Transfer robot and logistics conveying apparatus

Abstract

A transfer robot and a logistics conveying apparatus. The transfer robot comprises a vehicle body (1), wherein the vehicle body (1) is provided with a goods pickup and placement mechanism and comprises a chassis and a fixing plate (1-1), the chassis comprising a main plate (1-2) and an auxiliary plate (1-3) which are hinged to each other, and a linkage mechanism being provided between the main plate (1-2), the auxiliary plate (1-3) and the fixing plate (1-1) so as to reduce an inclination angle of the fixing plate (1-1) when the main plate (1-2) and the auxiliary plate (1-3) rotate relative to each other; and the goods pickup and placement mechanism is mounted on the fixing plate (1-1). By means of the arrangement, the transfer robot has good stability during transferring of an object.

Description

A handling robot and logistics conveying equipment

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This disclosure claims priority to Chinese patent application number 2023236679607, filed with the Chinese Patent Office on December 29, 2023, entitled “A Transport Robot,” the entire contents of which are incorporated by reference into this disclosure. Technical Field

[0003] The present disclosure relates to the technical field of logistics conveying equipment, and in particular to a handling robot and logistics conveying equipment. Background Art

[0004] The statements herein merely provide background information related to the present disclosure and may not necessarily constitute prior art.

[0005] In current warehousing technology, handling robots are used to pick up and place goods on shelves, which improves work efficiency and reduces the labor intensity of workers. For example, patent application CN116409730A discloses a handling device and a warehousing system, which includes a base, a pallet, a lifting assembly, and a limiter. The base has a mounting plate, the pallet is configured to carry cargo boxes, the bottom end of the lifting assembly is connected to the base, and the top end is connected to the pallet to drive the pallet to lift and retract the material box, and the limiter is pivotally connected to at least one of the mounting plate and the pallet between a static position and an actuated position to prevent the movement of the container on the pallet. However, the above patent has the following defects:

[0006] 1. The base is an integral rigid base. During transportation, if the road surface is uneven, the pallet will tilt, making the cargo box unstable on the pallet.

[0007] 2. The position of the limiter is fixed and can only limit the cargo box of a specific size. It cannot be adjusted according to the size and specifications of the cargo box, and has poor applicability.

[0008] 3. When the lifting assembly drives the pallet carrying the material box to be folded and transported, the pallet is only supported by the lifting assembly, which is unstable.

[0009] Utility Model Content

[0010] The purpose of the present disclosure is to overcome the deficiencies of the above-mentioned prior art and to provide a handling robot and logistics conveying equipment, which have good stability of the material boxes during transportation, meet the handling requirements of various material boxes, and have strong applicability.

[0011] To achieve the above objectives, the present disclosure adopts the following technical solutions:

[0012] The present disclosure provides a transport robot, comprising a vehicle body, wherein the vehicle body is equipped with a cargo picking and placing mechanism;

[0013] The vehicle body includes a chassis and a fixed plate, the chassis includes a main plate and a sub-plate hinged to each other, and a connecting rod mechanism is provided between the main plate, the sub-plate and the fixed plate to reduce the tilt angle of the fixed plate when the main plate and the sub-plate rotate relative to each other;

[0014] The cargo taking and placing mechanism is installed on the fixing plate.

[0015] Optionally, the link mechanism is arranged on both sides of the chassis along the walking direction.

[0016] Optionally, the connecting rod mechanism includes a first connecting rod, one end of which is fixedly connected to the main disk, and the other end of the first connecting rod is hinged to the fixed plate; and also includes a second connecting rod, both ends of which are hinged to the sub-disk and the fixed plate respectively.

[0017] Optionally, the connecting rod mechanism includes a first connecting rod, one end of which is hinged to the main disk, and the other end of the first connecting rod is fixedly connected to the fixed plate; and also includes a second connecting rod, both ends of which are respectively hinged to the sub-disk and the fixed plate.

