Handling robot and warehousing system

Abstract

A handling robot and a warehousing system. The handling robot (10) comprises a chassis (100), a lifting frame (200) and a fork device (300). The lifting frame is arranged on the chassis, and a buffer storage space is formed inside the lifting frame. The fork device comprises: a first telescopic fork (310) and a second telescopic fork (320) which are driven independently for lifting and lowering, wherein the first telescopic fork and the second telescopic fork are arranged on the lifting frame, the first telescopic fork is located below the second telescopic fork, and the first telescopic fork and the second telescopic fork can move vertically in a first direction and extend or retract in a second direction relative to the lifting frame; and a carrying mechanism (330), which is arranged on the second telescopic fork and located in the buffer storage space, the carrying mechanism being configured to ensure that, in the buffer storage space, material boxes (20) located above the first telescopic fork move synchronously with the second telescopic fork in the first direction.

Description

Handling robot and warehouse system

[0001] The present application claims priority to the Chinese patent application No. 202410890027.6, filed on July 3, 2024, and entitled "Handling robot and warehouse system", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of warehousing, and in particular to a handling robot and a warehouse system. BACKGROUND

[0003] With the rapid development of artificial intelligence technology, automation technology and information technology, the intelligence level of the warehouse system is also continuously improved. The handling robot is one of the main devices that can realize automatic handling operation in the warehouse system, so as to reduce the heavy physical labor of human beings and improve the handling efficiency.

[0004] In the related art, the warehouse system has a plurality of shelves, each shelf has a plurality of independent storage locations, and can provide storage units for the containers; the handling robot includes a chassis, a column and a fork, the column is arranged on the chassis, and the fork is arranged on the column and can move up and down along the extension direction of the column, so as to take and place containers of different heights through the fork.

[0005] However, in the related art, if a plurality of containers need to be taken out from the shelves, the handling robot can only take them out one by one, which has the technical problem of low work efficiency. SUMMARY

[0006] In view of the above problems, the embodiments of the present application provide a handling robot and a warehouse system, which can stack and unstack containers and carry a plurality of containers at a time, without the need to set shelves to store containers in the warehouse, thereby reducing the cost of shelves.

[0007] In order to achieve the above purpose, the embodiments of the present application provide the following technical solutions:

[0008] The first aspect of the embodiments of the present application provides a handling robot, comprising:

[0009] a chassis having a temporary storage position configured to store containers;

[0010] a lifting frame arranged on the chassis, the lifting frame internally forming a temporary storage space extending in a first direction, and the temporary storage space is located above the temporary storage position and communicates with the temporary storage position;

[0011] The fork device comprises a first telescopic fork and a second telescopic fork independently driven to lift, the first telescopic fork and the second telescopic fork are slidingly arranged on the lifting frame, and the first telescopic fork is below the second telescopic fork, the first telescopic fork and the second telescopic fork can be lifted in a first direction relative to the lifting frame and can be telescoped in a second direction relative to the lifting frame to take and place a box,

[0012] The carrying mechanism is arranged on the second telescopic fork and located in the temporary storage space, and is configured to hold the box in the temporary storage space above the first telescopic fork and synchronously with the second telescopic fork in the first direction.

[0013] In some embodiments, the carrying mechanism can be lifted in the first direction relative to the second telescopic fork.

[0014] In some embodiments, the lowest point of the carrying mechanism is not higher than the lowest point of the second telescopic fork.

[0015] In some embodiments, the carrying mechanism comprises two clamp assemblies, and the two clamp assemblies are respectively arranged on opposite sides of the second telescopic fork in a third direction and are slidingly or rollingly connected with the second telescopic fork, wherein the third direction is perpendicular to the first direction and the second direction.

[0016] In some embodiments, each clamp assembly comprises a sliding carriage and a clamp, the clamp is arranged on the sliding carriage, the sliding carriage has a first sliding part extending in the first direction, the second telescopic fork has a second sliding part matched with the first sliding part, and the first sliding part and the second sliding part are slidingly connected to enable the sliding carriage to slide in the first direction relative to the second telescopic fork.

[0017] In some embodiments, the clamp is arranged at the bottom of the sliding carriage.

[0018] In some embodiments, the clamp is one of a clamping block, a clamping plate, a rotating piece, and a clamping piece.

[0019] In some embodiments, the carrying mechanism further comprises a buffer, the buffer is arranged at one end of the carrying mechanism close to the first telescopic fork, and the distance between the buffer and the first telescopic fork is smaller than the distance between the clamp and the first telescopic fork.

[0020] In some embodiments, the buffer comprises at least one of a hydraulic buffer and an elastic buffer.

[0021] In some embodiments, further comprising: a first anti-collision member disposed on a side of the first telescopic fork facing the carrying mechanism, and a second anti-collision member disposed on a side of the carrying mechanism facing the first telescopic fork and opposite to the first anti-collision member.

[0022] In some embodiments, a distance between the second anti-collision member and the first telescopic fork is greater than a distance between the buffer member and the second telescopic fork, and less than a distance between the clamp and the first telescopic fork.

[0023] In some embodiments, the first anti-collision member and the second anti-collision member are at least one of an anti-collision plate and an anti-collision block.

[0024] In some embodiments, an end of the first sliding part away from the clamp is provided with a limiting structure for preventing the first sliding part and the second sliding part from being separated from each other.

[0025] In some embodiments, the limiting structure is a limiting block or a limiting plate disposed on a top of the first sliding part.

[0026] In some embodiments, the first sliding part is a sliding rail, and the second sliding part is a sliding groove.

[0027] In some embodiments, further comprising a driving unit configured to drive the carrying mechanism to move up and down relative to the second telescopic fork in the first direction.

[0028] In some embodiments, the first telescopic fork comprises two groups of first telescopic arm assemblies, the two groups of first telescopic arm assemblies are spaced apart and oppositely disposed on opposite sides of the lifting frame in the third direction, and are configured to move up and down relative to the lifting frame in the first direction, and the two groups of first telescopic arm assemblies are configured to move telescopically in the second direction to take and place the material box.

[0029] The second telescopic fork comprises two groups of second telescopic arm assemblies, the two groups of second telescopic arm assemblies are spaced apart and oppositely disposed on opposite sides of the lifting frame in the third direction, and are configured to move up and down relative to the lifting frame in the first direction, and the two groups of second telescopic arm assemblies are configured to move telescopically in the second direction to take and place the material box.

[0030] In some embodiments, the first telescopic arm assembly comprises a first base, a first telescopic arm at a telescopic end of the first telescopic arm assembly, and a first taking member disposed on the first telescopic arm, the first telescopic arm is configured to move relative to the first base in the second direction, and the first taking member is configured to take and place the material box.

[0031] The second telescopic arm assembly comprises a second base, a second telescopic arm at a telescopic end of the second telescopic arm assembly, and a second picking member, the second telescopic arm being movable relative to the second base in the second direction, the second picking member being arranged on the second telescopic arm, and the second picking member being configured to pick and place the bins.

[0032] In some embodiments, the first picking member is arranged at a bottom of the first telescopic arm; and / or

[0033] The second picking member is arranged at a bottom of the second telescopic arm.

[0034] In some embodiments, the second telescopic arm extends in the first direction towards a side of the chassis, and the second picking member is arranged at a bottom of the second telescopic arm, so that the second picking member can pick the bins at a lowest position in the bin stack.

[0035] In some embodiments, when the carrying mechanism carries the bins above the first telescopic forks, a gap is provided between the side walls of the bins and the second telescopic arm assembly on the same side, so that the second telescopic arm assembly can move in the second direction.

[0036] In some embodiments, the handling robot further comprises a first lifting mechanism and a second lifting mechanism, the first lifting mechanism being configured to drive the first telescopic forks to move up and down in the first direction, and the second lifting mechanism being configured to drive the second telescopic forks to move up and down in the first direction.

[0037] In some embodiments, the first lifting mechanism and the second lifting mechanism are arranged opposite to each other on the front and rear sides of the lifting frame.

