Cargo handling robot and warehousing system

Abstract

Provided in the embodiments of the present application are a cargo handling robot and a warehousing system. The cargo handling robot comprises a mobile chassis, wherein the mobile chassis comprises a track traveling mechanism, a ground traveling mechanism and a jacking mechanism; and the ground traveling mechanism is connected to the lower end of the jacking mechanism, the track traveling mechanism is connected to the upper end of the jacking mechanism, and the jacking mechanism is configured to control the relative movement between the track traveling mechanism and the ground traveling mechanism in a vertical direction. When the cargo handling robot moves along a track, the track traveling mechanism comes into contact with the track, and the ground traveling mechanism is separated from the ground. When the cargo handling robot moves outside a cargo storage area, the ground traveling mechanism comes into contact with the ground, and the track traveling mechanism is separated from the track. In other words, the cargo handling robot moves in a track-traveling mode inside the cargo storage area and in a ground-traveling mode outside the cargo storage area, and can automatically switch between the two modes.

Description

A cargo handling robot and warehousing system

[0001] Cross-reference to related applications

[0002] This application claims priority to Chinese Patent Application No. 2024114821375, filed on October 23, 2024, entitled "A Cargo Handling Robot and Warehousing System", the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of warehousing and logistics technology, and in particular to a cargo handling robot and warehousing system. Background Technology

[0004] Cargo handling robots are automated devices configured in warehousing systems to transfer goods between cargo storage areas and cargo inbound / outbound buffer areas.

[0005] In related technologies, cargo handling robots are AGV chassis, which can automatically plan routes to reach cargo storage locations for storage and retrieval.

[0006] However, the movement path of the AGV chassis cargo handling robot is unstable. When it moves in the cargo storage area, the cargo handled by the cargo handling robot is prone to collision with stacked goods or shelves, which can cause the goods to fall or be damaged.

[0007] Public content

[0008] This application provides a cargo handling robot and warehousing system to solve the problems of unstable movement routes and easy collisions with cargo by current AGV chassis cargo handling robots.

[0009] In a first aspect, embodiments of this application provide a cargo handling robot, including a mobile chassis, the mobile chassis including a track walking mechanism, a ground walking mechanism and a lifting mechanism;

[0010] The ground walking mechanism is connected to the lower end of the lifting mechanism, and the track walking mechanism is connected to the upper end of the lifting mechanism. The lifting mechanism is configured to control the track walking mechanism and the ground walking mechanism to move relative to each other in the vertical direction.

[0011] When the cargo handling robot moves along the track, the track walking mechanism contacts the track, and the ground walking mechanism separates from the ground;

[0012] When the cargo handling robot moves outside the cargo storage area, the ground walking mechanism contacts the ground, and the track walking mechanism separates from the track.

[0013] In one feasible implementation, the track-walking mechanism includes a first movable base and at least two sets of first drive components;

[0014] The first movable base is fixedly connected to the upper end of the lifting mechanism, and at least two sets of the first drive components are respectively connected to the first movable base, and at least two sets of the first drive components are respectively located on opposite sides of the first movable base. The at least two sets of the first drive components drive the first movable base to move along the track.

[0015] In one feasible implementation, the first drive assembly includes a first drive motor and a first drive wheel. The first drive motor is connected to the first movable base, and the first drive wheel is connected to the first drive motor. The first drive wheel is disposed on both sides of the first movable base along the walking direction, and the first drive motor drives the first drive wheel to move along the track.

[0016] In one feasible implementation, there are multiple first drive wheels, which are located on both sides of the first movable base, and all the first drive wheels are connected to the first drive motor through a transmission assembly.

[0017] In one feasible implementation, the ground walking mechanism is configured as an AGV chassis, the AGV chassis including a second mobile base, at least two sets of second drive components and omnidirectional wheels;

[0018] The second movable base is fixedly connected to the lower end of the lifting mechanism, and at least two sets of the second drive components are fixedly connected to the second movable base. The at least two sets of the second drive components are located on opposite sides of the second movable base, and the second drive components drive the second movable base to move.

[0019] The omnidirectional wheel is connected to the second movable base, and the omnidirectional wheel is located on the side of the line connecting at least two sets of the second drive components.

[0020] In one feasible implementation, the lifting mechanism is configured as at least one of a scissor lift mechanism, a multi-link lift mechanism, a hydraulic lift mechanism, or a screw and nut lift mechanism.

[0021] One feasible implementation also includes:

[0022] Supporting framework;

[0023] Telescopic forks, mounted on the support frame, are configured to pick up goods;

[0024] The support frame is mounted on the mobile chassis, which moves along a track within the cargo storage area and moves freely outside the cargo storage area.

[0025] In one possible implementation, the telescopic forks selectively lift and rotate relative to the support frame.

[0026] In one possible implementation, the telescopic forks include a pair of fork arms configured to grip the cargo.

[0027] In one feasible implementation, the telescopic forks are configured as bidirectional telescopic forks.

