Handling robot and automated warehouse

Abstract

A handling robot and an automated warehouse, which relate to the field of automatic warehousing and are configured to better adapt to different road surfaces. The handling robot comprises a chassis assembly (1), a scissor mechanism (2), a pallet assembly (3) and a driving mechanism (4). The chassis assembly (1) comprises a body assembly (11) and a traveling mechanism (12). The scissor mechanism (2) is mounted on the body assembly (11) and is borne by the body assembly (11); the scissor mechanism (2) comprises a plurality of rotatably connected rods; and the scissor mechanism (2) comprises a retracted state and an extended state. The pallet assembly (3) is rotatably connected to the scissor mechanism (2) and is mounted on the top of the scissor mechanism (2). The driving mechanism (4) is mounted at the bottom of the pallet assembly (3) and is in driving connection with the scissor mechanism (2) so as to drive the scissor mechanism (2) to switch between the retracted state and the extended state.

Description

Handling robots and automated warehouses

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] The present disclosure is based on and claims priority to an application with CN application number 202410138709.1 and filing date January 31, 2024. The disclosure of the CN application is hereby incorporated into the present disclosure as a whole. Technical Field

[0003] The present disclosure relates to the field of automatic warehousing, and in particular to a handling robot and an automated warehouse. Background Art

[0004] A handling robot is essential equipment in automated warehouses. It consists of a chassis, drive mechanism, lift mechanism, and pallet. The handling robot has navigation capabilities, automatically planning its path within the warehouse. The drive mechanism drives the lift mechanism, which raises and lowers bins or other goods, enabling the transfer of items between the storage area and the handling robot.

[0005] The inventors have found that the prior art has at least the following problems: the existing transport robots cannot adapt to bumpy roads. If the transport robots are driven on bumpy roads, the chassis of the transport robots is likely to become unstable.

[0006] Summary of the Invention

[0007] The present disclosure provides a transport robot and an automated warehouse, which are used to improve the stability of the transport robot when traveling on different road surfaces.

[0008] The present disclosure provides a transport robot, comprising:

[0009] The chassis assembly includes a disc assembly and a running mechanism; the running mechanism is mounted on the disc assembly; the disc assembly includes a first disc and a second disc that are rotatably connected;

[0010] A scissor mechanism is mounted on the disc assembly and supported by the chassis assembly; the scissor mechanism includes a plurality of rotatably connected rods; the scissor mechanism includes a retracted state and an extended state, and the scissor mechanism is switched between the retracted state and the extended state by relative rotation of the plurality of rods;

[0011] a tray assembly rotatably connected to the scissor mechanism and mounted on top of the scissor mechanism; and

[0012] A driving mechanism is installed at the bottom of the tray assembly and is drivingly connected to the scissor mechanism to drive the scissor mechanism to switch between the contracted state and the expanded state.

[0013] In some embodiments, at least one of the rods of the scissor-type mechanism is rotatably connected to the first disk, and at least another of the rods of the scissor-type mechanism is rotatably and slidably connected to the second disk.

[0014] In some embodiments, the handling robot further comprises:

[0015] The sliding assembly includes a slide rail and a slider; the slider is slidably disposed on the slide rail; the slide rail is mounted on the second disk, and the slider is rotatably connected to at least another rod of the scissor-type mechanism; or the slider is mounted on the second disk, and the slide rail is rotatably connected to at least another rod of the scissor-type mechanism;

[0016] Wherein, the sliding assembly is constructed to realize floating sliding of at least another one of the rods relative to the second disk body.

[0017] In some embodiments, the driving mechanism comprises:

[0018] a power source mounted on the bottom of the tray assembly; and

[0019] a transmission mechanism, drivingly connected to the power source, so as to move under the drive of the power source;

[0020] Wherein, the top end of at least one of the rods of the scissor-fork mechanism is hinged to the transmission mechanism, so that the scissor-fork mechanism can be switched between the retracted state and the expanded state under the drive of the power source.

[0021] In some embodiments, the power source includes a motor, and the transmission mechanism includes a screw and a sliding part; the motor is drivingly connected to the screw, the screw is rotatably mounted on the bottom of the tray assembly, and the sliding part is threadedly engaged with the screw; the top end of at least one of the rods of the scissors-fork mechanism is hinged to the sliding part.

[0022] In some embodiments, the driving mechanism further comprises:

[0023] A position detection element is installed at the bottom of the tray assembly and corresponds to the movement limit position of the sliding part; the position detection element is electrically connected to the motor, and the motor stops when the position detection element detects the sliding part.

[0024] In some embodiments, the walking mechanism includes:

[0025] a driving wheel seat, fixedly connected to the first disk; and

[0026] The driving wheel is mounted on the driving wheel seat.

[0027] In some embodiments, the walking mechanism further comprises:

[0028] A first running wheel is mounted on the first disk; wherein the first running wheel and the two driving wheels are arranged to form a triangle; and

[0029] The second running wheel is installed on the second disk body; wherein the second running wheel and the two driving wheels are arranged to form a triangle.

[0030] In some embodiments, the walking mechanism further comprises:

[0031] A balancing mechanism is installed on the driving wheel seat or the first disc body or the second disc body, and the balancing mechanism is configured to balance the forces borne by the first disc body and the second disc body of the chassis assembly.

[0032] In some embodiments, the balancing mechanism comprises:

[0033] A connecting seat, fixedly connected to the first disk;

[0034] a mounting block rotatably connected to the connecting seat, one end of the mounting block being fixedly connected to the second disk; and

[0035] The first elastic member is sandwiched between the other end of the mounting block and the top surface of the first disk body.

[0036] In some embodiments, the connecting seat and the driving wheel seat are integrated or fixedly connected; the driving wheel seat includes a mounting groove running through its own length direction; the driving wheel is installed on the mounting block; the middle part of the mounting block is located in the mounting groove, and both ends of the mounting block extend out of the mounting groove; the middle part of the mounting block is rotatably connected to the driving wheel seat, and one end of the mounting block is fixedly connected to the second disk body.

[0037] In some embodiments, the balancing mechanism comprises:

[0038] The counterweight is adjustable on the second disk.

[0039] In some embodiments, the handling robot further comprises:

[0040] a rotation limiting mechanism installed between the first disk body and the second disk body to limit the relative rotation range of the first disk body and the second disk body;

[0041] The rotation limiting mechanism comprises:

[0042] The driving wheel seat includes a mounting groove running through the length direction thereof and a limiting groove arranged inside the mounting groove;

[0043] The mounting block has a limiting protrusion at its middle portion, and the limiting protrusion cooperates with the limiting groove.

[0044] In some embodiments, the handling robot further comprises:

[0045] A balancing mechanism, comprising the driving wheel seat, the mounting block and a first elastic member;

[0046] Both ends of the mounting block extend out of the mounting slot; one end of the mounting block is fixedly connected to the second disk body, and the first elastic member is clamped between the other end of the mounting block and the top surface of the first disk body.

[0047] In some embodiments, the handling robot further comprises:

[0048] An auxiliary lifting mechanism is connected to the scissors-fork mechanism, and the auxiliary lifting mechanism is constructed to apply a force having a component in the expansion direction of the scissors-fork mechanism to the scissors-fork mechanism during the process of the scissors-fork mechanism switching from a contracted state to an expanded state; wherein the auxiliary lifting mechanism includes a compressed state and a reset state.