[0038] In some embodiments, the first lifting mechanism comprises a first lifting motor, a first rotating member, and two groups of first traction members, the two groups of first traction members being arranged on the left and right sides of the first rotating member, an output shaft of the first lifting motor being connected to the first rotating member, one end of the two groups of first traction members being connected to the first rotating member and being capable of being wound on the first rotating member synchronously, and the other end of the two groups of first traction members being connected to the left and right sides of the first telescopic forks, respectively; and the second lifting mechanism comprises a second lifting motor, a second rotating member, and two groups of second traction members, the two groups of second traction members being arranged on the left and right sides of the second rotating member, an output shaft of the second lifting motor being connected to the second rotating member, one end of the two groups of second traction members being connected to the second rotating member and being at least partially wound on the second rotating member, and the other end of the two groups of second traction members being connected to the left and right sides of the second telescopic forks, respectively.

[0039] In some embodiments, the first traction member includes a first front end traction member and a first rear end traction member, one end of the first front end traction member and the first rear end traction member are connected to the same side of the first slewing member at intervals, and the other end of the first front end traction member and the first rear end traction member are connected to the front and rear ends of the first telescopic fork on the same side. The second traction member includes a second front end traction member and a second rear end traction member, one end of the second front end traction member and the second rear end traction member are connected to the same side of the second slewing member at intervals, and the other end of the second front end traction member and the second rear end traction member are connected to the front and rear ends of the second telescopic fork on the same side.

[0040] The second aspect of the embodiments of the present application provides a warehousing system, which includes the handling robot provided in the above embodiments.

[0041] In the handling robot provided by the embodiments of the present application, the temporary storage position is arranged on the chassis, the temporary storage space is arranged on the lifting frame and communicates with the temporary storage position, and the temporary storage space extends along the first direction to store the containers through the temporary storage space. In addition, the first telescopic fork and the second telescopic fork are arranged on the lifting frame, the first telescopic fork is located below the second telescopic fork, and the first telescopic fork and the second telescopic fork can move up and down in the first direction and move in and out in the second direction relative to the lifting frame to take and place the containers. Furthermore, the carrying mechanism is arranged on the second telescopic fork and located in the temporary storage space, the carrying mechanism can keep the container above the first telescopic fork in the temporary storage space to move synchronously with the second telescopic fork in the first direction. In this way, through the cooperation among the first telescopic fork, the second telescopic fork and the carrying mechanism, on the one hand, the multiple containers can be stacked into a container stack; on the other hand, one or more containers of the container stack can be taken out at the same time, or one or more target containers can be inserted between any two adjacent containers in the container stack, thereby improving the efficiency of taking and placing goods and improving the working efficiency of the handling robot. On the other hand, the shelf for placing the containers in the warehouse is not needed, thereby reducing the cost.

[0042] In addition to the technical problems solved by the embodiments of the present application, the technical features constituting the technical solutions and the beneficial effects brought by these technical features as described above, the other technical problems solved by the handling robot and the warehousing system provided by the embodiments of the present application, the other technical features included in the technical solutions and the beneficial effects brought by these technical features will be further described in detail in the specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, the accompanying drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained based on these drawings without creative labor.

[0044] Fig. 1 is a schematic diagram of an application scenario of a carrying robot provided by an embodiment of the present application;

[0045] Fig. 2 is a schematic diagram of a structure of a carrying robot provided by an embodiment of the present application;

[0046] Fig. 3 is a schematic diagram of another perspective view of Fig. 2;

[0047] Fig. 4 is a schematic diagram of still another perspective view of Fig. 2;

[0048] Fig. 5 is a schematic diagram of a structure of a carrying mechanism in a carrying robot provided by an embodiment of the present application;

[0049] Fig. 6 is a schematic diagram of a front projection of Fig. 5;

[0050] Fig. 7 is a schematic diagram of a state of a part of structure of a carrying robot provided by an embodiment of the present application;

[0051] Fig. 8 is a schematic diagram of another perspective view of Fig. 7;

[0052] Fig. 9 is a schematic diagram of a structure of a second telescopic fork in a carrying robot provided by an embodiment of the present application;

[0053] Fig. 10 is a schematic diagram of a perspective view of Fig. 9;

[0054] Fig. 11 is a schematic diagram of a part of structure of a second telescopic fork in a carrying robot provided by an embodiment of the present application;

[0055] Fig. 12 is a schematic diagram of a part of structure of a carrying robot provided by an embodiment of the present application;

[0056] Fig. 13 is a schematic diagram of a local enlarged view of A in Fig. 12;

[0057] Fig. 14 is a schematic diagram of a structure of a first telescopic fork in a carrying robot provided by an embodiment of the present application;

[0058] Fig. 15 is a schematic diagram of a structure of a lifting assembly in a carrying robot provided by an embodiment of the present application.

[0059] Explanation of reference signs: 10-transport robot; 100-chassis; 140-elastic member; 150-driving wheel; 200-lifting frame; 300-fork device; 310-first telescopic fork; 311-first telescopic arm assembly; 3111-first base; 3112-first telescopic arm; 3113-first taking member; 312-first anti-collision member; 320-second telescopic fork; 321-second telescopic arm assembly; 3211-second base; 3212-second telescopic arm; 3213-second taking member; 322-second sliding part; 330-carrying mechanism; 33-clamp assembly; 331-clamp; 332-carriage; 333-buffer member; 334-second anti-collision member; 335-limiting structure; 336-first sliding part; 340-first driving mechanism; 350-second driving mechanism; 370-first pulley; 400-lifting assembly; 410-first lifting mechanism; 411-first lifting motor; 412-first rotating member; 413-first traction member; 4131-first front-end traction member; 4132-first rear-end traction member; 420-second lifting mechanism; 421-second lifting motor; 422-second rotating member; 423-second traction member; 4231-second front-end traction member; 4232-second rear-end traction member; 20-box; 30-box stack. DETAILED DESCRIPTION

[0060] With the rapid development of artificial intelligence technology, automation technology and information technology, the intelligent degree of the warehouse system is also constantly improved. The transport robot is one of the main equipment that can realize automatic transport operation in the warehouse system, so as to reduce the heavy physical labor of human beings and improve the transport operation efficiency. In the related technology, the warehouse system has multiple shelves, each shelf has multiple independent storage locations, and can provide storage units for boxes; the transport robot includes a chassis, a column and a fork, the column is arranged on the chassis, and the fork is arranged on the column and can move up and down along the extension direction of the column, so as to take and place boxes of different heights through the fork. However, in the related technology, if multiple boxes need to be taken out from the shelf, the transport robot can only take them out one by one, which has the technical problem of low operation efficiency.

[0061] To solve the above problems, the embodiment of the present application provides a carrying robot and a warehouse system. A temporary storage position is arranged on the chassis, a temporary storage space is arranged on the lifting frame and communicates with the temporary storage position, the temporary storage space extends along a first direction, and the temporary storage space is used to store the boxes. In addition, a first telescopic fork and a second telescopic fork are arranged on the lifting frame, the first telescopic fork is located below the second telescopic fork, and the first telescopic fork and the second telescopic fork can move up and down relative to the lifting frame in the first direction and move in and out relative to the lifting frame in a second direction, so as to take and place the boxes. In addition, a carrying mechanism is arranged on the second telescopic fork, the carrying mechanism is located in the temporary storage space, and the carrying mechanism can move up and down relative to the second telescopic fork in the first direction. The carrying mechanism can keep the boxes above the first telescopic fork in the temporary storage space, so that the boxes move synchronously with the second telescopic fork in the first direction. In this way, through the cooperation between the first telescopic fork, the second telescopic fork and the carrying mechanism, on the one hand, the boxes can be stacked into a box stack; on the other hand, one or more boxes of the box stack can be taken out at the same time, or one or more target boxes can be inserted between any two adjacent boxes of the box stack, so as to improve the efficiency of taking and placing goods and improve the working efficiency of the carrying robot. On the other hand, the shelves for placing the boxes in the warehouse are not needed, so as to reduce the cost.