[0018] Optionally, a power mechanism installed on the main disk is provided at the hinge position of the main disk and the auxiliary disk, and the power mechanism is connected to the active running wheel. Driven running wheels are installed on the main disk and the auxiliary disk to support the main disk and the auxiliary disk.

[0019] Optionally, the cargo picking and placing mechanism includes a horizontal cargo picking mechanism; the horizontal cargo picking mechanism includes a telescopic cargo picking mechanism or a horizontal conveying cargo picking mechanism.

[0020] Optionally, the cargo picking and placing mechanism includes a vertical cargo picking mechanism; the vertical cargo picking mechanism includes a lifting mechanism, the lifting mechanism is connected to a pallet, and the pallet is configured to carry cargo.

[0021] Optionally, the vehicle body is provided with a plurality of limiting mechanisms, which are configured to limit the cargo picked up by the cargo picking and placing mechanism; the limiting mechanism includes a support frame and a limiting block, the bottom of the support frame is fixedly connected to the vehicle body, the limiting block is slidably connected to the top of the support frame to achieve position adjustment along the limiting direction, and a locking component is provided between the limiting block and the support frame to lock the limiting block and the support frame.

[0022] Optionally, a sliding groove is provided at the top of the support frame and is arranged along the limiting direction of the limiting block, and the limiting block is slidably connected to the support frame through the sliding groove.

[0023] Optionally, the fixed plate is installed with a tray limit plug-in component, and the bottom surface of the tray is provided with a tray limit receiving component that matches the tray limit plug-in component; the tray limit plug-in component can be inserted into the tray limit receiving component when the lifting mechanism is in the folded state.

[0024] Optionally, the bottom surface of the tray is provided with tray limiting receiving components at both ends along the length direction and / or at both ends along the width direction, and the fixing plate is provided with tray limiting plug-in components matching the tray receiving components.

[0025] Optionally, the fixed plate is equipped with a tray limit receiving component, and the bottom surface of the tray is provided with a tray limit plug-in component that matches the tray limit receiving component; the tray limit plug-in component can be inserted into the tray limit receiving component when the lifting mechanism is in the folded state.

[0026] Optionally, the bottom surface of the pallet is provided with pallet limiting plug-in components at both ends along the length direction and / or at both ends along the width direction, and the fixed plate is provided with pallet limiting receiving components matching the pallet plug-in components.

[0027] Optionally, the tray position limiting plug-in component includes a plug-in component bracket, and one end of the plug-in component bracket is provided with a flexible plug that matches the tray position limiting receiving component.

[0028] Optionally, the plug-in component bracket includes a fixed portion and a movable portion, the movable portion is fixed to the flexible plug, and the fixed portion and the movable portion are telescopically connected or threadedly connected to achieve height adjustment of the flexible plug.

[0029] The present disclosure provides a logistics conveying equipment, which includes the above-mentioned handling robot.

[0030] The beneficial effects of the above disclosure are as follows:

[0031] 1. The handling robot disclosed in the present invention has a vehicle body including a chassis and a fixed plate. The chassis includes a main plate and a sub-plate hinged to each other. The main plate and the sub-plate are connected to the fixed plate through a connecting rod mechanism. When the ground is uneven, the main plate and the sub-plate can generate relative rotation to adapt to the ground. During the relative rotation of the main plate and the sub-plate, the inclination angle of the fixed plate can be reduced by the connecting rod mechanism, thereby ensuring the stability of the handled objects during transportation.

[0032] 2. In the handling robot disclosed herein, the limit block is slidably connected to the top of the support frame to realize the position adjustment of the limit block along its limiting direction, so that the limit block can adjust its position according to the size of the handled object, meeting the limiting requirements of handled objects of different sizes and specifications, and improving the applicability of the entire handling robot.

[0033] 3. The handling robot disclosed in the present invention has a pallet limiting plug-in component and a pallet limiting receiving component provided between the vehicle body and the pallet. The pallet limiting plug-in component and the pallet limiting receiving component can be plugged and connected when the lifting mechanism is folded to limit the pallet, thereby preventing the shaking of the pallet during the handling process and ensuring the stability of transportation.