[0028] In one possible implementation, the telescopic forks include a pair of clamping plates configured to clamp the cargo.

[0029] In one feasible implementation, a pawl is movably provided at the lower part of the clamping plate, the pawl being configured to extend and support the cargo after the clamping plate has clamped the cargo.

[0030] In one feasible implementation, there are multiple telescopic forks, which are arranged sequentially in a vertical direction and configured to cooperate with the picking bin.

[0031] The distance between the two clamping plates of the multiple telescopic forks decreases sequentially from top to bottom.

[0032] In one feasible implementation, the clamping plate on the uppermost telescopic fork is provided with at least two sets of the pawls in the vertical direction.

[0033] In one feasible implementation, the telescopic fork further includes a rotating mechanism. The rotating component is connected to the support frame, and the telescopic fork is mounted on the rotating component. The rotating component drives the telescopic fork to rotate, so that the telescopic fork selectively picks up and places goods on both sides of the cargo handling robot and places the goods in the buffer position of the support frame.

[0034] In one feasible implementation, the support frame has multiple cache slots on at least one side, and the cache slots are configured to temporarily store the goods.

[0035] In one feasible implementation, a lifting component is provided on the support frame, the telescopic fork is connected to the lifting component, and the lifting component drives the telescopic fork to move in the vertical direction.

[0036] Secondly, embodiments of this application provide a cargo warehousing system, including a cargo storage area with tracks, inbound and outbound conveying equipment, and a cargo handling robot as described in the first aspect.

[0037] Compared with existing technologies, the beneficial effects of the embodiments of this application include, for example:

[0038] Firstly, this application provides a cargo handling robot, including a mobile chassis. The mobile chassis includes a track-walking mechanism, a ground-walking mechanism, and a lifting mechanism. The lower end of the ground-walking mechanism is connected to the lifting mechanism, and the upper end of the track-walking mechanism is connected to the lifting mechanism. The lifting mechanism is configured to control the track-walking mechanism and the ground-walking mechanism to move relative to each other in the vertical direction. When the cargo handling robot moves along the track, the track-walking mechanism contacts the track, and the ground-walking mechanism separates from the ground. When the cargo handling robot moves outside the cargo storage area, the ground-walking mechanism contacts the ground, and the track-walking mechanism separates from the track. That is, the cargo handling robot moves in track-walking mode and ground-walking mode inside and outside the cargo storage area, respectively, and can automatically switch between the two modes. When the cargo handling robot moves along the track inside the cargo storage area, due to the constraint of the track, the movement path of the cargo handling robot is more accurate and the movement is more stable. It can avoid the collision between the cargo being carried by the cargo handling robot and the cargo on both sides, thereby preventing the cargo from falling and improving the safety and stability of cargo handling. In addition, since the cargo handling robot can move freely along the navigation path outside the cargo storage area, compared with the existing technology of conveyor lines for transporting goods, the movement route of the cargo handling robot is more flexible and simpler, and the handling speed is faster and the efficiency is higher.

[0039] Secondly, embodiments of this application provide a cargo warehousing system, including a cargo storage area with a track, an inbound / outbound conveyor, and a cargo handling robot as described in the first aspect. Goods are placed on one side of the track, and the inbound / outbound conveyor is configured to transport goods into or out of the warehouse. The cargo handling robot is configured to transfer goods between the cargo storage area and the inbound / outbound conveyor, and is configured to move along the track within the cargo storage area and move freely outside the cargo storage area. This cargo warehousing system has high cargo retrieval and placement efficiency. Since this cargo warehousing system includes the cargo handling robot described in any of the above technical solutions, it possesses all the beneficial effects of the cargo handling robot described in any of the above technical solutions, which will not be elaborated further here. Attached Figure Description

[0040] The accompanying drawings, which are provided to further illustrate this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application.

[0041] In the attached diagram:

[0042] Figure 1 is a first schematic diagram of a cargo handling robot provided in an embodiment of this application;

[0043] Figure 2 is a second schematic diagram of the cargo handling robot in Figure 1;

[0044] Figure 3 is a first schematic diagram of the mobile chassis of a cargo handling robot provided in an embodiment of this application;

[0045] Figure 4 is a second schematic diagram of the mobile chassis in Figure 3;

[0046] Figure 5 is a third schematic diagram of the mobile chassis in Figure 3;

[0047] Figure 6 is a first schematic diagram of the cargo handling robot in Figure 1 moving within the cargo storage area;

[0048] Figure 7 is a second schematic diagram of the cargo handling robot in Figure 1 moving within the cargo storage area;

[0049] Figure 8 is a schematic diagram of the cargo handling robot in Figure 1 moving outside the cargo storage area;

[0050] Figure 9 is a schematic diagram of the cargo handling robot in Figure 1 entering the track;

[0051] Figure 10 is a schematic diagram of the cargo handling robot in Figure 9;

[0052] Figure 11 is a first schematic diagram of the mobile chassis in Figure 3 after the track-walking components have been removed;

[0053] Figure 12 is a second schematic diagram of the mobile chassis in Figure 3 after the track-walking components have been removed;

[0054] Figure 13 is a first schematic diagram of a lifting assembly provided in an embodiment of this application;

[0055] Figure 14 is a second schematic diagram of the lifting assembly in Figure 13;

[0056] Figure 15 is a third schematic diagram of the lifting assembly in Figure 13;

[0057] Figure 16 is a schematic diagram of a cargo handling robot provided in another embodiment of this application.

