider and a slide groove. Engagement between a pulley and a slide rail may also be used to allow for smoother and more stable raising and lowering of the fork 3, and to prevent jamming. The objective is to achieve positional control of the fork 3, stable raising and lowering of the fork 3, and reduction of horizontal sway; this embodiment is not particularly limited.

[0032] The flexible lift member 43 consists of a first flexible lift member 4301 provided on the first side portion 201 of the support portion 2 and a second flexible lift member 4302 provided on the second side portion 202 of the support portion 2. The flexible lift members 4301 and 4302 move synchronously when driven by the lift power assembly.

[0033] In some embodiments, the lift power assembly comprises a first lift power assembly and a second lift power assembly. The first and second lift power assemblies are provided on the first side 201 and the second side 202 of the support 2, respectively. The first lift power assembly includes a first drive motor (not shown by reference numerals; the configuration of the first drive motor can be seen by referring to the second drive motor 41 shown in Figure 2) and a first drive wheel 49. The first end of the first flexible lift member 4301 is connected to the upper end of the first side 311 of the fork 3, and the second end of the first flexible lift member 4301 is connected to the lower end of the first side 311 of the fork 3.

[0034] The second lift power assembly comprises a second drive motor 41 and a second drive wheel 42. The first end of the second flexible lift member 4302 is connected to the upper end of the second side 312 of the fork 3, and the second end of the second flexible lift member 4302 is connected to the lower end of the second side 312 of the fork 3.

[0035] In one embodiment, the first drive motor and the second drive motor 41 may be two separate motors that drive two drive wheels, respectively. In another embodiment, the first drive motor and the second drive motor 41 may be the same motor, which may be a two-axis motor with two output shafts that drive two drive wheels, respectively, or a single-axis motor that rotates both drive wheels simultaneously by a reduction mechanism, and this embodiment is not limited thereto.

[0036] In one embodiment, the transport robot further comprises a first auxiliary transmission member. The first auxiliary transmission member is provided on the first side portion 201 of the support portion 2.

[0037] The first auxiliary transmission member consists of a first driven wheel 44, a second driven wheel 45, a third driven wheel 46, and a fourth driven wheel 47.

[0038] The first driven wheel 44 is positioned on the upper part of the first fixed frame 2101, the second driven wheel 45 is positioned on the lower part of the first movable frame 2201, the third driven wheel 46 is positioned on the upper part of the first movable frame 2201, and the fourth driven wheel 47 is positioned on the lower part of the first fixed frame 2101.

[0039] The first flexible lift member 4301 is sequentially wrapped around the first drive wheel 49, the first driven wheel 44, the second driven wheel 45, the third driven wheel 46, and the fourth driven wheel 47, forming an S-shaped structure, thereby adjusting the tension and direction of travel of the first flexible lift member 4301.

[0040] In one embodiment, to adjust the tension of the first flexible lift member 4301, the first auxiliary transmission member further comprises a fifth driven wheel 48 positioned between the first drive wheel 49 and the first driven wheel 44. The first flexible lift member 4301 is sequentially wrapped around the first drive wheel 49, the fifth driven wheel 48, the first driven wheel 44, the second driven wheel 45, the third driven wheel 46, and the fourth driven wheel 47.

[0041] In one embodiment, the transport robot further comprises a second auxiliary transmission member provided on the second side portion 202 of the support portion 2.

[0042] The second auxiliary transmission member consists of a sixth driven wheel, a seventh driven wheel, an eighth driven wheel, and a ninth driven wheel.

[0043] The sixth driven wheel is positioned on the upper part of the second fixed frame 2102, the seventh driven wheel is positioned on the lower part of the second movable frame 2202, the eighth driven wheel is positioned on the upper part of the second movable frame 2202, and the ninth driven wheel is positioned on the lower part of the second fixed frame 2102.

[0044] The second flexible lift member 4302 is sequentially wrapped around the second drive wheel 42, the sixth driven wheel, the seventh driven wheel, the eighth driven wheel, and the ninth driven wheel, forming an S-shaped structure, thereby adjusting the tension and direction of travel of the second flexible lift member 4302.