[0062] In order to make the above-mentioned purposes, features and advantages of the embodiments of the present application more obvious and easy to understand, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0063] The embodiment of the present application provides a carrying robot. The carrying robot is applicable to, but not limited to, an intelligent warehouse. The carrying robot has the functions of stacking multiple boxes to form a box stack, de-stacking the box stack, and carrying the boxes.

[0064] The structure of the carrying robot will be described in detail below with reference to the drawings.

[0065] Please refer to FIG. 1 to FIG. 14, the carrying robot 10 provided by the embodiment of the present application includes a chassis 100. The chassis 100 is used as the bearing base of each mechanism or module in the carrying robot 10, so that each mechanism or module on the carrying robot 10 can be connected or worked with each other. Therefore, the chassis 100 needs to have certain strength and rigidity to improve the working reliability of the carrying robot 10.

[0066] In addition, the chassis 100 is provided with a traveling mechanism, for example, the traveling mechanism includes a driving motor and at least two driving wheels 150, and the at least two driving wheels 150 are respectively arranged on opposite sides of the chassis 100 and are in contact with the ground, so that the driving motor provides driving force to the driving wheels 150, so that the carrying robot 10 can move in a space such as a warehouse.

[0067] In order to improve the grip between the driving wheel 150 and the ground, in some embodiments, the chassis 100 is also provided with an elastic member 140, for example, the elastic member 140 is a spring, and the elastic member 140 is connected between the driving wheel 150 and the chassis 100, so that the driving wheel 150 has sufficient grip with the ground, and the driving wheel 150 will not be insufficient due to the unevenness of the ground, so that the carrying robot 10 will not be unstable.

[0068] In some embodiments, the chassis 100 is also provided with a sensing member such as a laser radar for sensing the environment around the carrying robot 10, so as to avoid obstacles and improve the safety and reliability of the carrying robot 10.

[0069] The chassis 100 is also provided with an electric control system, which can provide power for the movement of the carrying robot 10, and can also be used to control the movement of each mechanism or module in the carrying robot 10.

[0070] In some embodiments, the chassis 100 is also provided with a temporary storage position, which is used to store the material box 20, that is, the chassis 100 is provided with a space for placing the material box 20 for temporary storage of the material box 20.

[0071] For example, the chassis 100 is provided with a temporary storage rack, and the temporary storage rack is arranged to form the temporary storage position. The profile shape of the temporary storage position can match the profile shape of the material box 20, for example, the temporary storage rack is arranged to form a temporary storage position with a profile shape of a cube or a cuboid, so as to facilitate the temporary storage of the material box 20.

[0072] In order to avoid the deviation of the material box 20 in the temporary storage position, in some embodiments, the chassis 100 is also provided with at least two limiting members, and the at least two limiting members are arranged in a circumferential direction of the temporary storage position. For example, when the material box 20 is placed in the temporary storage position, the material box 20 is provided with limiting members around the material box 20, so as to prevent the carrying robot 10 from deviating or shaking during movement, thereby improving the stability and reliability of the material box 20 in the temporary storage position.

[0073] For example, the limiting member is a limiting plate or a limiting block, as long as it can limit the material box 20 in the temporary storage position.

[0074] In some embodiments, the chassis 100 is further provided with a guide structure configured to guide the bin 20 into the temporary storage position, so as to facilitate the bin 20 to enter or be taken out of the temporary storage position.

[0075] For example, the guide structure is a guide plate having an inclined angle with the limiting member, or the like, as long as it can guide the bin 20 to enter or exit the temporary storage position, which is not specifically limited herein.

[0076] In some embodiments, the handling robot 10 further comprises a lifting frame 200 provided on the chassis 100, and a temporary storage space extending in the first direction is formed in the lifting frame 200, and the temporary storage space is located above the temporary storage position and communicates with the temporary storage position.

[0077] It can be understood that, by forming the temporary storage space communicating with the temporary storage position in the lifting frame 200, a plurality of bins 20 can be stored in the temporary storage space in the first direction, so that the bins 20 in the temporary storage position and the temporary storage space are stacked in the first direction to form a bin stack 30, without the need to provide a shelf or the like structure for temporarily storing the bin 20 on the lifting frame 200 of the handling robot 10. On the one hand, the shelf structure on the handling robot 10 is saved, and the cost is reduced. On the other hand, the temporary storage space can temporarily store more bins 20, thereby improving the handling efficiency of the handling robot 10.

[0078] For example, the lifting frame 200 comprises a plurality of columns provided on the chassis 100 and collectively surrounding the temporary storage space; for example, the lifting frame 200 comprises four columns provided on the chassis 100 and respectively located at the four vertices of the rectangular shape, so that the four columns collectively surround the temporary storage space with a rectangular cross section.

[0079] In some embodiments, referring to FIGS. 1 to 4, the handling robot 10 further comprises a fork device 300, the fork device 300 comprises a first telescopic fork 310 and a second telescopic fork 320, the first telescopic fork 310 and the second telescopic fork 320 are provided on the lifting frame 200, and the first telescopic fork 310 is located below the second telescopic fork 320, the first telescopic fork 310 and the second telescopic fork 320 are movable in the first direction relative to the lifting frame 200, and the first telescopic fork 310 and the second telescopic fork 320 are movable in the second direction relative to the lifting frame 200, so as to take and place the bin 20 by the first telescopic fork 310 and the second telescopic fork 320,

[0080] Wherein, the first direction and the second direction are perpendicular to each other. For example, when the first direction is the vertical direction, the second direction is the horizontal direction.

[0081] In some embodiments, referring to FIGS. 2-9, the carrying robot 10 further comprises a carrying mechanism 330, which is arranged on the second telescopic fork 320 and located in the temporary storage space, so that the second telescopic fork 320 can drive the carrying mechanism 330 to move when the second telescopic fork 320 moves up and down along the first direction, so that the carrying mechanism 330 can carry the containers 20 in the temporary storage space to move up and down synchronously with the second telescopic fork 320.

[0082] By arranging the carrying mechanism 330 on the second telescopic fork 320, the distance between the carrying mechanism 330 and the first telescopic fork 310 is variable, and when the first telescopic fork 310, the second telescopic fork 320 and the carrying mechanism 330 cooperate to take and place the containers 20, multiple containers 20 can be taken from the container stack 30 in the warehouse at one time and placed in the temporary storage space, thereby improving the efficiency of taking and placing the containers 20.

[0083] In addition, when the first telescopic fork 310 moves to the lowermost end in the first direction, i.e., the downstroke height of the first telescopic fork 310 in the first direction is zero, if the second telescopic fork 320 needs to take the lowest container 20, the second telescopic fork 320 drives the carrying mechanism 330 to move in the first direction, and when the carrying mechanism 330 moves to the upper side of the first telescopic fork 310 and abuts against the top of the first telescopic fork 310, it cannot continue to move downward, thereby causing the second telescopic fork 320 to be unable to continue to move downward, and further causing the second telescopic fork 320 to be unable to take the lowest container 20.

[0084] Based on the above problems, in the embodiments of the present application, the carrying mechanism 330 is movably arranged on the second telescopic fork 320, so that the carrying mechanism 330 can move up and down in the first direction relative to the second telescopic fork 320, so that when the second telescopic fork 320 drives the carrying mechanism 330 to move to the position of the first telescopic fork 310, as the second telescopic fork 320 continues to descend in the first direction, the carrying mechanism 330 can move upward in the second direction relative to the second telescopic fork 320, without affecting the second telescopic fork 320 to continue to descend in the first direction, thereby enabling the second telescopic fork 320 to take the lowest container 20, and further increasing the application range of the carrying robot 10 and improving the user experience.

[0085] In some embodiments, the lowest point of the carrying mechanism 330 is not higher than the lowest point of the second telescopic fork 320, so that the carrying mechanism 330 can take the container closest to the first telescopic fork 310 above the first telescopic fork 310.