[0034] 4. The transport robot disclosed herein has a vehicle body and a cargo pick-up and placement mechanism that adopts a layered design of a chassis and a fixed plate. The vehicle body can be adapted to a variety of different cargo pick-up and placement mechanisms to be configured to pick up and place cargo. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings, which constitute a part of the present application, are used to provide a further understanding of the present application. The exemplary embodiments of the present application and their descriptions are configured to explain the present application but do not constitute a limitation on the present application.

[0036] FIG1 is a schematic diagram of the overall structure of the lifting mechanism in a retracted state in Example 1 of the present disclosure;

[0037] FIG2 is a front view of the overall structure of the lifting mechanism of Example 1 of the present disclosure in a retracted state;

[0038] FIG3 is a side view of the overall structure of the lifting mechanism in the retracted state of Example 1 of the present disclosure;

[0039] FIG4 is a top view of the overall structure of the lifting mechanism in the retracted state of Example 1 of the present disclosure;

[0040] FIG5 is a schematic diagram of the overall structure of the lifting mechanism in the raised state according to the first embodiment of the present disclosure;

[0041] FIG6 is a front view of the overall structure of the lifting mechanism in the raised state according to the embodiment 1 of the present disclosure;

[0042] FIG7 is a side view of the overall structure of the lifting mechanism in the raised state according to the first embodiment of the present disclosure;

[0043] FIG8 is a schematic diagram of the connection between the chassis and the fixing plate in accordance with Embodiment 1 of the present disclosure;

[0044] FIG9 is a front view of the connection between the chassis and the fixing plate in accordance with the first embodiment of the present disclosure;

[0045] FIG10 is a bottom view of the chassis of Example 1 of the present disclosure;

[0046] FIG11 is a schematic diagram of the assembly of the fixed plate, tray, and lifting mechanism of Example 1 of the present disclosure;

[0047] 12 is a front view of the assembly of the fixing plate, tray, and lifting mechanism of Example 1 of the present disclosure;

[0048] FIG13 is a side view of the assembly of the fixing plate, tray, and lifting mechanism of Example 1 of the present disclosure;

[0049] FIG14 is a schematic diagram of a telescopic pickup mechanism according to Embodiment 2 of the present disclosure;

[0050] Among them, 1. Car body, 2. Lifting mechanism, 3. Material box, 4. Pallet, 5. Material box limit mechanism, 6. Limit mechanism; 7. Telescopic clamping and picking mechanism;

[0051] 1-1. Fixed plate, 1-2. Main plate, 1-3. Auxiliary plate, 1-4. Pin, 1-5. Active travel wheel, 1-6. Driven travel wheel, 1-7. First connecting rod, 1-8. First articulated seat, 1-9. Second articulated seat, 1-10. Second connecting rod, 1-11. Third articulated seat, 1-12. Protective cover;

[0052] 5-1. Limit block, 5-2. L-shaped frame, 5-3. Slide, 5-4. Column, 5-5. Horizontal plate;

[0053] 6-1. Tray limit receiving component, 6-2. Plug-in component bracket, 6-3. Flexible plug. DETAILED DESCRIPTION

[0054] Example 1

[0055] The present embodiment provides a handling robot configured to carry a material box 3, as shown in Figures 1-7, comprising a vehicle body 1, a cargo pick-up and placement mechanism installed on the top of the vehicle body 1, the cargo pick-up and placement mechanism adopts a vertical cargo picking mechanism, comprising a lifting mechanism 2, the lifting mechanism 2 is connected to the vehicle body 1, the upper part of the lifting mechanism 2 is connected to the pallet 4, the pallet 4 is configured to carry the material box 3, the lifting mechanism 2 can drive the pallet 4 to lift and lower, thereby realizing the taking out of the material box 3 or putting the material box 3 on the shelf, a limiting mechanism 5 is provided on the vehicle body 1 to limit the material box 3, and a limiting mechanism 6 is provided between the vehicle body 1 and the pallet 4 to limit the pallet.