[0058] Explanation of reference numerals in the attached figures:

[0059] 100 - Cargo storage area; 200 - Cargo handling robots; 300 - Track; 400 - Cargo;

[0060] 210 - Mobile chassis; 220 - Support frame; 230 - Telescopic forks; 310 - Guide rail;

[0061] 211-Rail travel mechanism; 212-Ground travel mechanism; 213-Lifting mechanism; 221-Buffer position; 222-Lifting assembly; 231-Clamping plate; 232-Pulley; 233-Fork arm;

[0062] 2111-First movable base; 2112-First drive motor; 2113-First drive wheel; 2121-Second movable base; 2122-Second drive motor; 2123-Second drive wheel; 2124-Universal wheel; 2131-Lifting motor; 2132-Linkage assembly; 2133-Scissor lift mechanism;

[0063] 2133a - First scissor lift assembly; 2133b - Second scissor lift assembly; 2133c - Connecting plate. Detailed Implementation

[0064] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this application.

[0065] In the description of the embodiments of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0066] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0067] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0068] Cargo handling robots are automated devices configured in warehousing systems to transfer goods between cargo storage areas and cargo inbound / outbound buffer areas.

[0069] In related technologies, cargo handling robots are AGV chassis, which can automatically plan routes to reach cargo storage locations for storage and retrieval.

[0070] However, the movement path of the AGV chassis cargo handling robot is unstable. When it moves in the cargo storage area, the cargo handled by the cargo handling robot is prone to collision with stacked goods or shelves, which can cause the goods to fall or be damaged.

[0071] To address the aforementioned problems, this application provides a cargo handling robot and a warehousing system. The following will describe the solution of this application embodiment in detail with reference to the accompanying drawings.

[0072] Figure 1 is a first schematic diagram of a cargo handling robot 200 provided in an embodiment of this application; Figure 2 is a second schematic diagram of the cargo handling robot 200 in Figure 1.

[0073] Referring to Figures 1 and 2, the cargo handling robot 200 includes a mobile chassis 210, a support frame 220, and a telescopic fork 230. The support frame 220 is mounted on the mobile chassis 210, and the telescopic fork 230 is connected to and mounted on the support frame 220. The mobile chassis 210 is configured to support the support frame 220 and the telescopic fork 230, and to move them to a designated position. The support frame 220 is configured to support the telescopic fork 230, which is configured to pick up cargo. For example, the cargo 400 may be a hopper. The telescopic fork 230 can selectively lift and / or rotate relative to the support frame 220 to handle the cargo 400. The mobile chassis 210 moves along a track 300 within the cargo storage area 100 and moves freely outside the cargo storage area 100. The cargo handling robot moves in a track-walking mode within the cargo storage area and a ground-walking mode outside the cargo storage area, and can automatically switch between the two modes.

[0074] When the cargo handling robot 200 moves along the track 300 within the cargo storage area 100, the constraint of the track 300 makes its movement more accurate and stable. This prevents the cargo 400 being handled by the robot from colliding with other cargo 400s on either side, thus preventing the cargo 400 from falling and improving the safety and stability of cargo handling. Furthermore, because the cargo handling robot 200 can move freely along its navigation path outside the cargo storage area 100, compared to existing conveyor line methods, its movement path for handling cargo 400 is more flexible and simpler, resulting in faster handling speeds and higher efficiency.

[0075] Figure 3 is a first schematic diagram of the mobile chassis of a cargo handling robot provided in an embodiment of this application; Figure 4 is a second schematic diagram of the mobile chassis in Figure 3; Figure 5 is a third schematic diagram of the mobile chassis in Figure 3.

[0076] Referring to Figures 3 to 5, the mobile chassis 210 includes a track-walking mechanism 211, a ground-walking mechanism 212, and a lifting mechanism 213. The ground-walking mechanism 212 is connected to the lower end of the lifting mechanism 213, and the track-walking mechanism 211 is connected to the upper end of the lifting mechanism 213. The lifting mechanism 213 is configured to control the relative vertical movement of the track-walking mechanism 211 and the ground-walking mechanism 212, thereby controlling the contact and separation of the ground-walking mechanism 212 from the ground.

[0077] Figure 6 is a first schematic diagram of the cargo handling robot in Figure 1 moving within the cargo storage area; Figure 7 is a second schematic diagram of the cargo handling robot in Figure 1 moving within the cargo storage area.