[0086] The process of cooperation between the first telescopic fork 310, the second telescopic fork 320 and the carrying mechanism 330 to take and place goods will be described below.

[0087] The picking process refers to picking the first target container from the container stack 30 in the warehouse and placing it in the temporary storage space, and the placing process refers to placing the second target container in the temporary storage space into the container stack 30 in the warehouse.

[0088] When the first target container in the container stack 30 needs to be placed into the first target placing position in the temporary storage space, first, the transfer robot 10 is moved to the position of the container stack 30. In addition, if the first target placing position has a container 20, at this time, the carrying mechanism 330 is docked with the first container in the temporary storage space at the first target placing position, and the second telescopic fork 320 drives the carrying mechanism 330 to lift in the first direction until the first target placing position in the temporary storage space is empty. Then, if there is no other container above the first target container, the first telescopic fork 310 can directly pick up the first target container and place it in the first target placing position. If there is a second container above the first target container, the first telescopic fork 310 and the second telescopic fork 320 are controlled to extend in the second direction towards the container stack 30, so that the second telescopic fork 320 is docked with the second container above the first target container in the container stack 30, and the second telescopic fork 320 is controlled to lift in the first direction, so that the second container has a gap with the first target container in the first direction. The first telescopic fork 310 is controlled to dock with the first target container, and then the second telescopic fork 320 and the first telescopic fork 310 are controlled to lift in the first direction at the same time, so that the first target container has a gap with the first support below the first target container. Then, the first telescopic fork 310 is controlled to retract in the second direction to place the first target container picked up by the first telescopic fork 310 into the first target placing position, and the second telescopic fork 320 is controlled to lower in the first direction to place the first container on the first target container by the carrying mechanism 330. Then, the second telescopic fork 320 is controlled to continue to lower in the first direction until the second container is placed on the first support, thereby completing the picking of the first target container in the first target container stack 30 and placing it into the first target placing position in the temporary storage space.

[0089] It should be noted that the first container can be one container or a plurality of containers stacked in the first direction in sequence. The second container can also be one container 20 or a plurality of containers 20 stacked in the first direction in sequence.

[0090] The first support below the first target container can be a container 20 or a support structure for supporting the container 20, etc.

[0091] Wherein, since the distance between the carrying mechanism 330 and the first telescopic fork 310 is adjustable, the carrying mechanism 330 can carry the first bin 20 to a sufficient height, so that the first target storage location has sufficient space, for example, the first target storage location can store multiple bins 20 stacked along the first direction at a time, i.e., the first target bin can be multiple bins 20, so that multiple bins 20 can be taken out in one taking process, thereby improving the taking efficiency.

[0092] The storage process is opposite to the above-mentioned taking process, which will not be described here.

[0093] It can be seen that, in the embodiment of the present application, on the one hand, through the cooperation between the first telescopic fork 310, the second telescopic fork 320 and the carrying mechanism 330, multiple bins 20 can be stacked into a bin stack 30, or the bin stack 30 can be disassembled; or a target bin can be extracted from the bin stack 30 or inserted into the bin stack 30; on the other hand, by arranging the carrying mechanism 330 on the second telescopic fork 320, and arranging the second telescopic fork 320 above the first telescopic fork 310, when the first telescopic fork 310 and the second telescopic fork 320 respectively move up and down along the first direction relative to the lifting frame 200, the distance between the first telescopic fork 310 and the carrying mechanism 330 in the first direction is adjustable, therefore, when the bin 20 is taken or stored by the carrying robot 10, the carrying mechanism 330 can be driven by the second telescopic fork 320 to first take the bin 20 at the target storage location, so as to make sufficient space for the target storage location of multiple bins 20, and then the first telescopic fork 310 takes multiple target bins 20 and stores them at the corresponding target location, so that the carrying robot 10 can extract multiple bins 20 in one taking or storing process, thereby improving the taking or storing efficiency of the carrying robot 10; on the other hand, by making the carrying mechanism 330 move up and down relative to the second telescopic fork 320 in the first direction, when the second telescopic fork 320 moves downward along the first direction, the carrying mechanism 330 will not interfere with the first telescopic fork 310, thereby increasing the downward exploration height of the second telescopic fork 320 and improving the application range of the carrying robot 10.

[0094] In some embodiments, as shown in FIG. 5, the carrying mechanism 330 includes two clamp assemblies 33, which are respectively arranged on opposite sides of the second telescopic fork 320 in the third direction. For example, when the second telescopic fork 320 is raised or lowered in the first direction, the carrying mechanism 330 can be docked with the box 20 in the temporary storage space and at the target storage position, so that the two clamp assemblies 33 are lifted synchronously with the second telescopic fork 320 to make enough space at the target storage position in the temporary storage space for the target box 20 docked with the first telescopic fork 310 to be placed at the target storage position in the temporary storage space.

[0095] In some embodiments, the two clamp assemblies 33 are respectively connected with the second telescopic fork 320 in a sliding manner, so that the two clamp assemblies 33 can be moved up and down in the first direction relative to the second telescopic fork 320, thereby making the carrying mechanism 330 move upward in the first direction relative to the second telescopic fork 320 when the second telescopic fork 320 moves downward in the first direction, to avoid the first telescopic fork 310 and to avoid the interference between the carrying mechanism 330 and the first telescopic fork 310 to affect the downward height of the second telescopic fork 320 in the first direction.

[0096] For example, in the spatial coordinate system, as shown in FIG. 3, the first direction is, for example, the Z direction of the spatial coordinate system, the second direction is, for example, the X direction of the spatial coordinate system, and the third direction is, for example, the Y direction of the spatial coordinate system.

[0097] In some embodiments, as shown in FIGS. 5 and 6, each clamp assembly 33 includes a sliding frame 332 and a clamp 331, the clamp 331 is arranged on the sliding frame 332, the sliding frame 332 has a first sliding part 336 extending in the first direction, the second telescopic fork 320 has a second sliding part 322 matched with the first sliding part 336, and the first sliding part 336 is connected with the second sliding part 322 in a sliding manner, so that the sliding frame 332 slides in the first direction relative to the second telescopic fork 320 to avoid the first telescopic fork 310 and to increase the downward height of the second telescopic fork 320 in the first direction.

[0098] For example, the first sliding part 336 is one of a sliding groove and a sliding rail, the second sliding part 322 is the other of the sliding groove and the sliding rail, and the extension direction of the sliding rail and the sliding groove is along the first direction, so that when the sliding frame 332 is arranged on the second telescopic fork 320, the sliding frame 332 slides upward along the extension direction of the sliding rail and the sliding groove relative to the second telescopic fork 320 under the pushing force of the external force along the first direction, or slides downward along the extension direction of the sliding rail and the sliding groove relative to the second telescopic fork 320 under the gravity of the sliding frame 332 and the clamp 331 when the external force is removed.

[0099] It can be understood that the sliding frame 332 and the second telescopic fork 320 are connected through the sliding groove and the sliding rail, so that when the sliding frame 332 slides relative to the second telescopic fork 320, the sliding frame 332 slides along the extension direction of the sliding groove and the sliding rail, thereby improving the accuracy of the sliding path of the sliding frame 332 relative to the second telescopic fork 320.

[0100] In some embodiments, the sliding frame 332 is, for example, a rod-shaped or plate-shaped sliding frame 332, and in addition, the two oppositely arranged sliding frames 332 in the two oppositely arranged clamp assemblies can be connected by a connecting rod or a connecting plate or the like to form a whole structure, so that the two clamp assemblies can slide synchronously relative to the second telescopic fork 320 when sliding along the first direction, thereby improving the reliability of the two clamp assemblies when carrying the material box 20 and avoiding the problem that the material box 20 falls due to the mutual misalignment of the two clamp assemblies in the first direction.

[0101] In some embodiments, as shown in FIG. 5, the first sliding part 336 is provided with a limiting structure 335 at the end away from the clamp 331, and the limiting structure 335 is used to prevent the first sliding part 336 from being separated from the second sliding part 322, that is, the limiting structure 335 can prevent the first sliding part 336 from sliding off the second sliding part 322, thereby improving the sliding reliability between the first sliding part 336 and the second sliding part 322.