[0045] In one embodiment, to further adjust the tension of the second flexible lift member 4302, the second auxiliary transmission member further comprises a tenth driven wheel positioned between the second drive wheel 42 and the sixth driven wheel. The second flexible lift member is sequentially wrapped around the second drive wheel 42, the tenth driven wheel, the sixth driven wheel, the seventh driven wheel, the eighth driven wheel, and the ninth driven wheel. The arrangement method of the second auxiliary transmission member can be seen by referring to the arrangement method of the first auxiliary transmission member in Figure 3, where specific drawings and reference numerals are not provided.

[0046] Figure 4 is a top view of a transport robot according to one embodiment of the present invention, and Figure 5 is a schematic diagram showing the configuration of a roller assembly. As shown in Figures 4 and 5, in one embodiment, a guide mechanism is provided between a fixed frame 21 and a movable frame 22. The guide mechanism includes a roller assembly for converting sliding friction between the fixed frame 21 and the movable frame 22 into rolling friction. The roller assembly is provided symmetrically on both the first side 201 and the second side 202 of the support portion 2, and the roller assembly on one side will be described in detail below.

[0047] Let's take the case where the roller assembly is provided on the second side portion 202 of the support portion 2 as an example. The roller assembly consists of a first roller assembly and a second roller assembly.

[0048] The first roller assembly is located at the top of the second fixed frame 2102, and the second roller assembly is located at the bottom of the second movable frame 2202. The second roller assembly moves up and down together with the second movable frame 2202.

[0049] The first roller assembly comprises a first roller 51 and a second roller 52. The first roller 51 and the second roller 52 are mounted on the web of the second fixed frame 2102 and contact the flange of the second movable frame 2202. As the second movable frame 2202 moves up and down, the first roller 51 and the second roller 52 roll along the second movable frame 2202, avoiding hard friction between the second fixed frame 2102 and the second movable frame 2202, reducing wear on the second fixed frame 2102 and the second movable frame 2202, improving durability, and extending service life.

[0050] The second roller assembly comprises a third roller 53 and a fourth roller 54. The third roller 53 and the fourth roller 54 are mounted on the web of the second movable frame 2202 and contact the flange of the second fixed frame 2102. As the second movable frame 2202 moves up and down, the third roller 53 and the fourth roller 54 roll along the second fixed frame 2102 and move up and down together with the second movable frame 2202. The arrangement of the third roller 53 and the fourth roller 54 avoids harsh friction between the second fixed frame 2102 and the second movable frame 2202, reducing wear on the second fixed frame 2102 and the second movable frame 2202, improving durability, and extending service life. Similarly, the first side 201 of the support 2 also comprises a roller assembly, and the arrangement of the roller assembly in the first side 201 can be compared with the arrangement of the roller assembly in the second side 202, which is omitted here from description.

[0051] In another embodiment, the guide mechanism may further include a slider positioned on the fixed frame 21 and a guide rail groove positioned on the movable frame 22, or a slider positioned on the movable frame 22 and a guide rail groove positioned on the fixed frame 21. The slider and guide rail groove can make movement between the fixed frame 21 and the movable frame 22 smoother and act as a constant guide to prevent the movable frame 22 from swaying on the fixed frame 21.

[0052] The operation process of the transport robot in this embodiment is as follows: The drive motor operates, the drive wheels rotate in the first direction, the flexible lift member 43 rotates in the first direction, the fork 3 rises, and when the fork 3 contacts the stopper at the top of the movable frame 22, relative displacement between the fork 3 and the movable frame 22 ceases. At this time, the drive motor continues to operate, the fork body 3 rises together with the movable frame 22, and when the lower part of the movable frame rises to the stopper at the top of the fixed frame 21, the rise of the movable frame 22 and the fork 3 stops, and at this point it is in the highest possible position for upward movement.

[0053] The drive motor operates in the reverse direction, the drive wheels rotate in the second direction, the flexible lift member 43 rotates in the second direction, the movable frame 22 descends together with the fork 3, and when the movable frame 22 has descended until it is completely housed within the fixed frame 21, the movable frame 22 stops descending, the drive motor continues to operate in the reverse direction, the fork 3 continues to descend relative to the movable frame 22, and when the fork 3 has descended to a predetermined lowest point, the rotation of the drive motor stops. Here, the first direction and the second direction are opposite directions.