[0078] Referring to Figures 6 and 7, when the cargo handling robot 200 moves along the track 300 within the cargo storage area 100, the track-walking mechanism 211 contacts the track 300, while the ground-walking mechanism 212 separates from the ground. At this time, the track-walking mechanism 211 acts as a driving component, driving the support frame 220 and the telescopic fork 230 to move along the track 300 and reach the target cargo placement position to pick up or place the cargo 400.

[0079] Figure 8 is a schematic diagram of the cargo handling robot in Figure 1 moving outside the cargo storage area.

[0080] Referring to Figure 8, when the cargo handling robot 200 is walking on the ground, the lifting mechanism 213 retracts, and its upper and lower ends maintain the minimum distance, so that the distance between the track walking mechanism 211 and the ground walking mechanism 212 is minimized, thereby reducing the height of the support frame 220, preventing the support frame 220 from swaying during movement, and ensuring that the cargo handling robot 200 moves more stably when handling cargo boxes.

[0081] Figure 9 is a schematic diagram of the cargo handling robot in Figure 1 entering the track; Figure 10 is a schematic diagram of the cargo handling robot in Figure 9.

[0082] Referring to Figures 9 and 10, when the cargo handling robot 200 prepares to enter the track 300 from the ground and transitions from ground walking mode to track 300 walking mode, the lifting mechanism 213 extends and retracts, raising the height of the track walking mechanism 211 and increasing the distance between it and the ground walking mechanism 212. At this time, the ground walking mechanism 212 moves into the track 300. When the ground walking mechanism 212 reaches the track 300, the lifting mechanism 213 retracts, lowering the height of the track walking mechanism 211. After the track walking mechanism 211 contacts the track 300, its height remains unchanged. As the lifting mechanism 213 continues to retract, the ground walking mechanism 212 begins to rise and gradually detaches from the ground. Once the ground walking mechanism 212 is detached from the ground, the lifting mechanism 213 stops retracting, and the track walking mechanism 211 begins to function as a drive component, driving the support frame 220 and the telescopic fork 230 to move along the track 300.

[0083] Understandably, when the cargo handling robot 200 enters the ground from the track 300 and transitions from track 300 walking mode to ground walking mode, the lifting mechanism 213 expands, the ground walking mechanism 212 lowers, and the distance between the ground walking mechanism 212 and the track walking mechanism 211 gradually increases. Once the ground walking mechanism 212 contacts the ground, due to the continued expansion of the lifting mechanism 213, the track walking mechanism 211 begins to rise and gradually detaches from the track 300. When the track walking mechanism 211 is completely detached from the track 300, the ground walking mechanism 212 moves out of the track 300. At this point, the lifting mechanism 213 begins to retract until it reaches its lowest position, maintaining a minimum distance between the track walking mechanism 211 and the ground walking mechanism 212, ensuring more stable movement of the cargo handling robot 200 during cargo handling.

[0084] For example, the track walking mechanism 211 includes a first movable base 2111 and at least two sets of first drive components; the first movable base 2111 is fixedly connected to the upper end of the lifting mechanism 213, the support frame 220 is fixedly connected to the first movable base 2111, and the at least two sets of first drive components are respectively connected to the first movable base 2111, and the at least two sets of first drive components are respectively located on opposite sides of the first movable base 2111, and the at least two sets of first drive components drive the first movable base 2111 to move along the track 300.

[0085] Referring again to Figures 3 to 5, in some examples, a set of first drive components includes a first drive motor 2112 and a first drive wheel 2113. A first movable base 2111 is fixedly connected to the upper end of the lifting mechanism 213, a support frame 220 is fixedly connected to the first movable base 2111, the first drive motor 2112 is fixedly connected to the first movable base 2111, and the first drive wheel 2113 is connected to the first drive motor 2112 and engages with the track 300. The first drive motor 2112 drives the first drive wheel 2113 to move along the track 300. In these examples, each first drive wheel 2113 is individually controlled by each first drive motor 2112. To ensure that the movable chassis 210 can move stably along the track 300, all first drive motors 2112 need to operate synchronously.

[0086] In other examples, a set of first drive components includes a first drive motor 2112 and a plurality of first drive wheels 2113. The first drive motor 2112 is fixedly mounted on a first movable base 2111, and the plurality of first drive wheels 2113 are respectively located on both sides of the first movable base 2111, and all the first drive wheels 2113 are connected to the first drive motor 2112 through a transmission assembly. That is, the first drive motor 2112 drives all the first drive wheels 2113 to move synchronously through the transmission assembly. For example, the first drive motor 2112 may be a servo motor or a DC motor with a reducer.

[0087] The lifting mechanism 213 is fixedly mounted on the ground walking mechanism 212. In some examples, the ground walking mechanism 212 is configured as an AGV base with autonomous navigation capabilities. The AGV chassis includes a second mobile base 2121, at least two sets of second drive components, and casters 2124; the second mobile base 2121 is fixedly connected to the lower end of the lifting mechanism 213, and at least two sets of second drive components are fixedly connected to the second mobile base 2121, with the at least two sets of second drive components located on opposite sides of the second mobile base 2121; the casters 2124 are connected to the second mobile base 2121, and the casters 2124 are located on the side in the direction of the line connecting the at least two sets of second drive components.