[0102] For example, the first sliding part 336 is a sliding rail, the second sliding part 322 is a sliding groove, and the limiting structure 335 is a limiting block or a limiting plate arranged at the top of the sliding rail, so that when the sliding frame 332 slides along the sliding groove on the second telescopic fork 320 to the bottom end through the sliding rail, the limiting block or the limiting plate abuts against the second telescopic fork 320 to prevent the sliding frame 332 from falling off the second telescopic fork 320.

[0103] In some embodiments, the clamp 331 can be arranged at the bottom of the sliding frame 332, so that the clamp 331 can take the material box 20 at a lower position in the temporary storage space.

[0104] In addition, the clamp 331 can be one of a clamp block, a clamp plate, a rotating piece or a clamping piece. For example, when the clamp 331 is a clamp block or a clamp plate, two oppositely arranged clamp blocks or clamp plates can clamp the opposite sides of the bin 20 to achieve the taking of the bin 20; or the clamp 331 can also be a rotating piece, when the bin 20 needs to be carried and lifted, the rotating piece is rotated to abut against the side wall of the bin 20, so that when the carrying mechanism 330 is lifted, the bin 20 can be synchronously lifted; and when the bin 20 does not need to be carried and lifted, the rotating piece is rotated to the side away from the bin 20; or the clamp 331 can also be a clamping piece, and correspondingly, the side wall of the bin 20 can be provided with a clamping position matched with the clamping piece, so that when the clamp 331 is connected with the bin 20, the clamping piece is directly clamped with the clamping position to achieve the taking of the bin 20. For example, the clamping piece is a clamping hook, and the clamping position is a clamping groove.

[0105] In some embodiments, as shown in FIGS. 5 and 6, the carrying mechanism 330 further comprises a buffer 333 arranged at one end of the carrying mechanism 330 close to the first telescopic fork 310, and the distance between the buffer 333 and the first telescopic fork 310 is smaller than the distance between the clamp 331 and the first telescopic fork 310. For example, when the first telescopic fork 310 is lowered to the lowest position in the first direction, the first telescopic fork 310 cannot continue to be lowered, and the second telescopic fork 320 drives the carrying mechanism 330 to be lowered in the first direction, so that the second telescopic fork 320 can take the bin 20 at the lowermost end of the bin stack 30. When the carrying mechanism 330 moves close to the first telescopic fork 310, the buffer 333 on the carrying mechanism 330 first contacts the first telescopic fork 310, so as to absorb most of the kinetic energy when the carrying mechanism 330 contacts the first telescopic fork 310 through the buffer 333, thereby reducing the impact force between the carrying mechanism 330 and the first telescopic fork 310, and further avoiding the damage or collision vibration between the first telescopic fork 310 and the carrying mechanism 330 due to the collision.

[0106] Of course, the buffer 333 can not be arranged on the carrying mechanism 330, but arranged on the top of the first telescopic fork 310, so as to absorb the collision force when the carrying mechanism 330 contacts the first telescopic fork 310 through the buffer 333, thereby improving the service life and stability of the carrying mechanism 330 and the first telescopic fork 310.

[0107] For example, the buffer 333 includes at least one of a hydraulic buffer and an elastic buffer. For example, when the buffer 333 is a hydraulic buffer, the buffer can realize collision buffering through hydraulic principle to reduce the impact force. For example, the hydraulic buffer can be a hydraulic structure such as a hydraulic rod or a hydraulic column formed through hydraulic principle in the first direction, so that the hydraulic buffer has a certain hydraulic movement in the first direction, thereby absorbing the impact force in the first direction. For example, when the buffer 333 is an elastic buffer, the elastic buffer can absorb the impact through the elastic force of the elastic buffer itself, thereby reducing the impact force. For example, the elastic buffer can be an elastic structure such as an elastic column or an elastic pad having a certain elasticity in the first direction. Of course, the buffer 333 can also be other buffer structures, as long as the buffer can reduce the impact force when the carrying mechanism 330 collides with the first telescopic fork 310.

[0108] In the above embodiment, the buffer 333 can be detachably connected with the carrying mechanism 330 or the first telescopic fork 310. In this way, when the buffer 333 fails to work, only the buffer 333 needs to be replaced, and the carrying mechanism 330 does not need to be replaced, thereby reducing the cost of the carrying robot 10.

[0109] In some embodiments, referring to FIGS. 5, 6, 10 and 14, the carrying robot 10 further includes a first anti-collision member 312 and a second anti-collision member 334. The first anti-collision member 312 is arranged on the side of the first telescopic fork 310 facing the carrying mechanism 330, and the second anti-collision member 334 is arranged on the side of the carrying mechanism 330 facing the first telescopic fork 310 and is arranged opposite to the first anti-collision member 312. The distance between the second anti-collision member 334 and the first telescopic fork 310 is greater than the distance between the buffer 333 and the second telescopic fork 320, and is less than the distance between the clamp 331 and the first telescopic fork 310.

[0110] For example, in FIG. 6, the distance between the lowest end of the second anti-collision member 334 and the lowest end of the buffer 333 is denoted by A, and the distance between the lowest end of the second anti-collision member 334 and the lowest end of the clamp 331 is denoted by B. A is greater than B, so that when the clamp 331 contacts the first telescopic fork 310, the kinetic energy between the carrying mechanism 330 and the first telescopic fork 310 is absorbed by the buffer 333 and the first anti-collision member 312 and the second anti-collision member 334, thereby reducing the impact force when the clamp 331 contacts the first telescopic fork 310.

[0111] For example, when the carrying mechanism 330 moves towards the first telescopic fork 310, the buffer 333 on the carrying mechanism 330 first contacts the first telescopic fork 310, and at least most of the kinetic energy is first absorbed by the buffer 333 to reduce the impact force between the two. As the carrying mechanism 330 further moves towards the first telescopic fork 310, the first anti-collision piece 312 on the first telescopic fork 310 and the second anti-collision piece 334 on the carrying mechanism 330 contact each other to absorb the residual kinetic energy between the two, so as to avoid direct collision between the carrying mechanism 330 and the first telescopic fork 310, thereby protecting the first telescopic fork 310 and the carrying mechanism 330 respectively, thereby prolonging the service life of the carrying mechanism 330 and the first telescopic fork 310. Then, as the carrying mechanism 330 continues to move towards the first telescopic fork 310, the carrying mechanism 330 moves upwards along the first direction relative to the second telescopic fork 320 under the upward pushing force of the first telescopic fork 310, and there is no relative movement between the carrying mechanism 330 and the first telescopic fork 310 in the first direction, so that the second telescopic fork 320 can continue to probe in the first direction, so that the second telescopic fork 320 can take the pallets 20 close to the lower end in the pallet stack 30.

[0112] In some embodiments, the first anti-collision piece 312 and the second anti-collision piece 334 are respectively detachably connected with the first telescopic fork 310 and the carrying mechanism 330. In this way, when the first anti-collision piece 312 and the second anti-collision piece 334 are damaged and fail, only the first anti-collision piece 312 and the second anti-collision piece 334 need to be replaced, without the need to replace the carrying mechanism 330 and the first telescopic fork 310, thereby reducing the economic cost.

[0113] In some embodiments, the first anti-collision piece 312 and the second anti-collision piece 334 are at least one of an anti-collision plate and an anti-collision block. For example, the first anti-collision piece 312 is an anti-collision plate, and the second anti-collision piece 334 is an anti-collision block. In this way, the contact reliability between the second anti-collision piece 334 and the first anti-collision piece 312 when the carrying mechanism 330 contacts the first telescopic fork 310 can be ensured. That is, when the carrying mechanism 330 moves towards the first telescopic fork 310, the second anti-collision piece 334 always contacts the first anti-collision piece 312 on the first telescopic fork 310, so that the first anti-collision piece 312 and the second anti-collision piece 334 can absorb the residual kinetic energy when the carrying mechanism 330 contacts the first telescopic fork 310.