[0054] In this embodiment, when the fork 3 moves up and down within a certain range, for example, within the height range of the fixed frame 21, the overall height of the transport robot does not change. Only when loading or unloading cargo at a high position, the movable frame 22 moves upward and extends the fixed frame 21, at which point the overall height of the transport robot increases. This allows for flexible movement when there are height restrictions in the warehouse, thereby improving warehouse utilization.

[0055] In one embodiment, the transport robot further comprises a chassis assembly 1. The support portion 2 is provided on the chassis assembly 1, and the chassis assembly 1 provides a certain level of support to the support portion 2.

[0056] In one embodiment, the fork 3 is provided with an execution assembly 6 for transporting magazines or cartons from an external station or shelf.

[0057] In one embodiment, a shelf board 7 is provided horizontally on one side of the fixed frame 21, and the shelf board 7 is provided back-to-back with the fork 3.

[0058] Shelf 7 is used for temporarily storing goods. The execution assembly 6 can transport magazines or cartons from an external station or shelf onto shelf 7. When shelf 7 is full of goods, the goods can be moved all at once to their corresponding positions. In actual use, if there is no need to temporarily store goods, shelf 7 may not be provided.

[0059] In this embodiment, at least two shelves 7 are provided, and at least two shelves 7 are arranged at equal intervals along the vertical direction. In actual use, the number of shelves 7 can be reasonably selected according to the size of the luggage, the height of the fixed frame 21, etc., and is not limited to this embodiment.

[0060] To improve the support strength of the shelf board 7, reinforcing ribs 71 are provided at the connection point between the shelf board 7 and the fixed frame 21. This prevents the shelf board 7 from breaking due to excessive weight of the load.

[0061] In one embodiment, the chassis assembly 1 may use an AGV to enable the transport robot to move on the ground and to transport the load to a predetermined location.

[0062] An AGV (Automated Guided Vehicle) is a transport vehicle equipped with an automatic navigation system, such as electromagnetic or optical, that can travel along a predetermined navigation route and has safety features and various load transfer functions. In industrial applications, it does not require a driver and is powered by a rechargeable battery. Generally, the travel route and behavior can be controlled by a computer, or the travel route can be set using an electromagnetic path-following system. The electromagnetic path is attached to the floor, and the AGV moves and acts based on messages from the electromagnetic path.

[0063] The transport robot provided in this invention reduces measurement errors compared to conventional wire rope winding and unwinding methods, more accurately determines the raising and lowering heights of the forks 3 and / or movable frame 22, and can avoid the load coming into contact with the top of a building or being placed in the wrong position. Furthermore, compared to conventional lifting methods, the forks do not become immobile or unable to continue descending due to their own gravity during the descent process.

[0064] It should be noted that, while the focus of the technical proposal described in each embodiment of the present invention differs, each embodiment is interconnected in some way and can be referenced to one another when understanding the technical proposal of the present invention. Furthermore, relational terms such as “first” and “second” are used solely to distinguish one entity or action from another and do not necessarily require or suggest an actual relationship or order between those entities or actions. In addition, the terms “include,” “equip,” or other variations thereof are intended to be non-exclusive. Thus, a process, method, article, or device that includes a set of elements may include not only those elements but also other elements not expressly described, or further elements inherent to the process, method, article, or device. Unless otherwise limited, an element limited by “include one…” does not exclude the existence of another identical element in a process, method, article, or device that includes the said element.