[0049] In some embodiments, the auxiliary lifting mechanism includes:

[0050] A mounting seat, fixedly connected to one of the rods of the scissor-type mechanism; the mounting seat includes a mounting through hole;

[0051] A connecting shaft comprising a shaft body, a first end, and a second end; the first end and the second end are separately fixed at both ends of the shaft body; the shaft body passes through the mounting through hole, and the first end and the second end are both located outside the mounting through hole; and

[0052] a second elastic member, sandwiched between the mounting seat and the second end portion;

[0053] Wherein, when the scissor-type mechanism is in a contracted state, the second elastic member is compressed; when the scissor-type mechanism is in an expanded state, the second elastic member is reset.

[0054] In some embodiments, the scissor-type mechanism is constructed to be symmetrical; the scissor-type mechanism is equipped with two or more auxiliary lifting mechanisms, and each of the auxiliary lifting mechanisms is symmetrically arranged relative to the symmetry axis of the scissor-type mechanism itself.

[0055] In some embodiments, the scissor-type mechanism includes two sets of connecting rod mechanisms, each set of the connecting rod mechanisms includes:

[0056] a first connecting rod, one end of which is connected to the driving mechanism;

[0057] a second connecting rod, wherein a middle portion of the second connecting rod is rotatably connected to a middle portion of the first connecting rod; and one end of the second connecting rod is rotatably connected to the tray assembly;

[0058] a third connecting rod, one end of which is rotatably connected to the other end of the first connecting rod, and the other end of which is configured to be rotatably and slidably connected to the second disk; and

[0059] A fourth connecting rod, wherein the middle portion of the fourth connecting rod is rotatably connected to the middle portion of the third connecting rod, one end of the fourth connecting rod is rotatably connected to the other end of the second connecting rod, and the other end of the fourth connecting rod is constructed to be rotatably connected to the first disk body.

[0060] In some embodiments, each set of the linkage mechanisms further comprises:

[0061] The intermediate link mechanism is installed between the first link and the third link, and between the second link and the fourth link.

[0062] In some embodiments, the scissor-type mechanism further includes a reinforcement component, which is rotatably connected to both sets of the connecting rod mechanisms; and the auxiliary lifting mechanism is installed on the reinforcement component.

[0063] In some embodiments, the number of the reinforcement components is at least two, and the auxiliary lifting mechanism is installed on one of the reinforcement components; when the scissors-type mechanism is in a retracted state, the second end of the connecting shaft of the auxiliary lifting mechanism abuts against the other reinforcement component.

[0064] In some embodiments, the auxiliary lifting mechanism includes a reset state and a compressed state;

[0065] When the scissor mechanism is in the deployed state, the auxiliary lifting mechanism is in the reset state;

[0066] During the process of the scissor-type mechanism switching from the expanded state to the contracted state, the auxiliary lifting mechanism is subjected to the force of the scissor-type mechanism, and the auxiliary lifting mechanism switches from the reset state to the compressed state.

[0067] An embodiment of the present disclosure provides an automated warehouse, including a handling robot provided by any technical solution of the present disclosure.

[0068] The handling robot provided by the above technical solution includes a chassis assembly, a scissors-type mechanism, a pallet assembly, and a driving mechanism. The disc assembly of the chassis assembly includes a first disc assembly and a second disc assembly that are rotatably connected to each other. The two parts of the disc assembly are relatively rotatable. The chassis assembly is an articulated chassis, so it can adapt to more complex and bumpy road conditions. In addition, the technical solution of the present application installs the driving mechanism at the bottom of the pallet assembly instead of installing it on the chassis assembly. This can reduce or even avoid the phenomenon of unstable force on the chassis assembly caused by the force when the driving mechanism drives the scissors-type mechanism to rise and fall, so that the handling robot can better adapt to different road conditions, has stronger ground adaptability, significantly improved transportation stability, and better driving performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] FIG1 is a schematic diagram of a transport robot provided by an embodiment of the present disclosure in a retracted state.

[0070] FIG2 is a schematic diagram of the transport robot provided by an embodiment of the present disclosure in an unfolded state.

[0071] FIG3 is a schematic diagram of the three-dimensional structure of the chassis assembly of the transport robot provided in an embodiment of the present disclosure.

[0072] FIG4 is another schematic diagram of the three-dimensional structure of the chassis assembly of the transport robot provided in an embodiment of the present disclosure.

[0073] FIG5 is a three-dimensional schematic diagram of a transport robot provided in an embodiment of the present disclosure.

[0074] FIG6 is another perspective schematic diagram of the transport robot provided by an embodiment of the present disclosure.

[0075] FIG7 is a schematic diagram of the three-dimensional structure of the scissor-type mechanism of the transport robot provided by an embodiment of the present disclosure in the unfolded state.

[0076] FIG8 is a schematic diagram of the three-dimensional structure of the scissor mechanism of the transport robot provided by an embodiment of the present disclosure in a retracted state.

[0077] FIG9 is a schematic front view of the scissor mechanism of the transport robot provided by an embodiment of the present disclosure in a retracted state.

[0078] FIG10 is a schematic diagram of the force exerted by the driving wheel seat of the transport robot on the chassis assembly provided by an embodiment of the present disclosure.

[0079] FIG11 is a schematic diagram of the three-dimensional structure of the tray assembly of the transport robot provided in an embodiment of the present disclosure.

[0080] FIG12 is a schematic diagram of the three-dimensional structure of the tray assembly of the transport robot provided by an embodiment of the present disclosure from a bottom perspective.

[0081] FIG13 is a schematic diagram of the three-dimensional structure of the pallet assembly of the transport robot provided by an embodiment of the present disclosure from another bottom perspective.

[0082] FIG14 is a schematic diagram of the three-dimensional structure of the pallet assembly of the transport robot provided by an embodiment of the present disclosure from another bottom perspective.

[0083] FIG15 is a schematic diagram of the three-dimensional structure of the chassis assembly of the transport robot provided in an embodiment of the present disclosure.

[0084] FIG16 is a schematic diagram of the exploded structure of the driving wheel seat and the balancing mechanism of the handling robot chassis assembly provided in an embodiment of the present disclosure.

[0085] FIG17 is a schematic diagram of the three-dimensional structure of the walking mechanism of the chassis assembly of the transport robot provided in an embodiment of the present disclosure.

[0086] FIG18 is another schematic diagram of the three-dimensional structure of the walking mechanism of the chassis assembly of the transport robot provided in an embodiment of the present disclosure.

[0087] FIG19 is a three-dimensional schematic diagram of the auxiliary lifting mechanism of the transport robot provided by an embodiment of the present disclosure in a reset state.

[0088] FIG20 is a three-dimensional schematic diagram of the auxiliary lifting mechanism of the transport robot provided by an embodiment of the present disclosure in a compressed state.

[0089] FIG21 a is a schematic diagram of the transport robot provided in an embodiment of the present disclosure in a driving state on a flat road.

[0090] FIG21 b is a schematic diagram of the transport robot provided in an embodiment of the present disclosure traveling on a bumpy road.

[0091] FIG22 is a schematic diagram of the connection relationship of the transport robot provided in other embodiments of the present disclosure (the scissors assembly is in a retracted state).

[0092] FIG23 is a schematic diagram of the connection relationship of the transport robot provided in other embodiments of the present disclosure (the scissors assembly is in the unfolded state).