[0114] In some embodiments, the first anti-collision piece 312 and the second anti-collision piece 334 can be made of materials such as rubber, silicone or polyurethane, which have certain elasticity, so as to achieve the effect of absorbing kinetic energy and buffering.

[0115] In some embodiments, the carrying robot 10 can further comprise a driving unit configured to drive the carrying mechanism 330 to move up and down relative to the second telescopic fork 320 in the first direction, so that the driving unit can drive the carrying mechanism 330 to move up and down relative to the second telescopic fork 320 in the first direction according to the actual working condition.

[0116] For example, the driving unit can comprise a driving motor and a power transmission mechanism, wherein the power transmission mechanism is, for example, a gear and rack structure, or a transmission belt assembly, etc., which can be adaptively designed according to actual needs. The gear and rack structure, the transmission belt assembly, etc. can refer to related technologies, as long as they can realize the lifting movement of the carrying mechanism 330, which is not limited here.

[0117] In some embodiments, as shown in FIG. 14, the first telescopic fork 310 comprises two groups of first telescopic arm assemblies 311, which are spaced apart and oppositely arranged on opposite sides of the lifting frame 200 in the third direction. The two groups of first telescopic arm assemblies 311 are configured to telescope in the second direction to take and place the bin 20, i.e., the first telescopic arm assembly 311 can retract towards the side of the temporary storage space or extend away from the side of the temporary storage space in the second direction, so as to take out the bin 20 in the temporary storage space and place it into the bin stack 30 in the warehouse, for example. Alternatively, the bin 20 in the bin stack 30 is taken out and placed into the temporary storage space.

[0118] In some embodiments, as shown in FIG. 14, the first telescopic arm assembly 311 comprises a first base 3111, a first telescopic arm 3112 at the telescopic end, and a first taking piece 3113. The first telescopic arm 3112 moves relative to the first base 3111 in the second direction, and the first taking piece 3113 is arranged on the first telescopic arm 3112 and is configured to take and place the bin 20.

[0119] In some embodiments, the first telescopic arm assembly 311 can also be provided with one or more telescopic arms between the first base 3111 and the first telescopic arm 3112 at the telescopic end according to different telescopic length requirements, so that the first telescopic arm assembly 311 can meet different telescopic requirements.

[0120] In addition, in order to improve the stability of the first telescopic fork 310 moving up and down in the first direction, in some embodiments, the first base 3111 is slidingly connected to the lifting frame 200, so that when the first telescopic arm assembly 311 moves up and down in the first direction, the lifting frame 200 can guide the first base 3111, thereby improving the stability and reliability of the first telescopic arm assembly 311 moving up and down in the first direction.

[0121] For example, the lifting frame 200 has a sliding groove extending in the first direction, and the first telescopic fork 310 faces the sliding groove of the lifting frame 200 and has a first pulley 370 matched with the sliding groove, for example, the first pulley 370 is arranged on the first base 3111. In this way, the first pulley 370 is located in the sliding groove, so that the first telescopic fork 310 slides along the sliding groove under the action of the lifting driving force.

[0122] In some embodiments, as shown in FIG. 9, the second telescopic fork 320 includes two groups of second telescopic arm assemblies 321, which are arranged on opposite sides of the lifting frame 200 in the third direction and are opposite to each other, and are configured to extend in the second direction to take and place the bins 20, that is, the second telescopic arm assemblies 321 can retract towards the side of the temporary storage space in the second direction or extend away from the side of the temporary storage space, so as to take the bins 20 in the temporary storage space and place them into the bin stack 30 in the warehouse, for example; or take the bins 20 in the bin stack 30 and place them into the temporary storage space.

[0123] In some embodiments, as shown in FIGS. 9 to 11, the second telescopic arm assembly 321 includes a second base 3211, a second telescopic arm 3212 at the telescopic end, and a second taking member 3213, the second base 3211 is slidingly connected to the lifting frame 200, the second telescopic arm 3212 moves relative to the second base 3211 in the second direction, and the second taking member 3213 is arranged on the second telescopic arm 3212 and is configured to take and place the bins 20.

[0124] In some embodiments, as shown in FIG. 10, the second telescopic arm 3212 can extend in the first direction towards the direction of the chassis 100, that is, the second telescopic arm 3212 is arranged to extend downward in the vertical direction, and the second taking member 3213 is arranged at the bottom of the second telescopic arm 3212, so that the second taking member 3213 can take the bins in the lowest position of the bin stack 30 as the second telescopic fork 320 descends.

[0125] In some embodiments, the second telescopic arm assembly 321 can also have one or more telescopic arms arranged between the second base 3211 and the second telescopic arm 3212 at the telescopic end according to different telescopic length requirements, so that the second telescopic arm assembly 321 can meet different telescopic requirements.

[0126] In addition, in order to improve the stability of the second telescopic fork 320 in the first direction, in some embodiments, the second base 3211 is slidingly connected to the lifting frame 200, so that when the second telescopic arm assembly 321 moves in the first direction, the lifting frame 200 can guide the second base 3211, thereby improving the stability and reliability of the second telescopic arm assembly 321 in the first direction.

[0127] For example, the lifting frame 200 has a sliding groove extending in the first direction, and the second telescopic fork 320 faces the sliding groove of the lifting frame 200, and has a second pulley matched with the sliding groove, for example, the second pulley is arranged on the second base 3211, so that the second pulley is located in the sliding groove, so that the second telescopic fork 320 slides along the sliding groove under the action of the lifting driving force.

[0128] In order to avoid the first base 3111 in the first telescopic fork 310 blocking the second base 3211 in the second telescopic fork 320, causing the second base 3211 to be unable to drop to the lowest position of the carrying robot 10, so that the second telescopic fork 320 cannot take the goods located outside the lowest position of the carrying robot 10.

[0129] Based on this problem, in the embodiments of the present application, as shown in FIGS. 9-11, the length of the second telescopic arm 3212 in the first direction is greater than the length of the second base 3211 in the first direction, so that when the first base 3111 blocks the second base 3211 from descending to the lowest position of the carrying robot 10, the second telescopic fork 320 can be used to take the box 20 located at a lower position outside the carrying robot 10, thereby increasing the application range of the carrying robot 10 and improving the user experience.

[0130] In some embodiments, the first taking member 3113 is arranged on the first telescopic arm 3112, for example, the first taking member 3113 is arranged at the bottom of the first telescopic arm 3112, so as to take and place the box 20 through the first taking member 3113. The second taking member 3213 is arranged on the second telescopic arm 3212, for example, the second taking member 3213 is arranged at the bottom of the second telescopic arm 3212, so as to take and place the box 20 through the second taking member 3213.

[0131] Wherein, the first taking member 3113 and the second taking member 3213 are respectively structures such as hooking members, clamping blocks, suction cups, clamping plates, rotating members, etc., as long as they can take and place the box 20, which is not limited here.

[0132] It should be noted that when at least one of the first and second picking members 3113 and 3213 is a rotating member, for example, the rotating member can rotate about an axis extending in the second direction, when the bin 20 needs to be picked up, the rotating member rotates to face the bin 20, so that the rotating member abuts against an end wall of the bin 20, so that when the telescopic arm telescopes, the bin 20 can be pushed by the rotating member to achieve picking and placing of the bin 20. Alternatively, the rotating member can rotate about an axis extending in the second direction to face in the first direction or in the second direction, so that the rotating member can pick up the bin 20 at a higher or lower position.

[0133] In some embodiments, when the carrying mechanism 330 carries the bin 20 above the first telescopic fork 310, there is a gap between the side wall of the bin 20 and the second telescopic arm assembly 321 on the same side, for example, as shown in FIG. 13, for ease of description, the gap is denoted by C, by providing a gap C between the side wall of the bin 20 and the second telescopic arm assembly 321 on the same side, the second telescopic arm assembly 321 can move in the second direction, to prevent interference between the second telescopic arm assembly 321 and the bin 20 carried by the carrying mechanism 330 when the second telescopic arm assembly 321 telescopes in the second direction, thereby improving the telescoping reliability of the second telescopic arm assembly 321 in the second direction.