[0056] In this embodiment, the cargo picking and placing mechanism adopts a vertical cargo picking mechanism, wherein the lifting mechanism 2 can adopt an existing scissor-type lifting mechanism, using existing technology, and its specific structure is not described in detail here.

[0057] The periphery of the tray 4 is provided with a plurality of limiting mechanisms, which are material box limiting mechanisms 5 for preventing the material box 3 from falling from the tray 4 . The material box limiting mechanisms 5 are installed on the vehicle body 1 .

[0058] In this embodiment, two material box limiting mechanisms 5 are provided on the outer sides of the two edges of the tray 4 along the length direction, and two material box limiting mechanisms 5 are provided on the outer sides of the two edges of the tray 4 along the width direction.

[0059] It is understandable that the number of the material box limiting mechanisms 5 can be set according to actual conditions, which will not be described in detail here.

[0060] In this embodiment, the material box limiting mechanism 5 includes a support frame and a limiting block 5-1. The support frame is fixed to the vehicle body 1, and the limiting block 5-1 is installed on the support frame.

[0061] In the two limit blocks 5-1 on the outside of the width edge of the pallet, each limit block corresponds to a support frame, and the two support frames are symmetrically arranged with respect to the axis of the length direction of the vehicle body. The support frame adopts an L-shaped frame 5-2, which includes a vertical part and a horizontal part. The bottom end of the vertical part is fixed to the end of the top surface of the vehicle body 1 along the length direction, and the outer end of the horizontal part extends to the outside of the width edge of the pallet 4.

[0062] The limit block 5 - 1 is slidably connected to the horizontal portion to achieve adjustment along the length direction of the vehicle body 1 , that is, to achieve position adjustment of the limit block along the limit direction.

[0063] Specifically, a plurality of slide grooves 5-3 are provided on the horizontal part, and the axis of the slide groove 5-3 is set along the limiting direction of the limit block 5-1. The limit block 5-1 is slidably connected to the horizontal part through the slide groove 5-3 and a locking component is provided between the limit block 5-1 and the horizontal part.

[0064] The locking component adopts a threaded locking part such as a bolt or a screw, and its rod part passes through the slide groove 5-3 and is threadedly connected to the internal threaded hole opened on the bottom surface of the limit block 5-1. Its head is pressed against the bottom surface of the horizontal part to lock and fix the limit block 5-1 to the horizontal part. Loosening the threaded locking part can make the limit block 5-1 slide along the slide groove 5-3 to adjust its position.

[0065] The two limit blocks 5-1 on the outer sides of the longitudinal edge of the pallet share a support frame, which includes a column 5-4 fixed to the middle part of the longitudinal edge of the upper surface of the vehicle body 1, and a horizontal plate 5-5 is fixed to the top of the column 5-4. The two ends of the horizontal plate 5-5 are slidably connected to the limit blocks 5-1 and a locking component is provided between the limit blocks 5-1. The connection method between the limit blocks 5-1 and the horizontal plate 5-5 is the same as the connection method between the limit blocks 5-1 and the horizontal part, and will not be repeated here.

[0066] In this embodiment, the limit block 5-1 can adjust its position along the limit direction through the slide groove 5-3, and is locked and fixed by a threaded locking member, so that the limit block 5-1 can adjust its position according to the size of the material box 3, meeting the limit requirements of material boxes 3 of different sizes and specifications, and improving the applicability of the entire material box handling robot.

[0067] The vehicle body 1 includes a chassis and a fixed plate 1 - 1 located above the chassis. The fixed plate 1 - 1 is connected to the lifting mechanism 2 and the material box limiting mechanism 5 and is configured to support the lifting mechanism 2 and the material box limiting mechanism 5 .

[0068] Optionally, the fixing plate 1 - 1 is detachably fixed to the bottom of the lifting mechanism by bolts.