[0093] FIG24 is a schematic diagram of the driving mechanism structure of the transport robot provided in other embodiments of the present disclosure.

[0094] Reference numerals:

[0095] 1. Chassis assembly; 2. Scissor mechanism; 3. Tray assembly; 4. Drive mechanism; 5. Sliding assembly; 6. Auxiliary lifting mechanism;

[0096] 11. Plate assembly; 12. Travel mechanism; 111. First plate; 112. Second plate; 121. Driving wheel seat; 122. Driving wheel; 123. First travel wheel; 124. Second travel wheel; 125. Balancing mechanism; 1251. Mounting block; 1252. First elastic member; 1253. Rotating shaft; 120. Rotation limiting mechanism;

[0097] 21. Connecting rod mechanism; 22. Reinforcement assembly; 211. First connecting rod; 212. Second connecting rod; 213. Third connecting rod; 214. Fourth connecting rod; 215. First hinge seat; 216. Second hinge seat;

[0098] 31. Pallet; 32. Fence; 33. Positioning pin;

[0099] 41. Power source; 42. Transmission mechanism; 43. Position detection element; 44. Motor base; 45. Bearing base; 46. Coupling; 47. Guide mechanism; 421. Lead screw; 422. Sliding portion; 471. Guide block; 472. Guide rail;

[0100] 51. Slide rail; 52. Slider;

[0101] 61. Mounting seat; 62. Connecting shaft; 621. Shaft body; 622. First end portion; 623. Second end portion; 63. Second elastic member. DETAILED DESCRIPTION

[0102] The technical solutions provided by the present disclosure are described in more detail below with reference to Figures 1 to 24. The description of the exemplary embodiments is merely illustrative and is in no way intended to limit the present disclosure and its application or use. The present disclosure can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to make the present disclosure thorough and complete and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, the composition of materials, numerical expressions and numerical values ​​described in these embodiments should be interpreted as being merely exemplary and not limiting.

[0103] The terms "first," "second," and similar terms used in this disclosure do not denote any order, quantity, or importance, but are simply used to distinguish one part from another. Terms such as "include" or "comprise" mean that the elements preceding the term include the elements listed after the term, and do not exclude the possibility of also including other elements.

[0104] In the present disclosure, when a specific device is described as being located between a first device and a second device, an intervening device may or may not be present between the specific device and the first device or the second device. When a specific device is described as being connected to another device, the specific device may be directly connected to the other device without an intervening device, or may be not directly connected to the other device but with an intervening device.

[0105] All terms (including technical or scientific terms) used in this disclosure have the same meaning as those understood by one of ordinary skill in the art to which this disclosure belongs, unless otherwise specifically defined. It should also be understood that terms defined in, for example, general dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an idealized or highly formal sense, unless explicitly defined herein.

[0106] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, they should be part of the description.

[0107] The dimensions of the various parts shown in the drawings are not drawn in accordance with actual proportions. In the drawings, common structural elements or structural elements of the same type are given the same reference numerals, and their repeated descriptions are appropriately omitted.

[0108] For ease of description, the length direction L and width direction W of the transport robot are shown in Fig. 1. The description is made by taking the left side of Fig. 1 and Fig. 2 as an example, indicating the front and the right side as the rear.

[0109] Referring to Figures 1 and 2, some embodiments of the present disclosure provide a handling robot, comprising a chassis assembly 1, a scissor mechanism 2, a pallet assembly 3, and a drive mechanism 4. The chassis assembly 1 includes a tray assembly 11 and a running mechanism 12. The running mechanism 12 is mounted to the tray assembly 11. The chassis assembly 1 includes a first tray 111 and a second tray 112 that are rotatably connected. The scissor mechanism 2 is mounted to the tray assembly 11 and supported by the chassis assembly 1. The scissor mechanism 2 includes multiple rotatably connected rods. The scissor mechanism 2 has a retracted state and an extended state, and the scissor mechanism 2 switches between the retracted and extended states through relative rotation of the multiple rods. The pallet assembly 3 is rotatably connected to the scissor mechanism 2 and is mounted on top of the scissor mechanism 2. The drive mechanism 4 is mounted on the bottom of the pallet assembly 3 and is drivingly connected to the scissor mechanism 2 to drive the scissor mechanism 2 to switch between the retracted and extended states.

[0110] Referring to Figures 3 to 6, the chassis assembly 1 uses a first plate 111 and a second plate 112 that are rotatably connected. A chassis assembly 1 of this structure is also called an articulated chassis. The first plate 111 and the second plate 112 rotate relative to each other within a limited angle range, allowing the chassis assembly 1 to more effectively adapt to uneven surfaces. The drive mechanism 4 is installed on the tray assembly 3 rather than the chassis assembly 1. This structure also improves the load-bearing and force-bearing capacity of the chassis assembly 1, making the chassis assembly 1 more stable and not unstable due to the drive mechanism 4 driving the scissors assembly to retract, expand, or be subjected to reaction forces. It also simplifies the structure of the chassis assembly 1, allowing the chassis assembly 1 to adopt an articulated chassis.

[0111] The first and second plates 111, 112 are both roughly flat, forming a rectangular structure with rounded corners. The middle area of ​​the edge of the first plate 111 facing the second plate 112 is convex, while the middle area of ​​the edge of the second plate 112 facing the first plate 111 is concave. The first and second plates 111, 112 are rotatably connected at two edges. The edges of the first and second plates 111, 112 are each provided with a recessed portion, which provides space for the installation of the walking mechanism 12. Once the walking mechanism 12 is installed, the total width of the transport robot meets the design requirements, and the walking mechanism 12 does not protrude beyond the width direction W of the walking mechanism 12.

[0112] Referring to Figures 5 and 6, the chassis assembly 1 is the carrying mechanism of the entire handling robot. The scissor mechanism 2 is located between the pallet assembly 3 and the chassis. The chassis assembly 1 carries the scissor mechanism 2, and the scissor mechanism 2 is jointly carried by the first disk 111 and the second disk 112. In some embodiments, at least one of the rods of the scissor mechanism 2 is rotatably connected to the first disk 111, and at least another rod of the scissor mechanism 2 is rotatably and slidably connected to the second disk 112. As the scissor mechanism 2 switches between the retracted and expanded states, the pallet assembly 3 is raised and lowered, and the items located on the top of the pallet assembly 3 are also raised and lowered with the pallet assembly 3. The lifting and lowering movement of the pallet assembly 3 is realized under the driving action of the driving mechanism 4; the pallet assembly 3 is a cargo carrying mechanism that can realize arbitrary height changes of the cargo within the travel of the scissor mechanism 2.

[0113] Referring to Figures 3 to 6 , the traveling mechanism 12 includes a drive wheel seat 121 and a drive wheel 122. The drive wheel seat 121 is fixedly connected to the first plate 111. The drive wheel 122 is mounted on the drive wheel seat 121. There are two drive wheel seats 121 and two drive wheels 122, and the drive wheel seats 121 and the drive wheels 122 are arranged in a one-to-one correspondence. The drive wheel seat 121 provides a base for the installation of the drive wheel 122. The drive wheel seat 121 can have a variety of structures and shapes, which are not limited in the present embodiment.