[0088] For example, the second drive assembly includes a second drive motor 2122 and a second drive wheel 2123. The second drive motor 2122 is fixedly mounted on the second movable base 2121, and the second drive wheel 2123 is fixedly connected to the output end of the second drive motor 2122, with the second drive wheel 2123 positioned on both sides of the second movable base 2121 along the walking direction. Taking the direction perpendicular to the line connecting the two drive assemblies as the front-back direction, casters 2124 are respectively provided in the front-back direction of the two oppositely positioned second drive wheels 2123, and the casters 2124 are connected to the second movable base 2121.

[0089] Figure 11 is a first schematic diagram of the mobile chassis in Figure 3 after the track-walking components have been removed; Figure 12 is a second schematic diagram of the mobile chassis in Figure 3 after the track-walking components have been removed.

[0090] Referring to Figures 11 and 12, in this embodiment, the ground walking mechanism 212 includes a second movable base 2121, two second drive motors 2122, two second drive wheels 2123, and four casters 2124. The two second drive wheels 2123 are arranged back-to-back on the second movable base 2121 and located on the center line of the second movable base 2121. Both second drive motors 2122 are fixed to the second movable base 2121 and are respectively connected to the two second drive wheels 2123. The two second drive motors 2122 are used to drive the second movable base 2121 to move. It is understood that the direction of movement of the second movable base 2121 can be controlled by changing the rotational speed of the two second drive motors 2122; this is prior art and will not be described further here.

[0091] With the direction perpendicular to the line connecting the two second drive wheels 2123 as the front-back direction, two casters 2124 are provided in the front-back direction of the two second drive wheels 2123 to support the second movable base 2121 and adjust the movement direction of the second movable base 2121.

[0092] Referring again to Figures 11 and 12, in some examples, the lifting mechanism 213 is configured as a multi-link lifting mechanism, specifically including a lifting motor 2131 and a linkage assembly 2132. The lifting motor 2131 is fixedly mounted on the second movable base 2121. The output end of the lifting motor 2131 is connected to the linkage assembly 2132. When the output end of the lifting motor 2131 rotates, it can control the upper end of the linkage assembly 2132 to move, thereby changing the distance between the upper and lower ends, and thus changing the distance between the first movable base 2111 connected to the upper end and the second movable base 2121 connected to the lower end.

[0093] Figure 13 is a first schematic diagram of a lifting assembly provided in an embodiment of this application; Figure 14 is a second schematic diagram of the lifting assembly in Figure 13; Figure 15 is a third schematic diagram of the lifting assembly in Figure 13.

[0094] Referring to Figures 13 to 15, in some other examples, the lifting mechanism 213 is configured as a scissor lift mechanism 2133. This scissor lift mechanism 2133 includes a first scissor lift member 2133a, a second scissor lift member 2133b, and a connecting plate 2133c that are cross-connected. The lower ends of both the first scissor lift member 2133a and the second scissor lift member 2133b are connected to a first movable base 2111, and the upper ends of both the first scissor lift member 2133a and the second scissor lift member 2133b are connected to the connecting plate 2133c, which is configured to connect to the first movable base 2111. When a drive member drives either the first scissor lift member 2133a or the second scissor lift member 2133b, they move synchronously, causing the connecting plate 2133c to move up and down, thereby changing the distance between the first movable base 2111 and the second movable base 2121. For example, the drive member may be a servo motor.

[0095] In addition, the lifting mechanism 213 can also be configured as a hydraulic lifting mechanism or a screw and nut lifting mechanism, as long as it can enable the first movable base 2111 and the second movable base 2121 to move relative to each other. The specific details will not be described further.

[0096] As shown in Figures 1 and 2, in some examples, there are multiple telescopic forks 230, which are arranged sequentially in a vertical direction. Each telescopic fork 230 is connected to the support frame 220. When picking up the target goods 400, when the target goods 400 is located below, the telescopic fork 230 located above the target goods 400 can clamp the goods 400 above the target goods 400, separating them from the target goods 400. The telescopic fork 230 located below then moves the target goods 400 away. Finally, the telescopic fork 230 located above places the non-target goods 400 in the original position of the target goods 400. It can be understood that when placing the goods 400 in the target position, the operation process is the reverse of the above-described process of picking up the target goods 400, and will not be described again here.

[0097] Understandably, by setting multiple telescopic forks 230 in the support frame 220, it is possible to conveniently move the target goods 400 located below the stack of goods 400, resulting in high moving efficiency. Taking a moving robot with two telescopic forks 230 as an example: When moving the target goods 400 located on the lower layer of the stack of goods 400, the upper telescopic fork 230 can first raise the position of the goods 400 above the target goods 400, and the lower telescopic fork 230 then moves the target goods 400. Finally, the upper telescopic fork 230 places the non-target goods 400 back into the original target goods 400 position.