[0069] As shown in Figures 8 to 10, the chassis consists of a main plate 1-2 and a sub-plate 1-3. The main plate 1-2 and the sub-plate 1-3 are hingedly connected by a pin 1-4. The main plate 1-2 is provided with two sets of power mechanisms at the hinge position with the sub-plate 1-3. The power mechanisms are arranged on both sides of the main plate 1-2 along the width direction. The power mechanisms are connected to the active walking wheels 1-5 and can drive the active walking wheels 1-5 to rotate. The power mechanisms can be made of existing technology. For example, the power mechanisms can be made of motors, reducers, or hydraulic motors and other devices that can output rotational motion. Those skilled in the art can set them according to actual needs. Optionally, the power mechanism can be made of a hub motor that integrates a click, reducer, and wheel body, thereby reducing the body size and making the handling robot more flexible.

[0070] Since the active running wheel 1-5 is arranged at the hinge position of the main plate 1-2 and the auxiliary plate 1-3, the active running wheel 1-5 is arranged in the middle position of the entire chassis. In order to support the main plate 1-2 and the auxiliary plate 1-3, the main plate 1-2 and the auxiliary plate 1-3 are both provided with driven running wheels 1-6, and the two driven running wheels 1-6 are arranged along the diagonals of the entire chassis.

[0071] The main disk 1-2 and the auxiliary disk 1-3 are connected to the fixed plate 1-1 through a connecting rod mechanism. By setting up the connecting rod mechanism, the inclination angle of the fixed plate 1-1 can be reduced after the main disk 1-2 and the auxiliary disk 1-3 rotate relative to each other.

[0072] The connecting rod mechanism can be set as one set, two sets, three sets or more sets, and those skilled in the art can set it according to actual needs. The connecting rod mechanism can be set in the middle position of the chassis and the fixed plate 1-1 or on both sides along the walking direction, and those skilled in the art can set it according to actual needs.

[0073] In this embodiment, two sets of the connecting rod mechanisms are provided, which are respectively arranged at two sides of the fixed plate 1 - 1 and the chassis along the walking direction.

[0074] The connecting rod mechanism includes a first connecting rod 1-7, one end of which is fixedly connected to the main disk 1-2, and the other end of the first connecting rod 1-7 is hinged to the fixed plate 1-1, or one end of the first connecting rod 1-7 is hinged to the main disk 1-2, and the other end of the first connecting rod 1-7 is fixedly connected to the fixed plate 1-1; and also includes a second connecting rod 1-10, both ends of which are hinged to the sub-disk 1-3 and the fixed plate 1-1, respectively.

[0075] Specifically, the connecting rod mechanism includes a first connecting rod 1-7 fixed on the side of the upper surface of the main plate 1-2 along the walking direction, the first connecting rod 1-7 and the first articulated seat 1-8 are hinged through a hinge shaft, the first articulated seat 1-8 is fixed on the bottom surface of the fixed plate 1-1, and the first articulated seat 1-8 is hinged to the fixed plate 1-1. The connecting rod mechanism also includes a second articulated seat 1-9, the second articulated seat 1-9 is fixed on the side of the upper surface of the sub-plate 1-3 along the width direction, the second articulated seat 1-9 and the bottom end of the second connecting rod 1-10 are hinged through a hinge shaft, the top end of the second connecting rod 1-10 is hinged to the third articulated seat 1-11 through the articulated shaft, and the third articulated seat 1-11 is fixed on the lower surface of the fixed plate 1-1.

[0076] When the vehicle body of this embodiment passes over uneven ground, the main plate 1-2 and the auxiliary plate 1-3 will rotate relative to each other. Due to the action of the connecting rod mechanism, the inclination angle of the fixed plate 1-1 will be reduced, ensuring the stability of the material box 3 during transportation.

[0077] The edges of the main plate 1-2 and the auxiliary plate 1-3 are both provided with upward flanges, and protective covers 1-12 are fixed to the flanges by threaded fasteners such as bolts, etc., and are configured to protect various devices installed on the chassis.