[0114] To ensure smoother travel of the chassis assembly 1, the running mechanism 12 further includes a first running wheel 123 and a second running wheel 124. Both the first running wheel 123 and the second running wheel 124 are universal wheels. The first running wheel 123 is mounted on the first disk 111, and the second running wheel 124 is mounted on the second disk 112. The first running wheel 123 and the two driving wheels 122 are arranged in a triangle. The second running wheel 124 and the two driving wheels 122 are also arranged in a triangle. The two planes formed by the two triangles may have a certain angle difference, and the central axis of rotation of the two triangles is the line connecting the two side shafts 1253. When encountering uneven road conditions, the first disk 11 and the second disk 112 can rotate relative to each other to adapt to the ground and maintain the horizontal stability of the upper body, allowing the transport robot to adapt to a variety of shapes and uneven roads.

[0115] 3, 4, 15, and 16, in some embodiments, the traveling mechanism 12 further includes a balancing mechanism 125, which is mounted on the driving wheel seat 121, or on the first plate 111, or on the second plate 112. The balancing mechanism 125 is configured to balance the forces borne by the first plate 111 and the second plate 112 of the chassis assembly 1. The arrangement adopted in the above-described embodiments results in a greater load on the first plate 111 than on the second plate 112. To make the lifting mechanism more stable, in some embodiments, the balancing mechanism 125 is provided to balance the loads borne by the first plate 111 and the second plate 112, so that the loads borne by the first plate 111 and the second plate 112 tend to be balanced. Specifically, the walking mechanism 12 also includes a balancing mechanism 125, which is installed on the driving wheel seat 121 or on the first disk 111 or on the second disk 112. The balancing mechanism 125 is constructed to balance the forces borne by the first disk 111 and the second disk 112 of the chassis assembly 1.

[0116] The balancing mechanism 125 has various structural forms. In some embodiments, the balancing mechanism 125 is integrated with the rotation limiting mechanism 120 described below, or the balancing mechanism 125 and the rotation limiting mechanism 120 are arranged separately.

[0117] If the balancing mechanism 125 is arranged separately, the balancing mechanism 125 includes a connecting seat (not shown), a mounting block 1251 and a first elastic member 1252. The connecting seat is fixedly connected to the first disk body 111. The mounting block 1251 is rotatably connected to the connecting seat, and one end of the mounting block 1251 is fixedly connected to the second disk body 112. The first elastic member 1252 is clamped between the other end of the mounting block 1251 and the top surface of the first disk body 111. The first elastic member 1252 is specifically a compression spring. Through the action of the first elastic member 1252, the loads of the first disk body 111 and the second disk body 112 tend to be balanced.

[0118] Referring to Figures 15 and 16, the balancing mechanism 125 is used to mount the drive wheel 122. Specifically, the connecting seat is integral with or fixedly connected to the drive wheel seat 121. The drive wheel seat 121 includes a mounting groove 121a extending along its length; the drive wheel 122 is mounted on a mounting block 1251; the middle portion of the mounting block 1251 is located within the mounting groove 121a, and both ends of the mounting block 1251 extend out of the mounting groove 121a; the middle portion of the mounting block 1251 is rotatably connected to the drive wheel seat 121, and one end of the mounting block 1251 is fixedly connected to the second disk 112. The balancing mechanism 125 is also used as a mounting mechanism for the drive wheel 122, resulting in a compact and sophisticated structure.

[0119] In some embodiments, the transport robot also includes a rotation limiting mechanism 120, which is installed between the first disk 111 and the second disk 112 to limit the relative rotation range of the first disk 111 and the second disk 112, so that the relative rotation of the first disk 111 and the second disk 112 does not exceed the set rotation threshold.

[0120] In some embodiments, the rotation limiting mechanism 120 is a standalone mechanism. In other embodiments, the rotation limiting mechanism 120 is integrated with the mounting mechanism of the drive wheel 122. Specifically, the rotation limiting mechanism 120 includes a drive wheel seat 121 and a mounting block 1251. The drive wheel seat 121 includes a mounting slot 121a extending along its length and a limiting slot 121c disposed within the mounting slot 121a. A limiting protrusion 1251a is disposed in the middle of the mounting block 1251, which engages with the limiting slot 121c.

[0121] In other embodiments, the rotation limiting mechanism 120 and the balancing mechanism 125 are integrated. The balancing mechanism 125 includes a drive wheel base 121, a mounting block 1251, and a first elastic member 1252. Both ends of the mounting block 1251 extend out of the mounting slot 121a. One end of the mounting block 1251 is fixedly connected to the second plate 112, and the first elastic member 1252 is sandwiched between the other end of the mounting block 1251 and the top surface of the first plate 111.

[0122] The above technical solution integrates the rotation limiting mechanism 120, the balancing mechanism 125, and the installation mechanism of the driving wheel 122, and uses very few components to achieve multiple technical effects of rotation limiting, balancing, and installation of the driving wheel 122. The structure is compact and ingenious, and the weight is light, which makes the carrying capacity of the transport robot larger.

[0123] Referring to Figures 10, 16 to 18, since the transmission mechanism 42 and the auxiliary lifting mechanism 6 are arranged in the direction of the entire vehicle body close to the first disk 111, and combined with the layout of the electrical components and other mechanisms on the chassis assembly 1, the handling robot may have a tendency to tip forward, and this forward tilting tendency will increase as the pallet 31 rises. On the one hand, the forward tilting tendency will cause the stability of the vehicle to decrease, and on the other hand, it will also cause the pressure of the walking mechanism 12 to decrease when it contacts the ground, thereby affecting speed parameters such as acceleration. In order to balance the forward tilting tendency of the vehicle, improve stability, and increase the pressure N1 of the chassis assembly 1 on the ground, a first elastic member 1252 is provided at one end of the mounting block 1251. The first elastic member 1252 presses on the first disk 11, and the reverse force N2 acts on the mounting block 1251 to transfer pressure to the second disk 112, thereby balancing the forward tilting tendency.

[0124] Returning to Figure 10, it illustrates the force characteristics of the traveling mechanism 12. The driving wheel base 121 and the mounting block 1251 are rotatably connected, and the first and second plates 111 and 112 are rotatably connected. When the lifting mechanism tends to tilt forward, the end of the mounting block 1251 fixedly connected to the second plate 112 is subjected to a force pressing down on the second plate 112, while the first elastic member 1252 exerts an upward force on the other end of the mounting block 1251. This method, by pressing down on the second plate 112, ensures that the loads on the first and second plates 111 and 112 are as balanced as possible.

[0125] 16 , the mounting block 1251 has a raised surface M, which cooperates with the lower surface (the inner surface of the groove and the extended surface) of the driving wheel seat 121 to stop, thereby limiting the rotation of the walking mechanism 12 .

[0126] In other embodiments, the balancing mechanism 125 includes a counterweight (not shown), the installation position of the counterweight is adjustable, and the counterweight is installed on the second tray 112. The weight of the counterweight is adjusted according to the load of the tray assembly 3, and the counterweight is one or more pieces.

[0127] In other embodiments, by properly arranging the positions of the controller, battery and other components of the transport robot, the first tray 111 and the second tray 112 are balanced in load, and in this case, no additional counterweight is provided.

[0128] 5 to 8 , the scissor mechanism 2 is formed by rotatably connecting a plurality of connecting rods, and the movement mode of the scissor mechanism 2 is contraction and expansion. The contraction and expansion of the scissor mechanism 2 are achieved by changing the size of the angle between the connecting rods.