[0098] Referring to Figures 1 and 2, the telescopic fork includes a pair of fork arms 233 configured to grip the cargo 400. Additionally, the telescopic fork 231 can be configured as a bidirectional telescopic fork 231, thereby facilitating the loading and unloading of cargo 400 on both sides of the track 300.

[0099] For example, the fork arm 233 includes a multi-stage fork arm and a telescopic drive assembly. The multi-stage fork arms are connected sequentially, and the telescopic drive assembly is connected to the multi-stage fork arms. The telescopic drive assembly is configured to drive the multi-stage fork arms to extend or retract to pick up or place goods 400. For example, the fork arm 233 is described with two stages of fork arms. The fork arm 233 includes a primary fork arm and a secondary fork arm. The primary fork arm is connected by a support frame 220, and the secondary fork arm is slidably connected to the primary fork arm. The telescopic drive assembly is fixedly mounted on the primary fork arm. The telescopic drive assembly drives the secondary fork arm to move along the primary fork arm, thereby completing the picking up of goods 400 and retraction after picking up.

[0100] Alternatively, for example, the telescopic drive component can be a combination of a motor and a synchronous belt drive assembly, or a combination of a motor and a gear and rack assembly.

[0101] Referring again to Figures 1 and 2, the telescopic fork 231 also includes a clamping plate 231, with each fork arm 233 equipped with a clamping plate 231. Because the clamping plate 231 has a large surface area, it ensures a large clamping area with the side of the cargo 400, increasing the clamping force and preventing the cargo 400 from slipping during clamping and movement.

[0102] When the support frame 220 is vertically equipped with multiple telescopic forks 231, in order to facilitate the placement of non-target goods 400 that have been clamped and lifted into the original position of the target goods 400, the distance between the two clamping plates 231 on the upper telescopic fork 230 is smaller than the distance between the two clamping plates 231 on the lower telescopic fork 230, ensuring that the clamping plates 231 on the upper telescopic fork 230 do not interfere with the clamping plates 231 on the lower telescopic fork 230. Furthermore, the two clamping plates 231 on the upper telescopic fork 230 are larger in size, allowing them to extend between the two clamping plates 231 on the lower telescopic fork 230 to place the goods 400.

[0103] Specifically, when the target goods are located at the bottom layer of the stack, the lower part of the clamping plate 231 of the upper telescopic fork 231 clamps and lifts the goods on the layer above the target goods, while the lower telescopic fork 231 clamps the target goods and retracts. At this time, the position of the upper telescopic fork 231 moves downward, placing the non-target goods in the original position of the target goods. Because the two clamping plates 231 on the upper telescopic fork 231 are larger, and the distance between the two clamping plates 231 is smaller than the distance between the two clamping plates 231 on the lower telescopic fork 231, when it places the non-target goods in the original position of the target goods, it interferes with the lower telescopic fork 231 and clamping plates 231.

[0104] To ensure the stability of the cargo 400 and prevent it from slipping off the telescopic forks 231 due to excessive weight, in some examples, the lower part of the clamping plate 231 is provided with multiple pawls 232. The pawls 232 are configured to extend after the clamping plate 231 clamps the cargo 400 to support it. Specifically, the pawls 232 can switch between rotating in directions parallel to and perpendicular to the clamping plate 231, thereby supporting the cargo 400 and preventing it from falling.

[0105] Additionally, in some examples, two clamping plates 231 mounted on the upper telescopic fork 230 are vertically spaced with two sets of pawls 232 to ensure that they can grip non-target goods 400 located at a higher position. Exemplarily, the pawl 232 includes a lever and a lever motor. The lever motor is fixedly mounted on the clamping plate 231, and the end of the pawl 232 is connected to the output end of the lever motor. Rotation of the output end of the lever motor drives the pawl 232 to rotate.

[0106] In some embodiments, a buffer position 221 is provided at the bottom of the support frame 220. When the cargo handling robot 200 needs to handle multiple goods 400, the telescopic forks 230 can temporarily store the goods 400 in the buffer position 221. After all the target goods have been picked up, all the goods 400 are moved together to the inbound and outbound conveying equipment.

[0107] Figure 16 is a schematic diagram of a cargo handling robot 200 provided in another embodiment of this application.

[0108] Referring to Figure 16, in some examples, at least one side of the support frame 220 is provided with multiple buffer positions 221. In these examples, the cargo handling robot 200 also includes a rotating assembly connected to the support frame 220, and a telescopic fork 230 is disposed on the rotating assembly. The rotating assembly is configured to rotate the telescopic fork 230 by 90° and temporarily store the target cargo 400 or non-target cargo 400 in the buffer position 221. It is understood that by providing buffer positions 221 on the support frame 220, the single-pass handling capacity of the cargo handling robot 200 can be greatly improved, thus increasing handling efficiency. For example, buffer racks are provided on both sides of the support frame 220, and the buffer racks have multiple buffer positions, which are configured as buffer positions 221. In addition, the number and size of the buffer positions in the buffer racks on both sides of the support frame 220 can be set according to actual needs and are not limited here.