[0078] A gap of a set size is provided between the protective covers 1-12 of the main disk 1-2 and the secondary disk 1-3 to meet the requirement of relative rotation of the main disk 1-2 and the secondary disk 1-3. In order to seal the gap, a sealing plate is provided at the end of the protective cover 1-12 of the main disk 1-2, and the sealing plate extends to the inner side of the protective cover 7 of the secondary disk 1-3, or a sealing plate is provided at the end of the protective cover 1-12 of the secondary disk 1-3, and the sealing plate extends to the inner side of the protective cover 7 of the main disk 1-2.

[0079] In this embodiment, if only a scissors-type lifting mechanism is used to support the pallet 4, the pallet 4 will be unstable during the transportation of the material box 3, resulting in instability in the transportation process of the material box. Therefore, a limiting mechanism 6 is set between the fixed plate 1-1 and the pallet 4, so that when the lifting mechanism 2 is in the retracted state, the fixed plate 1-1 uses the limiting mechanism 6 to limit the shaking of the pallet 4, thereby ensuring the smooth transportation process of the material box 3.

[0080] As shown in Figures 11 to 13, the limiting mechanism 6 includes a tray limiting plug-in component and a tray limiting receiving component 6-1. The tray limiting receiving component 6-1 is fixed to the bottom surface of the tray 4, and the tray limiting plug-in component is fixed to the upper surface of the fixed plate 1-1. When the lifting mechanism 2 is in a retracted state, the tray limiting plug-in component and the tray limiting receiving component 6-1 are plugged in to achieve the limitation of the tray 4.

[0081] In this embodiment, the tray limiting receiving component 6-1 is fixed to the two ends of the bottom surface of the tray 4 along the length direction, and correspondingly, the tray limiting plug-in component is fixed to the two ends of the upper surface of the fixing plate 1-1 along the length direction.

[0082] The tray limiting plug-in component is located in the middle of the end of the fixed plate 1 - 1 and between the support frames of the two material box limiting mechanisms 5 .

[0083] The tray limiting plug-in component includes a plug-in component bracket 6-2, which is fixedly connected to the fixed plate 1-1. A flexible plug 6-3 is provided on the top of the plug-in component bracket 6-2. Optionally, the flexible plug 6-3 is a conical plug made of rubber material.

[0084] Correspondingly, the tray limit receiving component 6-1 is fixed at the middle position of the end of the tray 4, and a conical slot matching the flexible plug 6-3 is provided at the bottom end of the tray limit receiving component 6-1. The flexible plug 6-3 can be inserted into the slot to realize the plug-in connection between the tray limit plug-in component and the tray limit receiving component 6-1.

[0085] In this embodiment, the plug-in component bracket 6-1 includes a fixing part and a lifting part. The bottom end of the fixing part is fixedly connected to the fixing plate 1-1 by a bolt. The top of the fixing part has a nut, which is threadedly connected to the lifting part. By rotating the lifting part, the lifting movement of the lifting part can be realized. The top end of the lifting part is fixed with the flexible plug 6-3.

[0086] In another embodiment, the fixing portion and the lifting portion are telescopically connected, and the fixing portion is threadedly connected with a locking bolt, and the fixing portion and the telescopic portion are locked and fixed by the locking bolt.

[0087] The plug-in component bracket adopts 6-1 with a fixed part and a lifting part, which can adjust the height of the flexible plug to meet the minimum height requirements of different trays 4, thereby improving the applicability of the entire robot.

[0088] It is understandable that a limiting mechanism 6 may be provided between the two ends of the tray 4 and the fixed plate 1-1 in the width direction, or a limiting mechanism 6 may be provided between the two ends of the tray 4 and the fixed plate 1-1 in the width direction and the two ends in the length direction.