[0129] Specifically, the scissor-type fork mechanism 2 includes two sets of connecting rod mechanisms 21. The two sets of connecting rod mechanisms 21 are symmetrically arranged relative to the central axis L of the scissor-type fork mechanism 2, and the central axis L is shown in Figure 2 or Figure 7.

[0130] Each connection mechanism includes four connection points: two upper connection points and two lower connection points. Of the two upper connection points, connection point A is both slidable and rotatable relative to the bottom of tray assembly 3. Connection point A both slides linearly and rotates relative to tray assembly 3. Connection point B is hinged to the bottom of tray assembly 3 and only rotates relative to it, not translating.

[0131] Of the following two connection points: Connection point C is both slidable and rotatable relative to the bottom of the tray assembly 3. Connection point C not only slides linearly relative to the chassis assembly 1 but also rotates relative to the tray assembly 3. The sliding resistance of connection point C relative to the chassis assembly 1 is negligible. During the operation of the lifting mechanism, as shown in Figures 21a and 21b, when subjected to external forces or bumpy roads, connection point C of the scissor assembly will automatically slide a certain amount along the road surface. This amount of slip is very small, but it effectively improves the lifting mechanism's ability to pass through different road surfaces, making the lifting mechanism's driving performance better. Connection point D is hinged to the bottom of the chassis assembly 1. This connection point D only rotates relative to the chassis assembly 1 and does not translate relative to the chassis assembly 1.

[0132] The scissor-type mechanism 2 includes two sets of connecting rod mechanisms 21, and each set of connecting rod mechanisms 21 includes a first connecting rod 211, a second connecting rod 212, a third connecting rod 213 and a fourth connecting rod 214. One end of the first connecting rod 211 is rotatably connected to the driving mechanism 4, specifically, is hinged. The second connecting rod 212 and the first connecting rod 211 form an X shape. The middle part of the second connecting rod 212 is rotatably connected to the middle part of the first connecting rod 211. One end of the second connecting rod 212 is configured to be rotatably connected to the tray assembly 3, specifically, is hinged through a first hinge seat 215. One end of the third connecting rod 213 is rotatably connected to the other end of the first connecting rod 211, and the other end of the third connecting rod 213 is configured to be hinged and slidably connected to the second tray body 112. The fourth connecting rod 214 forms an X shape with the third connecting rod 213. The middle part of the fourth connecting rod 214 is rotatably connected to the middle part of the third connecting rod 213, one end of the fourth connecting rod 214 is rotatably connected to the other end of the second connecting rod 212, and the other end of the fourth connecting rod 214 is constructed to be rotatably connected to the first disk body 111, specifically by being hinged through the second hinge seat 216.

[0133] Here, the scissor-type mechanism 2 is provided with two sets of connecting rod mechanisms 21 as an example. The structures of the two sets of connecting rod mechanisms are the same. The two sets of connecting rod mechanisms 21 are distributed on the two edges in the width direction of the pallet assembly 3. The two connecting rod mechanisms 21 make the pallet assembly 3 have more force-bearing positions and the force is more balanced.

[0134] 5 and 6 , the first link 211 and the third link 213 are hinged at the ends, the first link 211 and the second link 212 are hinged in the middle, the second link 212 and the fourth link 214 are hinged at the ends, and the third link 213 and the fourth link 214 are hinged in the middle. The entire scissor mechanism 2 is composed of multiple X-shaped rods hinged at the ends.

[0135] The number of connecting rods is set according to the distance that the scissor-fork mechanism 2 needs to be lifted and lowered. Here, four connecting rods are set for each connecting rod mechanism 2111 as an example. As needed, in other embodiments, more connecting rods are provided. In some embodiments, each set of connecting rod mechanisms 21 also includes an intermediate connecting rod mechanism (not shown), which is installed between the first connecting rod 211 and the third connecting rod 213, the second connecting rod 212 and the fourth connecting rod 214. The intermediate connecting rod structure also forms an X-shaped structure. The intermediate connecting rod mechanism is provided to increase the lifting distance of the scissor-fork mechanism 2 and achieve the lifting requirements of a larger height range.

[0136] The above example uses the third connecting rod 213 being rotatably and slidably connected to the second plate 112, and the fourth connecting rod being rotatably connected to the first plate 111. In other embodiments, the third connecting rod 213 is rotatably connected to the second plate 112, and the fourth connecting rod is rotatably and slidably connected to the first plate 111. When arranging the various components of the transport robot, the load balance of each area of ​​the transport robot must be considered.

[0137] 5 and 8 , one end of the first connecting rod 211 of the two sets of connecting rod mechanisms 21 is connected to the driving mechanism 4 , and the driving mechanism 4 applies a force to the two first connecting rods 211 to cause the scissor mechanism 2 to contract and expand.

[0138] When the scissor mechanism 2 is in the retracted state, the connecting rod angle of the entire mechanism is minimum, and the scissor mechanism 2 is difficult to change shape. When the scissor mechanism 2 switches from the retracted state to the extended state, the drive mechanism 4 needs to provide a large driving force. By providing the auxiliary lifting mechanism 6, the scissor mechanism 2 can be switched from the retracted state to the extended state more easily, reducing the driving force required by the drive mechanism 4. This makes the drive mechanism 4 miniaturized and low-power, extends the service life of the drive mechanism 4, and improves overall stability.

[0139] Referring to Figure 5 or Figure 6 or Figure 7, the scissors-type mechanism 2 also includes a reinforcement component 22, which is rotatably connected to both sets of connecting rod mechanisms 21; the auxiliary lifting mechanism 6 is installed on the reinforcement component 22. The reinforcement component 22 is a rod, a reinforcing rib, etc. The number of reinforcement components 22 is one or more. Here, taking the setting of two reinforcement components 22 as an example, the auxiliary lifting mechanism 6 is provided on the reinforcement component 22 on the upper side. When the connecting rod mechanism 21 is in the open state, the auxiliary lifting mechanism 6 does not work; when the connecting rod mechanism 21 contracts, that is, when the tray assembly 3 drops to a certain extent (not the lowest state), the auxiliary lifting mechanism 6 acts on the reinforcement component 22 on the lower side, and the auxiliary lifting mechanism 6 will share a certain load effect, reducing the load on the motor of the driving mechanism 4. The auxiliary lifting mechanism 6 plays an important role in extending the life of the motor and the stable state switching of the handling robot.

[0140] The plurality of components are dispersedly arranged at different positions of the two connecting rod mechanisms 21 , and the two connecting rod mechanisms 21 are formed into a whole through the reinforcement component 22 , which can be contracted and expanded synchronously; and the structural strength of the scissor-type mechanism 2 is improved, and the load-bearing capacity is greater.

[0141] Referring to Figure 19 or Figure 20, in some embodiments, the transport robot also includes an auxiliary lifting mechanism 6, which is connected to the scissors-fork mechanism 2. The auxiliary lifting mechanism 6 is constructed to apply a force having a component in the expansion direction of the scissors-fork mechanism 2 to the scissors-fork mechanism 2 during the process of switching the scissors-fork mechanism 2 from a contracted state to an expanded state; wherein the auxiliary lifting mechanism 6 includes a compression state and a reset state.