[0109] For example, the rotating assembly includes a rotating bracket, a rotating tray, and a rotating drive motor. The rotating bracket is disposed inside the support frame 220, its shape is adapted to the support frame 220, and the rotating bracket can move vertically along the support frame 220. The rotating tray is rotatably mounted on the rotating bracket, and the rotating drive motor is fixedly mounted on the rotating bracket, with its output end connected to the rotating tray, driving the rotating tray to rotate. The telescopic forks 230 are disposed on the rotating tray, meaning the rotating drive motor drives the telescopic forks 230 to rotate via the rotating tray. The rotating drive motor can rotate in both directions, thus enabling bidirectional rotation of the rotating tray to correspond to the pick-up / placement openings on both sides of the support frame 220, allowing the telescopic forks 230 to pick up and place goods 400 into the buffer positions 221 on both sides of the support frame 220.

[0110] Referring again to Figures 1 and 2, the support frame 220 in this application is a cuboid frame structure formed by connecting multiple horizontal beams and vertical beams in sequence. Linear guide rails 310 are provided on both sides of the support frame 220 along the vertical direction, and sliders are fitted onto the linear guide rails 310. Telescopic forks 230 are fixedly connected to the sliders.

[0111] In addition, the cargo handling robot 200 also includes a lifting assembly 222. For example, the lifting assembly 222 includes a lifting motor and a transmission assembly. The lifting motor is fixed to the support frame 220, and the transmission assembly is disposed on the support frame 220. The lifting motor is connected to the transmission assembly, and the transmission assembly is connected to the telescopic fork 230. The lifting motor drives the telescopic fork 230 to move vertically through the transmission assembly, so that the telescopic fork 230 can reach the designated position of the target cargo 400.

[0112] Secondly, embodiments of this application provide a cargo warehousing system, including a cargo storage area 100, inbound and outbound conveying equipment, and a cargo handling robot 200 as described in the first aspect. The cargo storage area 100 is configured to place and store cargo.

[0113] In related fields, a goods storage area 100 is an area for storing goods, and its interior may include various goods storage facilities, such as pallets, shelves, or cargo bases. For example, the goods storage area 100 is configured to store goods 400, which may be empty or filled with goods. Goods 400 may be stacked on pallets, cargo bases, or placed on shelves within the goods storage area 100. For instance, goods may be placed inside cargo 400, stacked within the goods storage area 100, and when specific goods are needed, staff retrieve the desired goods 400 from the goods storage area 100.

[0114] The inbound and outbound conveyor system is configured to transport goods in and out of the warehouse. It can be a conveyor line, unpacking machine, or sorting device, among other logistics equipment. When goods enter the warehouse, the inbound / outbound conveyor system transports goods 400 to a buffer area, where a cargo handling robot 200 then transfers the goods 400 to a designated location in the goods storage area 100. Conversely, when goods leave the warehouse, the cargo handling robot 200 transfers goods from the goods storage area 100 to the inbound / outbound conveyor system, which then transfers them to the designated location.

[0115] In this application, a track 300 is provided within the goods storage area 100, and goods (e.g., a bin 400) are placed on at least one side of the track 300. A goods handling robot 200 is placed on the ground outside the goods storage area 100, and it can move between the goods storage area 100 and the inbound / outbound conveyor equipment, thereby transferring goods between the two. This goods warehousing system has high goods retrieval and placement efficiency. Since this goods warehousing system includes the goods handling robot 200 described in any of the above technical solutions, it has all the beneficial effects of the goods handling robot 200 of any of the above technical solutions, which will not be elaborated further here.

[0116] It is readily understood that, based on the several embodiments provided in this application, those skilled in the art can combine, split, or reorganize the embodiments of this application to obtain other embodiments, none of which exceed the protection scope of this application.

[0117] The above detailed embodiments further illustrate the purpose, technical solutions, and beneficial effects of the embodiments of this application. It should be understood that the above are merely specific embodiments of the embodiments of this application and are not intended to limit the protection scope of the embodiments of this application. Any modifications, equivalent substitutions, improvements, etc., made on the basis of the technical solutions of the embodiments of this application should be included within the protection scope of the embodiments of this application. Industrial applicability

[0118] In summary, this application provides a cargo handling robot and a warehousing system. The cargo handling robot includes a mobile chassis, which comprises a track-walking mechanism, a ground-walking mechanism, and a lifting mechanism. The cargo handling robot moves within and outside the cargo storage area using both track-walking and ground-walking modes, and can automatically switch between the two modes. Within the cargo storage area, the robot moves along a track. Due to the constraints of the track, the robot's movement is more accurate and stable, preventing collisions between the goods being handled and goods on either side, thus avoiding goods falling and improving the safety and stability of cargo handling. Furthermore, because the robot can move freely along a navigation path outside the storage area, compared to existing conveyor line methods, its cargo handling route is more flexible and simpler, resulting in faster and more efficient handling.