[0065] The above describes only a part of the embodiments of the present invention and does not limit the invention. Any modifications, equivalent substitutions, improvements, etc., made without departing from the spirit and principles of the invention, as would be known to those skilled in the art, are included within the scope of protection of the present invention. Accordingly, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. It is a transport robot, Support part and A fork provided on the support portion and capable of moving vertically up and down along the support portion, A flexible lift member wrapped around the support portion, The system comprises a lift power assembly connected to the aforementioned flexible lift member, The first end of the flexible lift member is wound up from the upper part of the support and connected to the upper end of the fork, and the second end of the flexible lift member is wound up from the lower part of the support and connected to the lower end of the fork. The support section is composed of a fixed frame and a movable frame. The movable frame is provided so as to be embedded in the fixed frame and is capable of moving up and down vertically along the fixed frame, and the fork is provided on the movable frame, The support portion comprises a first side portion and a second side portion, the first side portion and the second side portion are arranged parallel to each other with a vertical gap between them. The flexible lift member is composed of a first flexible lift member provided on the first side of the support portion and a second flexible lift member provided on the second side of the support portion. The lift power assembly comprises a first lift power assembly and a second lift power assembly provided between the first side and the second side of the support portion, the first lift power assembly provided on the first side of the support portion and comprising a first drive motor and a first drive wheel, the first drive wheel provided on the side of the first side of the support portion closer to the second side, the second lift power assembly provided on the second side of the support portion and comprising a second drive motor and a second drive wheel, the second drive wheel provided on the side of the second side of the support portion closer to the first side, The first flexible lift member is wrapped around the inside of the first side of the support and the first drive wheel, and the second flexible lift member is wrapped around the inside of the second side of the support and the second drive wheel. A transport robot characterized by the following features.

2. The first side of the fork is positioned on the first side of the support portion, and the second side of the fork is positioned on the second side of the support portion. The transport robot according to feature 1.

3. The first end of the first flexible lift member is connected to the upper end of the first side of the fork, and the second end of the first flexible lift member is connected to the lower end of the first side of the fork. The transport robot according to feature 2.

4. The first end of the second flexible lift member is connected to the upper end of the second side of the fork, and the second end of the second flexible lift member is connected to the lower end of the second side of the fork. The transport robot according to feature 3.

5. The system further comprises a first auxiliary transmission member, the first auxiliary transmission member being provided on the first side of the support portion, The first auxiliary transmission member is composed of a first driven wheel, a second driven wheel, a third driven wheel, and a fourth driven wheel. The first driven wheel is positioned on the upper part of the fixed frame, the second driven wheel is positioned on the lower part of the movable frame, the third driven wheel is positioned on the upper part of the movable frame, and the fourth driven wheel is positioned on the lower part of the fixed frame. The first flexible lift member is wrapped sequentially around the first drive wheel, the first driven wheel, the second driven wheel, the third driven wheel, and the fourth driven wheel. The transport robot according to feature 3.

6. The first auxiliary transmission member further comprises a fifth driven wheel positioned between the first drive wheel and the first driven wheel, and the first flexible lift member is wrapped around the fifth driven wheel. The transport robot according to feature 5.

7. The support portion further comprises a second auxiliary transmission member provided on the second side, The second auxiliary transmission member is composed of a sixth driven wheel, a seventh driven wheel, an eighth driven wheel, and a ninth driven wheel. The sixth driven wheel is positioned on the upper part of the fixed frame, the seventh driven wheel is positioned on the lower part of the movable frame, the eighth driven wheel is positioned on the upper part of the movable frame, and the ninth driven wheel is positioned on the lower part of the fixed frame. The second flexible lift member is wrapped sequentially around the second drive wheel, the sixth driven wheel, the seventh driven wheel, the eighth driven wheel, and the ninth driven wheel. The transport robot according to feature 4.

8. The second auxiliary transmission member further comprises a tenth driven wheel positioned between the second drive wheel and the sixth driven wheel, and the second flexible lift member is wrapped around the tenth driven wheel. The transport robot according to feature 7.

9. A guide mechanism is provided between the fixed frame and the movable frame, and the guide mechanism includes a roller assembly. The roller assembly consists of a first roller assembly and a second roller assembly. The first roller assembly is provided on the upper part of the fixed frame, and the second roller assembly is provided on the lower part of the movable frame, and the second roller assembly moves up and down together with the movable frame. The transport robot according to feature 2.

10. A shelf is provided horizontally on one side of the fixed frame, and the shelf is positioned back-to-back with the fork. The transport robot according to feature 1.

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