[0142] Referring to Figures 6 to 8 and Figures 19 to 20, in some embodiments, the auxiliary lifting mechanism 6 includes a mounting seat 61, a connecting shaft 62, and a second elastic member 63. The mounting seat 61 is fixedly connected to one of the rods of the scissors-fork mechanism 2. The mounting seat 61 includes a mounting through hole; the connecting shaft 62 includes a shaft body 621, a first end 622, and a second end 623; the first end 622 and the second end 623 are dispersedly fixed at both ends of the shaft body 621; the shaft body 621 passes through the mounting through hole, and the first end 622 and the second end 623 are both located on the outside of the mounting through hole; the second elastic member 63 is clamped between the mounting seat 61 and the second end 623. The second elastic member 63 is a compression spring with a compressive preload. When the scissors-fork mechanism 2 is in a retracted state, the second elastic member 63 is compressed; when the scissors-fork mechanism 2 is in an expanded state, the second elastic member 63 is reset.

[0143] Specifically, the mounting base 61 of the auxiliary lifting mechanism 6 is fixedly connected to one of the reinforcement components 22 of the scissor mechanism 2. The reinforcement component 22 is provided with a mounting hole (not shown), and the mounting base 61 is installed in the mounting hole of the reinforcement component 22. The mounting base 61 moves synchronously with the reinforcement component 22, and the reinforcement component 22 and the mounting base 61 are relatively stationary. As the scissor mechanism 2 contracts, the second end 623 of the connecting shaft 62 of the auxiliary lifting mechanism 6 abuts against the other reinforcement component 22, thereby compressing the second elastic member 63.

[0144] The auxiliary lifting mechanism 6 has a reset state and a compressed state. When the scissor mechanism 2 is in the deployed state, the auxiliary lifting mechanism 6 is in the reset state. During the process of switching from the deployed state to the retracted state, the auxiliary lifting mechanism 6 is subjected to the force of the scissor mechanism 2, and the auxiliary lifting mechanism 6 switches from the reset state to the compressed state.

[0145] 19 , when the auxiliary lifting mechanism 6 is in the reset state, the second elastic member 63 is in the reset state, the mounting seat 61 abuts against the first end 622 of the connecting shaft 62 , and the second elastic member 63 is located between the mounting seat 61 and the second end 623 of the connecting shaft 62 .

[0146] Referring to Figure 20 , when the auxiliary lifting mechanism 6 is in a compressed state, the scissor mechanism 2 is also in a retracted state. The distance between the mounting base 61 and the chassis assembly 1 is closest, the mounting base 61 is fixed to the scissor mechanism 2, and the mounting base 61 is approximately midway between the connecting shaft 62. The other end of the connecting shaft 62 abuts against the reinforcement assembly 22, described below. The second elastic member 63 is located between the second end of the connecting shaft 62 and the mounting base 61. The second elastic member 63 is at its shortest length and is in a compressed state.

[0147] The working principle of the auxiliary lifting mechanism 6 is described below.

[0148] In some embodiments, the auxiliary lifting mechanism 6 includes a reset state and a compressed state. When the scissor mechanism 2 is in the deployed state, the auxiliary lifting mechanism 6 is in the reset state. During the process of switching the scissor mechanism 2 from the deployed state to the retracted state, the auxiliary lifting mechanism 6 is subjected to a force exerted by the scissor mechanism 2, specifically, the extrusion force exerted by the scissor mechanism 2 and the first connecting member described below, causing the auxiliary lifting mechanism 6 to switch from the reset state to the compressed state.

[0149] When the scissors-fork mechanism 2 is in the retracted state, the auxiliary lifting mechanism 6 is in the compressed state. When the scissors-fork mechanism 2 is in the expanded state, the auxiliary lifting mechanism 6 is in the reset state. Specifically, during the process of the scissors-fork mechanism 2 switching from the expanded state to the retracted state, the auxiliary lifting mechanism 6 is acted upon by the scissors-fork mechanism 2, and the auxiliary lifting mechanism 6 switches from the reset state to the compressed state. Among them, the expansion direction of the scissors-fork mechanism 2 is along the height direction of the scissors-fork mechanism 2. When the scissors-fork mechanism 2 is in the retracted state, the height of the scissors-fork mechanism 2 is the shortest; when the scissors-fork mechanism 2 is in the expanded state, the height of the scissors-fork mechanism 2 is the largest. The direction H shown in Figure 10 is both the expansion direction of the scissors-fork mechanism 2 and the height direction of the scissors-fork mechanism 2.

[0150] Referring to Figure 19 or Figure 20, in order to make the installation of the second elastic member 63 more stable, the mounting seat 61 is provided with a cavity, the opening direction of the cavity is toward the second elastic member 63, one end of the second elastic member 63 is against the bottom of the cavity, and the other end of the second elastic member 63 is against the second end 623 of the connecting shaft 62.

[0151] Returning to Figures 5 and 6 , the scissor lift mechanism 2 is constructed symmetrically. The scissor lift mechanism 2 is equipped with two or more auxiliary lifting mechanisms 6, each of which is symmetrically arranged about the axis of symmetry of the scissor lift mechanism 2. In other embodiments, the two auxiliary lifting mechanisms 6 utilize the same structure and operate synchronously, eliminating the need for an additional power source 41. The auxiliary lifting mechanisms 6 can be switched from the reset state to the retracted state directly using the transport robot's drive mechanism 4.

[0152] When the scissor mechanism 2 is in the retracted state, the second end portion 623 of the connecting shaft 62 of the auxiliary lifting mechanism 6 abuts against one of the reinforcing components 22 .

[0153] Referring to Figures 11 and 12 , the tray assembly 3 includes a tray 31 and a barrier 32 disposed around the perimeter of the tray 31. The tray 31 is generally rectangular. The barrier 32 protrudes toward the bottom of the tray 31 and is used to shield the drive mechanism 4 mounted on the bottom of the tray 31. The barrier 32 extends downward around the perimeter of the tray 31 to protect the internal drive and transmission mechanisms.

[0154] In some embodiments, the pallet 31 is provided with positioning members, such as positioning holes or positioning pins 33, for docking with corresponding guide holes on its bottom surface when docking a container or cargo. This provides better positioning and guidance, improving docking and transportation stability, and facilitating accurate positioning of cargo on the pallet. Referring to Figures 12 and 13, when the scissor mechanism 2 is in the retracted state, the sliding portion 422, described below, is located at one end of the chute. When the scissor mechanism 2 is in the extended state, the sliding portion 422 is located at the other end of the chute.

[0155] Continuing with Figures 12 and 13 , the drive mechanism 4 includes a power source 41 and a transmission mechanism 42. The power source 41 is mounted on the bottom of the tray assembly 3; the transmission mechanism 42 is drivably connected to the power source 41 to move under the drive of the power source 41. The top end of at least one of the rods of the scissor mechanism 2 is hingedly connected to the transmission mechanism 42, allowing the scissor mechanism 2 to switch between a retracted state and an extended state under the drive of the power source 41.

[0156] The power source 41 includes a motor, which is constructed to provide rotational power. The motor is mounted on a motor seat 44, and the motor seat 44 is fixed to the bottom of the tray assembly 3. The transmission mechanism 42 includes a screw 421 and a sliding portion 422; the motor is driven and connected to the screw 421, specifically through a coupling 46. The screw 421 converts the rotation of the motor into linear motion of the sliding portion 422. Bearings are provided at both ends of the screw 421, and the bearings are supported by a bearing seat 45. The screw 421 is also mounted on the bottom of the tray assembly 3. The sliding portion 422 is mounted on the screw 421, and the two are threaded together; the top end of at least one of the rods of the scissors-fork mechanism 2 (specifically the first connecting rod 211) is hinged to the sliding portion 422. Through the linear movement of the sliding portion 422 relative to the screw 421, the first connecting rod 211 of the scissors-fork mechanism 2 is pushed to move back and forth to achieve the lifting and lowering of the scissors-fork mechanism 2. The driving mechanism 4 uses the cooperation of the motor and the lead screw 421 to achieve precise control of the position of the sliding part 422, so as to achieve precise control of the lifting distance of the scissor mechanism 2.