[0134] In addition, in order to enable the two first telescopic arm assemblies 311 to move in the second direction, in some embodiments, as shown in FIG. 14, the handling robot 10 further comprises two first driving mechanisms 340, which respectively drive the two groups of first telescopic arm assemblies 311 to move in the second direction; that is, one first driving mechanism 340 is used to drive one first telescopic arm assembly 311 to move in the second direction, that is, the two groups of first telescopic arm assemblies 311 respectively have independent first driving mechanisms 340, so that the two groups of first telescopic arm assemblies 311 can be individually telescoped as needed, and the telescoping lengths of the two groups of first telescopic arm assemblies 311 can be different, thereby meeting different application occasions, thereby increasing the application range of the handling robot 10.

[0135] In some embodiments, as shown in FIGS. 9 to 12, the handling robot 10 further comprises a second driving mechanism 350, which is configured to drive the two groups of second telescopic arm assemblies 321 to move in the second direction. That is, the two groups of second telescopic arm assemblies 321 are driven by one second driving mechanism 350, so that the two groups of second telescopic arm assemblies 321 move in the second direction, so that the cost of the handling robot 10 can be reduced.

[0136] To improve the structural compactness of the carrying robot 10, for example, the second driving mechanism 350 is arranged at the top of the second telescopic fork 320 and between the two groups of second telescopic arm assemblies 321, so that the two groups of second telescopic arm assemblies 321 are driven by the second driving mechanism 350 to synchronously telescopically move in the second direction, which improves the structural compactness of the carrying robot 10 and improves the space utilization.

[0137] In some other embodiments, the carrying robot 10 further comprises two third driving mechanisms (not shown in the figure), which respectively drive the two groups of second telescopic arm assemblies 321 to telescopically move in the second direction, and the two third driving mechanisms are respectively arranged outside the second telescopic arm assemblies 321. That is, one third driving mechanism drives one second telescopic arm assembly 321 to telescopically move, so that the two groups of second telescopic arm assemblies 321 can be telescopically moved individually according to requirements, and the telescopic lengths of the two groups of second telescopic arm assemblies 321 can be different, so as to meet different application occasions and increase the application range of the carrying robot 10.

[0138] In some embodiments, as shown in FIGS. 2, 3 and 15, the carrying robot 10 further comprises a lifting assembly 400 configured to drive at least one of the first telescopic fork 310 and the second telescopic fork 320 to telescopically move in the first direction. That is, the lifting assembly 400 can drive any one of the first telescopic fork 310 and the second telescopic fork 320 to telescopically move in the first direction.

[0139] The lifting assembly 400 can be a traction rope structure to drive at least one of the first telescopic fork 310 and the second telescopic fork 320 to telescopically move in the first direction through the lifting of the traction rope in the first direction, or can be a belt transmission structure or a chain transmission structure, etc., as long as it can drive at least one of the first telescopic fork 310 and the second telescopic fork 320 to telescopically move in the first direction, which is not limited herein.

[0140] As shown in FIG. 15, the lifting assembly 400 comprises a first lifting mechanism 410 and a second lifting mechanism 420, the first lifting mechanism 410 is configured to drive the first telescopic fork 310 to telescopically move in the first direction, and the second lifting mechanism 420 is configured to drive the second telescopic fork 320 to telescopically move in the first direction.

[0141] That is, the first telescopic fork 310 and the second telescopic fork 320 are respectively telescopically moved in the first direction individually, for example, the first lifting mechanism 410 drives the first telescopic fork 310 to telescopically move, and the second lifting mechanism 420 drives the second telescopic fork 320 to telescopically move, so as to increase the adaptability of the carrying robot 10 and take and place different numbers of the containers 20.

[0142] In some embodiments, please continue to refer to FIG. 15, the first lifting mechanism 410 and the second lifting mechanism 420 are arranged on the front and back sides of the lifting frame 200, i.e., the first lifting mechanism 410 and the second lifting mechanism 420 are respectively arranged on the two sides of the lifting frame 200 in the third direction of the chassis 100, so that the stability of the overall structure of the carrying robot 10 can be improved.

[0143] In some embodiments, please refer to FIG. 15, the first lifting mechanism 410 includes a first lifting motor 411, a first rotating member 412, and two groups of first traction members 413, the two groups of first traction members 413 are arranged on the left and right sides of the first rotating member 412, the output shaft of the first lifting motor 411 is connected with the first rotating member 412, one end of the two groups of first traction members 413 is connected with the first rotating member 412 and can be wound on the first rotating member 412 synchronously, and the other end of the two groups of first traction members 413 is respectively connected with the left and right sides of the first telescopic fork 310.

[0144] The first traction member 413 includes but is not limited to a traction rope such as a steel wire rope, and the first rotating member 412 is, for example, a winding drum or a winch structure that can rotate around its own axis.

[0145] In order to improve the stability of the first traction member 413 in lifting the first telescopic fork 310, in the embodiment of the present application, please refer to FIG. 15, the first traction member 413 includes a first front end traction member 4131 and a first rear end traction member 4132, one end of the first front end traction member 4131 and the first rear end traction member 4132 is connected to the same side of the first rotating member 412, and the other end of the first front end traction member 4131 and the first rear end traction member 4132 is connected to the front and rear ends of the same side of the first telescopic fork 310. The front and rear ends of the first telescopic fork 310 are, for example, the two ends of the first telescopic fork 310 in the third direction, so that the two groups of first traction members 413 are respectively arranged on the left and right sides (such as the two sides in the second direction) of the first telescopic fork 310, and are respectively connected with the front and rear ends of the first telescopic fork 310 through the first front end traction member 4131 and the first rear end traction member 4132 of each group of first traction members 413, so as to improve the connection reliability and stability of the first telescopic fork 310.

[0146] In some embodiments, please continue to refer to FIG. 15, the second lifting mechanism 420 comprises a second lifting motor 421, a second rotating member 422, and two groups of second traction members 423, the two groups of second traction members 423 are arranged on the left and right sides of the second rotating member 422, the output shaft of the second lifting motor 421 is connected with the second rotating member 422, one end of the two groups of second traction members 423 is connected with the second rotating member 422 and is at least partially wound on the second rotating member 422, and the other end of the two groups of second traction members 423 is respectively connected to the left and right sides of the second telescopic fork 320. The second traction member 423 comprises but is not limited to a third traction rope, and the traction rope is, for example, a steel wire rope or the like. The second rotating member 422 is, for example, a winding drum or a winch structure that can rotate around its own axis.

[0147] In order to improve the stability of the first traction member 413 in traction of the second telescopic fork 320 in lifting, in the embodiment of the present application, please continue to refer to FIG. 15, the second traction member 423 comprises a second front end traction member 4231 and a second rear end traction member 4232, one end of the second front end traction member 4231 and the second rear end traction member 4232 is connected to the same side of the second rotating member 422, and the other end of the second front end traction member 4231 and the second rear end traction member 4232 is connected to the front and rear ends of the same side of the second telescopic fork 320.

[0148] The front and rear ends of the second telescopic fork 320 are, for example, the two ends of the first telescopic fork 310 in the third direction. In this way, the two groups of second traction members 423 are arranged on the left and right sides (for example, the two sides in the second direction) of the second telescopic fork 320, and are connected to the front and rear ends of the second telescopic fork 320 through the second front end traction member 4231 and the second rear end traction member 4232 of each group of second traction members 423, thereby improving the connection reliability and stability of the second telescopic fork 320.

[0149] In some embodiments, the first traction member 413 and the second traction member 423 can be guided to the preset positions through the corresponding guide wheels, respectively. In addition, the first traction member 413 and the second traction member 423 can slide relative to the corresponding guide wheels, respectively, which can improve the smoothness of the lifting of the traction members and avoid the phenomenon of jamming of the traction members.