[0089] In another embodiment, the fixed plate 1-1 is installed with a pallet limit receiving component 6-1, and the bottom surface of the pallet 4 is provided with a pallet limit plug-in component that matches the pallet limit receiving component 6-1. Similarly, the pallet limit receiving component 6-1 is arranged at the two ends of the fixed plate 1-1 along the length direction and / or the two ends along the width direction, and the pallet limit plug-in component is arranged at the two ends of the bottom surface of the pallet 4 along the length direction and / or the two ends along the width direction.

[0090] In this embodiment, when the lifting mechanism 2 is folded, the flexible plug 6-3 is inserted into the slot, thereby limiting the position of the pallet 4 so that the pallet 4 does not shake while moving with the vehicle body, thereby ensuring the stability of the material box 3 during transportation.

[0091] The remaining structures of the transport robot of this embodiment can adopt existing technologies and will not be described in detail here.

[0092] The handling robot of this embodiment, through the setting of the limiting mechanism 6 and the main plate 1-2, the auxiliary plate 1-3 and the connecting rod mechanism, can keep the material box stable during the robot's handling process, avoid collision damage to the materials inside the material box 3, and at the same time, through the setting of the material box limiting mechanism 5, meet the limiting requirements for material boxes of different sizes and specifications, thereby improving the applicability of the entire material box handling robot.

[0093] Example 2

[0094] This embodiment provides a transport robot, which differs from the above embodiments in that the cargo picking and placing mechanism is different. The cargo picking and placing mechanism adopts a horizontal cargo picking mechanism, and the material box limiting mechanism 5 and the limiting mechanism 6 are not provided.

[0095] The horizontal pickup mechanism of this embodiment can be an existing telescopic pickup mechanism, such as a telescopic fork, a telescopic clamp, a suction cup, a hook, or a telescopic fork plus suction cup. The telescopic pickup mechanism is detachably mounted on the upper portion of the fixed plate of the vehicle body, and performs cargo pickup and placement operations from the side of the cargo. As shown in FIG14 , a telescopic clamp-type pickup mechanism 7 is mounted on the vehicle body. Alternatively, a horizontal conveying pickup mechanism can be employed, i.e., a set of conveying mechanisms (not shown) detachably mounted on the upper portion of the fixed plate 1-1 of the vehicle body 1. The conveying mechanisms can be motorized conveyor rollers, belt conveyors, or chain conveyors, which can actively move cargo boxes. For example, when a transport robot needs to dock with a conveyor line, the conveying mechanism on the transport robot is activated to retrieve cargo from the conveyor line. Alternatively, a conveying mechanism can be simultaneously mounted on a buffer rack. When the transport robot transports cargo stored on the buffer rack, the conveying mechanism on the buffer rack and the conveying mechanism on the transport robot are activated to complete the cargo pickup and placement.

[0096] In addition, the logistics conveying equipment disclosed in the present invention can be composed of various structures of the above-mentioned embodiments, and can also achieve the above-mentioned effects.

[0097] Although the above describes the specific implementation methods of the present disclosure in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present disclosure. Those skilled in the art should understand that on the basis of the technical solution of the present disclosure, various modifications or variations that can be made by those skilled in the art without creative work are still within the scope of protection of the present disclosure. Industrial Applicability

[0098] In summary, the present disclosure provides a handling robot and logistics conveying equipment, which have good stability of the material boxes during transportation, meet the handling needs of various material boxes, and have strong applicability.

Claims

1. A handling robot, characterized in that, It includes a vehicle body, and the vehicle body is equipped with a cargo picking and placing mechanism; The vehicle body comprises a chassis and a fixed plate, the chassis comprises a main plate and a sub-plate hinged to each other, and a connecting rod mechanism is provided between the main plate, the sub-plate and the fixed plate to reduce the tilt angle of the fixed plate when the main plate and the sub-plate rotate relative to each other; The cargo taking and placing mechanism is installed on the fixing plate.

2. The handling robot according to claim 1, characterized in that, The link mechanisms are arranged on both sides of the chassis along the traveling direction.