[0157] In order to make the linear movement of the sliding part 422 more precise, the driving mechanism 4 also includes a guide mechanism 47. The guide mechanism 47 adopts the cooperation of a guide block 471 and a guide rail 472. The guide block 471 is fixedly connected to the sliding part 422, such as by welding or bolting. The guide rail 472 is fixedly installed at the bottom of the tray assembly 3. The guiding direction of the guide rail 472 is a linear direction and coincides with the axial direction of the lead screw 421. The guide block 471 moves linearly along the guide rail 472. The cooperation of the guide block 471 and the guide rail 472 makes the movement direction of the sliding part 422 a linear direction.

[0158] Referring to Figures 10, 12, and 13, the transmission path from the power source 41 to the guide block 471 is as follows: the power source 41 is specifically a motor. The motor drives the lead screw 421 to rotate about its own axis via the coupling 46. The rotation of the lead screw 421 drives the sliding portion 422 mounted on the lead screw 421 to move linearly. The sliding portion 422 is fixedly connected to the guide block 471, and the guide block 471 moves linearly synchronously with the sliding portion 422. Since the guide block 471 can only move linearly relative to the guide rail 472, the movement of the sliding portion 422 is also linear. The sliding portion 422 is hinged to the first connecting rod 211 of the scissor-type fork mechanism 2, and the sliding portion 422 drives the first connecting rod 211 of the scissor-type fork mechanism 2 to move linearly synchronously. The first connecting rod 211 and the second connecting rod 212 are hinged at the middle, and one end of the second connecting rod 212 is hinged to the tray assembly 3, and the second connecting rod 212 can only rotate relative to the tray assembly 3. Therefore, during the linear motion of the first connecting rod 211, the distance between one end of the first connecting rod 211 and one end of the second connecting rod 212 decreases, thereby enabling the scissor mechanism 2 to transform from a retracted state to an extended state, thereby raising the tray assembly 3 mounted on top of the scissor mechanism 2. During this process, the auxiliary lifting mechanism 6 automatically provides assistance, requiring no additional operation, making it very convenient. The reverse motion of the motor drives the scissor mechanism 2 to transform from an extended state to a retracted state, thereby lowering the tray assembly 3 mounted on top of the scissor mechanism 2.

[0159] In order to accurately control the stopping timing of the motor, the driving mechanism 4 also includes a position detection element 43, which is installed at the bottom of the tray assembly 3 and corresponds to the movement limit position of the sliding part 422; the position detection element 43 is electrically connected to the motor, and the motor stops when the position detection element 43 detects the sliding part 422. The position detection element 43 specifically includes a proximity switch and a sensor sheet, and the proximity switch and the sensor sheet correspond to each other. The sensor sheet is installed on the sliding part 422. When the sliding part 422 moves to this position, the proximity switch controls the motor to stop based on the feedback signal of the sensor sheet sensed. At this time, the tray 31 is lowered to the target position.

[0160] In other embodiments, the driving structure adopts a belt, chain or the like.

[0161] Continuing to refer to Figure 10, the handling robot also includes a sliding assembly 5, which is located at the bottom of the scissor-type mechanism 2. The sliding assembly 5 includes a slide rail 51 and a slider 52; the slider 52 is slidably arranged on the slide rail 51; the slide rail 51 is installed on the second disk 112, and the slider 52 is rotatably connected to at least another rod of the scissor-type mechanism 2. Alternatively, the slider 52 is installed on the second disk 112, and the slide rail 51 is rotatably connected to at least another rod of the scissor-type mechanism 2. In some embodiments, there are multiple sliders 52, and each slide rail 51 corresponds to multiple sliders 52, so that the movement of the slide rail 51 is more stable.

[0162] The sliding assembly 5 is configured to achieve floating sliding of at least another rod relative to the disc assembly 11. The sliding assembly 5 is used to achieve free floating sliding of the connection point C of the scissor mechanism 2 relative to the second disc 112.

[0163] When the transport robot encounters a bumpy road during its walking process, the connection point C of the scissor mechanism 2 has a certain amount of free sliding relative to the second disk 112, which makes the structure of the transport robot more flexible and can better cushion the impact received by the transport robot during walking.

[0164] Referring to Figures 22 to 24 , in other embodiments, each connection point between the top of the scissor mechanism 2 and the tray assembly 3 is rotationally connected and slidable, and each connection point between the bottom of the scissor mechanism 2 and the chassis assembly 1 is also rotationally connected and slidable. The drive mechanism 4 employs a different implementation method than described above. The drive mechanism 4 includes a power source 41 and two lead screws 421. The two lead screws 421 are located on either side of the power source 41, with the threads of the two lead screws 421 rotating in opposite directions. Each lead screw 421 is mounted with a sliding portion 422, one of which is hinged to the top of the first connecting rod 211, and the other is hinged to the top of the second connecting rod 212. Driven by the power source 41, the two sliding portions 422 move closer or further apart, thereby driving the scissor mechanism 2 to rise or fall. The tray 31 rises and falls linearly as the scissor mechanism 2 rises and falls. During the raising and lowering process of the scissor mechanism 2, the tray 31 does not move horizontally.

[0165] An embodiment of the present disclosure also provides an automated warehouse, including a handling robot provided by any technical solution of the present disclosure.

[0166] The handling robot provided by the above technical solution has a compact structure. The handling robot needs to frequently lift and carry goods during operation in the warehouse. The handling robot provided by the above technical solution has a chassis assembly 1 that adopts a rotatably connected first disk 111 and a second disk 112, and the drive mechanism 4 is installed at the bottom of the tray assembly 3. The drive mechanism 4 does not directly apply force to the chassis assembly 1, so the handling robot is better adapted to different types of road surfaces and has better driving performance.

[0167] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the scope of protection of the present disclosure.

[0168] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present disclosure and not to limit it. Although the present disclosure has been described in detail with reference to the preferred embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present disclosure can still be modified or some technical features can be replaced by equivalents without departing from the spirit of the technical solution of the present disclosure, which should be included in the scope of the technical solution for protection requested by the present disclosure.

Claims

1. A transport robot comprising: A chassis assembly (1) comprises a chassis assembly (11) and a running mechanism (12); the running mechanism (12) is mounted on the chassis assembly (11); the chassis assembly (11) comprises a first chassis (111) and a second chassis (112) that are rotatably connected; A scissor mechanism (2) is carried by the disc assembly (11), is mounted on the disc assembly (11), and is carried by the chassis assembly (1); the scissor mechanism (2) comprises a plurality of rotatably connected rods; the scissor mechanism (2) comprises a retracted state and an expanded state, and the scissor mechanism (2) is switched between the retracted state and the expanded state by relative rotation of the plurality of rods; A tray assembly (3) is rotatably connected to the scissor mechanism (2) and is mounted on the top of the scissor mechanism (2); as well as A driving mechanism (4) is installed at the bottom of the tray assembly (3) and is drivingly connected to the scissor mechanism (2) to drive the scissor mechanism (2) to switch between the contracted state and the expanded state.