[0150] The second aspect of the embodiment of the present application provides a warehouse system comprising the handling robot provided in the above embodiments.

[0151] The structure and working principle of the handling robot have been described in detail in the above embodiments, and will not be repeated here.

[0152] The carrying robot provided in the embodiments of the present application can stack the containers to form a container stack, or can disassemble the container stack, and can also insert a container in the middle of the container stack. Therefore, in the warehouse system provided in the embodiments of the present application, a shelf for storing the containers is not required, and the containers can form a container stack and be placed in the warehouse of the warehouse system. In this way, the cost of the shelf in the warehouse is saved, and a plurality of containers can be taken out from the warehouse at one time, so that the working efficiency of the carrying robot is improved.

[0153] The embodiments or implementations in the specification are described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts between the embodiments can be referred to each other.

[0154] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the specification, the exemplary description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0155] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A transport robot, characterized in that, The application relates to a pallet truck, comprising: a chassis provided with a temporary storage position configured to store a container; a lifting frame arranged on the chassis, the lifting frame internally forms a temporary storage space extending along a first direction, and the temporary storage space is located above the temporary storage position and communicates with the temporary storage position; a fork device comprising first and second independently lifting-driven telescopic forks, the first and second telescopic forks are slidingly arranged on the lifting frame, the first telescopic fork is located below the second telescopic fork, and the first and second telescopic forks can be lifted and moved in the first direction relative to the lifting frame and can be telescoped and moved in a second direction to take and place the container; wherein the first direction and the second direction are perpendicular to each other; a carrying mechanism arranged on the second telescopic fork and located in the temporary storage space, the carrying mechanism is configured to hold the container located above the first telescopic fork in the temporary storage space and is synchronized with the second telescopic fork in the first direction.

2. The transport robot of claim 1, wherein, The carrying mechanism can be lifted and moved in the first direction relative to the second telescopic fork.

3. The transport robot of claim 1, wherein, The lowest point of the carrying mechanism is not higher than the lowest point of the second telescopic fork.

4. The transport robot of claim 2, wherein, The carrying mechanism comprises two clamp assemblies, and the two clamp assemblies are respectively arranged on opposite sides of the second telescopic fork in a third direction and are slidingly or rollingly connected with the second telescopic fork, wherein the third direction is perpendicular to the first direction and the second direction.

5. The transport robot of claim 4, wherein, Each clamp assembly comprises a sliding frame and a clamp, the clamp is arranged on the sliding frame, the sliding frame is provided with a first sliding part extending along the first direction, the second telescopic fork is provided with a second sliding part matched with the first sliding part, and the first sliding part is slidingly connected with the second sliding part to enable the sliding frame to slide relative to the second telescopic fork in the first direction.

6. The transport robot of claim 5, wherein, The clamp is arranged at the bottom of the sliding frame.

7. The transport robot of claim 6, wherein, The clamp is one of a clamping block, a clamping plate, a rotating piece and a clamping piece.

8. A handling robot according to any of claims 4-7, characterised in that, The carrying mechanism further comprises a buffer, the buffer is arranged at one end of the carrying mechanism close to the first telescopic fork, and the distance between the buffer and the first telescopic fork is smaller than the distance between the clamp and the first telescopic fork.

9. The transport robot of claim 8, wherein, The buffer comprises at least one of a hydraulic buffer and an elastic buffer.

10. The transport robot of claim 8, wherein, Further comprising: first and second anti-collision members, the first anti-collision member is arranged on one side of the first telescopic fork facing the carrying mechanism, and the second anti-collision member is arranged on one side of the carrying mechanism facing the first telescopic fork and is arranged opposite to the first anti-collision member; wherein the distance between the second anti-collision member and the first telescopic fork is greater than the distance between the buffer and the second telescopic fork and smaller than the distance between the clamp and the first telescopic fork.

11. The transport robot of claim 10, wherein, The first and second anti-collision members are at least one of an anti-collision plate and an anti-collision block.

12. The transport robot of claim 5, wherein, The first sliding part is provided with a limiting structure at one end away from the clamp, and the limiting structure is used to prevent the first sliding part and the second sliding part from being separated from each other.

13. The transport robot of claim 12, wherein, The limiting structure is a limiting block or a limiting plate arranged on the top of the first sliding part.

14. The transport robot of claim 12, wherein, The first sliding part is a sliding rail, and the second sliding part is a sliding groove.

15. The handling robot according to any of claims 2-7, characterized by, The carrying mechanism is further configured to drive the first telescopic forks to move up and down in the first direction relative to the second telescopic forks.

16. The transport robot of claim 6, wherein, The first telescopic forks include two groups of first telescopic arm assemblies, which are arranged on opposite sides of the lifting frame in the third direction and are configured to move up and down in the first direction relative to the lifting frame. The second telescopic forks include two groups of second telescopic arm assemblies, which are arranged on opposite sides of the lifting frame in the third direction and are configured to move up and down in the first direction relative to the lifting frame.

17. The transport robot of claim 16, wherein, The first telescopic arm assembly includes a first base, a first telescopic arm arranged at the telescopic end of the first telescopic arm assembly, and a first picking member arranged on the first telescopic arm and configured to pick and place a box. The second telescopic arm assembly includes a second base, a second telescopic arm arranged at the telescopic end of the second telescopic arm assembly, and a second picking member arranged on the second telescopic arm and configured to pick and place a box.

18. The transport robot of claim 17, wherein, The first picking member is arranged at the bottom of the first telescopic arm. The second picking member is arranged at the bottom of the second telescopic arm.

19. The handling robot according to claim 18, characterized in that, The second telescopic arm extends towards one side of the chassis in the first direction, and the second picking member is arranged at the bottom of the second telescopic arm, so that the second picking member can pick a box at the lowest position in a stack of boxes.

20. The transport robot of claim 19, wherein, When the carrying mechanism carries a box above the first telescopic forks, there is a gap between the side wall of the box and the second telescopic arm assembly on the same side, so that the second telescopic arm assembly can move in the second direction.

21. The handling robot according to any of claims 1-7, characterized by, The carrying robot further includes a first lifting mechanism and a second lifting mechanism, the first lifting mechanism is configured to drive the first telescopic forks to move up and down in the first direction, and the second lifting mechanism is configured to drive the second telescopic forks to move up and down in the first direction.

22. The transport robot of claim 21, wherein, The first lifting mechanism and the second lifting mechanism are arranged on opposite sides of the lifting frame.

23. The handling robot according to claim 22, characterized in that, The first lifting mechanism includes a first lifting motor, a first rotating member, and two groups of first traction members arranged on the left and right sides of the first rotating member, the output shaft of the first lifting motor is connected with the first rotating member, one end of the two groups of first traction members is connected with the first rotating member and can be wound on the first rotating member synchronously, and the other end of the two groups of first traction members is respectively connected with the left and right sides of the first telescopic forks. The second lifting mechanism comprises a second lifting motor, a second rotating member and two groups of second traction members, the two groups of second traction members are arranged on the left and right sides of the second rotating member, the output shaft of the second lifting motor is connected with the second rotating member, one end of the two groups of second traction members is connected with the second rotating member and is at least partially wound on the second rotating member, and the other end of the two groups of second traction members is respectively connected to the left and right sides of the second telescopic fork.

24. The handling robot of claim 23, wherein, The first traction member comprises a first front end traction member and a first rear end traction member, one end of the first front end traction member and the first rear end traction member is connected to the same side of the first rotating member, and the other end of the first front end traction member and the first rear end traction member is connected to the front and rear ends on the same side of the first telescopic fork. The second traction member comprises a second front end traction member and a second rear end traction member, one end of the second front end traction member and the second rear end traction member is connected to the same side of the second rotating member, and the other end of the second front end traction member and the second rear end traction member is connected to the front and rear ends on the same side of the second telescopic fork.

25. A warehousing system characterized by The pallet stack comprises at least one stack of pallets and the handling robot according to any one of claims 1-24.

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