Claims

1. A cargo carrying robot characterized by, The system includes a mobile chassis, which comprises a track-walking mechanism, a ground-walking mechanism, and a lifting mechanism. The ground walking mechanism is connected to the lower end of the lifting mechanism, and the track walking mechanism is connected to the upper end of the lifting mechanism. The lifting mechanism is configured to control the track walking mechanism and the ground walking mechanism to move relative to each other in the vertical direction. When the cargo handling robot moves along the track, the track walking mechanism contacts the track, and the ground walking mechanism separates from the ground; When the cargo handling robot moves outside the cargo storage area, the ground walking mechanism contacts the ground, and the track walking mechanism separates from the track.

2. The goods carrying robot according to claim 1, characterized in that, The track walking mechanism includes a first movable base and at least two sets of first drive components; The first movable base is fixedly connected to the upper end of the lifting mechanism, and at least two sets of the first drive components are respectively connected to the first movable base, and at least two sets of the first drive components are respectively located on opposite sides of the first movable base. The at least two sets of the first drive components drive the first movable base to move along the track.

3. The goods carrying robot according to claim 2, characterized in that, The first drive assembly includes a first drive motor and a first drive wheel. The first drive motor is connected to the first movable base, and the first drive wheel is connected to the first drive motor. The first drive wheel is disposed on both sides of the first movable base along the walking direction, and the first drive motor drives the first drive wheel to move along the track.

4. The goods carrying robot according to claim 3, characterized in that, There are multiple first drive wheels, which are located on both sides of the first movable base, and all the first drive wheels are connected to the first drive motor through a transmission assembly.

5. The goods handling robot according to any one of claims 1-4, characterized in that, The ground walking mechanism is configured as an AGV chassis, the AGV chassis including a second mobile base, at least two sets of second drive components and omnidirectional wheels; The second movable base is fixedly connected to the lower end of the lifting mechanism, and at least two sets of the second drive components are fixedly connected to the second movable base. The at least two sets of the second drive components are located on opposite sides of the second movable base, and the second drive components drive the second movable base to move. The omnidirectional wheel is connected to the second movable base, and the omnidirectional wheel is located on the side of the line connecting at least two sets of the second drive components.

6. The goods handling robot according to any one of claims 1-5, characterized in that, The lifting mechanism is configured as at least one of a scissor lift mechanism, a multi-link lift mechanism, a hydraulic lift mechanism, or a screw and nut lift mechanism.

7. The goods handling robot according to any one of claims 1-6, characterized in that, Also includes: Supporting framework; Telescopic forks, mounted on the support frame, are configured to pick up goods; The support frame is mounted on the mobile chassis, which moves along a track within the cargo storage area and moves freely outside the cargo storage area.

8. The cargo handling robot according to claim 7, characterized in that, The telescopic forks can selectively lift, lower, and rotate relative to the support frame.

9. The cargo handling robot according to claim 8, characterized in that, The telescopic forks include a pair of fork arms configured to grip the cargo.

10. The cargo handling robot according to claim 9, characterized in that, The telescopic forks are configured as bidirectional telescopic forks.

11. The cargo handling robot according to any one of claims 7-10, characterized in that, The telescopic forks include a pair of clamping plates configured to clamp the cargo.

12. The cargo handling robot according to claim 11, characterized in that, The lower part of the clamping plate is movably provided with a claw, which is configured to extend out to support the cargo after the clamping plate clamps the cargo.

13. The cargo handling robot according to claim 11 or 12, characterized in that, The telescopic forks are multiple, and the multiple telescopic forks are arranged sequentially along the vertical direction to cooperate with the picking box; The distance between the two clamping plates of the multiple telescopic forks decreases sequentially from top to bottom.

14. The bin storage system according to claim 13, characterized in that, The clamping plate on the uppermost telescopic fork is provided with at least two sets of the claws in the vertical direction.

15. The cargo handling robot according to any one of claims 7-14, characterized in that, The telescopic fork also includes a rotating assembly, which is connected to the support frame. The telescopic fork is mounted on the rotating assembly, which drives the telescopic fork to rotate so that the telescopic fork selectively picks up and places goods on both sides of the cargo handling robot and places the goods in the buffer position of the support frame.

16. The cargo handling robot according to any one of claims 7-15, characterized in that, The support frame has multiple cache slots on at least one side, and the cache slots are configured to temporarily store the goods.

17. The cargo handling robot according to any one of claims 7-16, characterized in that, A lifting component is provided on the support frame, and the telescopic fork is connected to the lifting component. The lifting component drives the telescopic fork to move in the vertical direction.

18. A cargo warehousing system, characterized in that, It includes a cargo storage area with tracks, inbound and outbound conveying equipment, and a cargo handling robot as described in any one of claims 7-17.

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