2. The handling robot according to claim 1, wherein at least one of the rods of the scissor-type mechanism (2) is rotatably connected to the first disk (111), and at least another rod of the scissor-type mechanism (2) is rotatably and slidably connected to the second disk (112).

3. The transport robot according to claim 2, further comprising: A sliding assembly (5) comprises a slide rail (51) and a slider (52); the slider (52) is slidably arranged on the slide rail (51); the slide rail (51) is mounted on the second disk (112), and the slider (52) is rotatably connected to at least another rod of the scissor-fork mechanism (2); or, the slider (52) is mounted on the second disk (112), and the slide rail (51) is rotatably connected to at least another rod of the scissor-fork mechanism (2); The sliding assembly (5) is configured to achieve floating sliding of at least one of the other rods relative to the second disk (112).

4. The handling robot according to any one of claims 1 to 3, wherein the driving mechanism (4) comprises: A power source (41) is mounted on the bottom of the tray assembly (3); as well as a transmission mechanism (42) drivingly connected to the power source (41) to move under the drive of the power source (41); Wherein, the top end of at least one of the rods of the scissor mechanism (2) is connected to the transmission mechanism (42) The hinged connection enables the scissor mechanism (2) to switch between the contracted state and the expanded state under the drive of the power source (41).

5. The handling robot according to claim 4, wherein the power source (41) includes a motor, and the transmission mechanism (42) includes a lead screw (421) and a sliding portion (422); the motor is drive-connected to the lead screw (421), the lead screw (421) is rotatably mounted on the bottom of the pallet assembly (3), and the sliding portion (422) is threadedly engaged with the lead screw (421); the top end of at least one of the rods of the scissors-fork mechanism (2) is hinged to the sliding portion (422).

6. The handling robot according to claim 5, wherein the driving mechanism (4) further comprises: A position detection element (43) is installed at the bottom of the tray assembly (3) and corresponds to the movement limit position of the sliding portion (422); the position detection element (43) is electrically connected to the motor, and the motor stops when the position detection element (43) detects the sliding portion (422).

7. The handling robot according to any one of claims 1 to 6, wherein the walking mechanism (12) comprises: A driving wheel seat (121) is fixedly connected to the first disk (111); as well as The driving wheel (122) is mounted on the driving wheel seat (121).

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

9. The handling robot according to claim 7 or 8, wherein the walking mechanism (12) further comprises: A balancing mechanism (125) is mounted on the driving wheel seat (121) or on the first disc (111) or on the second disc (112), and the balancing mechanism (125) is configured to balance the forces borne by the first disc (111) and the second disc (112) of the chassis assembly (1).

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

11. The handling robot according to claim 10, wherein the connecting seat and the driving wheel seat (121) are integrated or fixedly connected; the driving wheel seat (121) includes a mounting groove (121a) running through its own length direction; the driving wheel (122) is mounted on the mounting block (1251); the middle part of the mounting block (1251) is located in the mounting groove (121a), and both ends of the mounting block (1251) extend out of the mounting groove (121a); the middle part of the mounting block (1251) is rotatably connected to the driving wheel seat (121), and one end of the mounting block (1251) is fixedly connected to the second disk body (112).

12. The handling robot according to any one of claims 9 to 11, wherein the balancing mechanism (125) comprises: The counterweight is adjustable in position and mounted on the second disk (112).

13. The transport robot according to any one of claims 1 to 12, further comprising: a rotation limiting mechanism (120) installed between the first disk (111) and the second disk (112) to limit the relative rotation range of the first disk (111) and the second disk (112); The rotation limiting mechanism (120) comprises: The driving wheel seat (121) comprises a mounting groove (121a) extending along its length and a limiting groove (121c) disposed inside the mounting groove (121a); A mounting block (1251) is provided with a limiting protrusion (1251a) in the middle of the mounting block (1251), and the limiting protrusion (1251a) cooperates with the limiting groove (121c).

14. The transport robot according to claim 13, further comprising: A balancing mechanism (125) comprising the driving wheel seat (121), the mounting block (1251) and a first elastic member (1252); Both ends of the mounting block (1251) extend out of the mounting groove (121a); one end of the mounting block (1251) is fixedly connected to the second disk body (112), and the first elastic member (1252) is clamped between the other end of the mounting block (1251) and the top surface of the first disk body (111).

15. The transport robot according to any one of claims 1 to 13, further comprising: An auxiliary lifting mechanism (6) is connected to the scissor-fork mechanism (2), and the auxiliary lifting mechanism (6) is configured to apply a force having a component in a direction of expansion of the scissor-fork mechanism (2) to the scissor-fork mechanism (2) during the process of the scissor-fork mechanism (2) switching from a contracted state to an expanded state; wherein the auxiliary lifting mechanism (6) includes a compressed state and a reset state.

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

17. A handling robot according to claim 15 or 16, wherein the scissor-type mechanism (2) is constructed to be symmetrical; the scissor-type mechanism (2) is equipped with two or more auxiliary lifting mechanisms (6), and each of the auxiliary lifting mechanisms (6) is symmetrically arranged relative to the symmetry axis of the scissor-type mechanism (2) itself.

18. The handling robot according to any one of claims 15 to 17, wherein the scissor mechanism (2) comprises two sets of connecting rod mechanisms (21), and each set of the connecting rod mechanisms (21) comprises: A first connecting rod (211), one end of which is connected to the driving mechanism (4); a second connecting rod (212), wherein the middle portion of the second connecting rod (212) is rotatably connected to the middle portion of the first connecting rod (211); and one end of the second connecting rod (212) is rotatably connected to the tray assembly (3); a third connecting rod (213), one end of which is rotatably connected to the other end of the first connecting rod (211), and the other end of which is configured to be rotatably and slidably connected to the second disk (112); as well as A fourth connecting rod (214), wherein the middle portion of the fourth connecting rod (214) is rotatably connected to the middle portion of the third connecting rod (213), one end of the fourth connecting rod (214) is rotatably connected to the other end of the second connecting rod (212), and the other end of the fourth connecting rod (214) is constructed to be rotatably connected to the first disk body (111).

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

20. The handling robot according to claim 18 or 19, wherein the scissor-fork mechanism (2) further comprises a reinforcing assembly (22), and the reinforcing assembly (22) is rotatably connected to both sets of the connecting rod mechanisms (21); and the auxiliary lifting mechanism (6) is installed on the reinforcing assembly (22).

21. The handling robot according to claim 20, wherein the number of the reinforcement components (22) is at least two, and the auxiliary lifting mechanism (6) is installed on one of the reinforcement components (22); when the scissors-type mechanism (2) is in a retracted state, the second end (623) of the connecting shaft (62) of the auxiliary lifting mechanism (6) abuts against the other reinforcement component (22).

22. The handling robot according to any one of claims 15 to 21, wherein the auxiliary lifting mechanism (6) includes a reset state and a compressed state; When the scissor mechanism (2) is in an unfolded state, the auxiliary lifting mechanism (6) is in a reset state; During the process of the scissor mechanism (2) switching from the expanded state to the contracted state, the auxiliary lifting mechanism (6) is subjected to the force of the scissor mechanism (2), and the auxiliary lifting mechanism (6) switches from the reset state to the compressed state.

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

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