3. A handling robot according to claim 1 or 2, characterized in that, The connecting rod mechanism includes a first connecting rod, one end of which is fixedly connected to the main plate, and the other end of which is hinged to the fixed plate; and a second connecting rod, both ends of which are respectively hinged to the auxiliary plate and the fixed plate.

4. A handling robot according to claim 1 or 2, characterized in that, The connecting rod mechanism includes a first connecting rod, one end of which is hinged to the main plate, and the other end of which is fixedly connected to the fixed plate; and a second connecting rod, both ends of which are respectively hinged to the auxiliary plate and the fixed plate.

5. A handling robot according to any one of claims 1 to 4, characterized in that, A power mechanism installed on the main plate is provided at the hinged position of the main plate and the auxiliary plate, and the power mechanism is connected to the active running wheel. Both the main plate and the auxiliary plate are equipped with driven running wheels to support the main plate and the auxiliary plate.

6. A handling robot according to any one of claims 1 to 5, characterized in that, The cargo picking and placing mechanism includes a horizontal cargo picking mechanism; the horizontal cargo picking mechanism includes a telescopic cargo picking mechanism or a horizontal conveying cargo picking mechanism.

7. A handling robot according to any one of claims 1 to 6, characterized in that, The cargo picking and placing mechanism includes a vertical cargo picking mechanism; the vertical cargo picking mechanism includes a lifting mechanism, the lifting mechanism is connected to a pallet, and the pallet is configured to carry cargo.

8. A handling robot according to claim 7, wherein, The vehicle body is provided with a plurality of limiting mechanisms, which are configured to limit the cargo taken by the cargo picking and placing mechanism; the limiting mechanism includes a support frame and a limiting block, the bottom of the support frame is fixedly connected to the vehicle body, the limiting block is slidably connected to the top of the support frame to achieve position adjustment along the limiting direction, and a locking component is provided between the limiting block and the support frame to lock and fix the limiting block and the support frame.

9. A handling robot according to claim 8, characterized in that, The top end of the support frame is provided with a slide groove arranged along the limiting direction of the limiting block, and the limiting block is slidably connected with the support frame through the slide groove.

10. A handling robot according to any one of claims 7 to 9, characterized in that, The fixing plate is provided with a tray position limiting plug-in component, the bottom surface of the tray is provided with a tray position limiting receiving component matching the tray position limiting plug-in component, and the tray position limiting plug-in component can be inserted into the tray position limiting receiving component when the lifting mechanism is folded.

11. A handling robot according to claim 10, characterized in that, The bottom surface of the tray is provided with tray limiting receiving parts at two ends along the length direction and / or at two ends along the width direction, and the fixing plate is provided with tray limiting plug-in parts matching with the tray receiving parts.

12. A handling robot according to any one of claims 7 to 9, characterized in that, The fixed plate is provided with a tray position limiting receiving component, and the bottom surface of the tray is provided with a tray position limiting plug-in component matching the tray position limiting receiving component; the tray position limiting plug-in component can be inserted into the tray position limiting receiving component when the lifting mechanism is in a retracted state.

13. A handling robot according to claim 12, wherein, The bottom surface of the pallet is provided with pallet position limiting plug-in components at two ends along the length direction and / or at two ends along the width direction, and the fixing plate is provided with pallet position limiting receiving components matching the pallet plug-in components.

14. A handling robot according to any one of claims 10 to 13, characterized in that, The tray position limiting plug-in component comprises a plug-in component bracket, and one end of the plug-in component bracket is provided with a flexible plug that matches the tray position limiting receiving component.

15. A handling robot according to any one of claims 10 to 14, characterized in that, The plug-in component bracket includes a fixed part and a moving part, the moving part is fixed to the flexible plug, and the fixed part is telescopically connected or threadedly connected to the moving part to achieve height adjustment of the flexible plug.

16. A logistics conveying device, characterized in that, A handling robot comprising the handling robot described in any one of claims 1 to 15.

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